Industrial robot capable of adjusting clamp in multiple directions

Abstract

The invention relates to the technical field of industrial robots, and provides an industrial robot capable of adjusting a clamp in multiple directions, the industrial robot comprises a mounting seat and a fourth mechanical arm, a first mechanical arm is mounted on the mounting seat, a storage frame is connected to the fourth mechanical arm, and a first hydraulic rod is fixedly mounted at the top end of the interior of the storage frame; a mounting plate is fixedly connected to the bottom end of the first hydraulic rod, a second hydraulic rod is fixedly mounted in the mounting plate, a connecting frame is fixedly connected to the end of the second hydraulic rod, a third hydraulic rod is fixedly mounted on the connecting frame, and a multidirectional clamping assembly is mounted at the end of the third hydraulic rod. And an automatic protection assembly is installed in the storage frame, the multi-direction clamping assembly comprises a fixing frame and a first spring, and the fixing frame is fixedly connected to the end of the third hydraulic rod. By means of the technical scheme, the problem that in the prior art, an industrial robot cannot automatically and stably clamp and fix materials of different specifications and sizes in multiple directions is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and in particular to an industrial robot with a clamp capable of being adjusted in multiple directions. Background Art

[0002] Industrial robots are multi-joint manipulators that can automatically perform tasks in the industrial production process. Industrial robots usually have a certain degree of flexibility and precision, and can complete a variety of repetitive, high-intensity or high-risk tasks. Therefore, industrial robots are widely used in automated production lines, which can improve production efficiency, reduce costs, and improve work precision.

[0003] However, there are some problems in the actual working process of the existing industrial robots. For example, the industrial robot with good clamping effect, which has the publication number CN118024227B, can adjust the clamping force of the clamp during the working process, but it can only clamp small materials, and its practicality and applicability are poor, and the clamping range of the clamp cannot be adjusted according to the size of the material; and the industrial robot with double jaws with adjustable spacing, which has the publication number CN116494215B, is provided with two clamps, and the spacing between the two clamps can be adjusted to facilitate clamping of materials of different sizes, but in the actual working process, the contact area between the clamp and the material is small, and it cannot automatically and stably clamp and fix materials of different sizes in multiple directions. Therefore, when clamping heavier materials, it is very easy to have insufficient clamping force, resulting in the material slipping, and it cannot adjust the clamping direction according to the type of material; at the same time, it cannot automatically store and protect the clamp after the work is completed, so it is necessary to provide an industrial robot with a clamp that can be adjusted in multiple directions to meet the needs of users. Summary of the invention

[0004] The present invention proposes an industrial robot with a clamp that can be adjusted in multiple directions, which solves the problems that the industrial robots in the related art cannot automatically and stably clamp and fix materials of different sizes in multiple directions, cannot adjust the clamping direction according to the type of material, and cannot automatically store and protect the clamp after work.

[0005] The technical solution of the present invention is as follows:

[0006] An industrial robot with a multi-directional adjustable clamp comprises a mounting seat and a fourth mechanical arm, wherein the mounting seat is provided with a first mechanical arm, the fourth mechanical arm is connected with a storage frame, a first hydraulic rod is fixedly mounted on the inner top of the storage frame, a bottom end of the first hydraulic rod is fixedly connected with a mounting plate, a second hydraulic rod is fixedly mounted in the mounting plate, an end of the second hydraulic rod is fixedly connected with a connecting frame, a third hydraulic rod is fixedly mounted on the connecting frame, a multi-directional clamping assembly is mounted on the end of the third hydraulic rod, an automatic protection assembly is mounted in the storage frame, the multi-directional clamping assembly comprises a fixing frame and a first spring, the fixing frame is fixedly connected to the end of the third hydraulic rod, a connecting groove is provided in the fixing frame, a servo motor is welded and fixed on the fixing frame, a worm is connected to the output end of the servo motor, a worm wheel is meshedly connected to the worm, a rotating shaft is welded and fixed on the worm wheel, a rotating frame is welded and fixed on the rotating shaft, and a connecting plate is welded and fixed on the rotating frame.

[0007] As a preferred solution of the present invention, wherein: the first hydraulic rod is connected to the center of the mounting plate, the second hydraulic rod is symmetrically distributed on both sides of the mounting plate, the second hydraulic rod corresponds one-to-one with the third hydraulic rod through the connecting frame, and the third hydraulic rod corresponds one-to-one with the fixing frame.

[0008] As a preferred solution of the present invention, wherein: a through groove is provided on the connecting plate, a slidingly connected limit rod passes through the connecting plate, one end of the limit rod is welded and fixed with a first clamping plate, the other end of the limit rod is welded and fixed with a second push plate, one end of the first spring is welded and fixed on the connecting plate, the other end of the first spring is welded and fixed on the first clamping plate, the through grooves are symmetrically distributed on both sides of the connecting plate, and the limit rod is connected to the center of the first clamping plate.

[0009] As a preferred solution of the present invention, wherein: a first rubber pad is fixedly connected to the first clamping plate, a slide groove is provided on the first clamping plate, a slider is limitedly slidably connected in the slide groove, and a first push plate is welded and fixed to the slider.

[0010] As a preferred solution of the present invention, the slide groove is symmetrically distributed on both sides of the first clamping plate, the slide groove corresponds to the first push plate one by one through a slider, the cross-section of the slider and the cross-section of the slide groove are both "T" shaped, and the slider is fixed at the middle part of the side end of the first push plate.

[0011] As a preferred solution of the present invention, wherein: the first push plate is rotatably connected to the second clamping plate, a driven shaft is welded and fixed to the second clamping plate, the driven shaft is rotatably connected to a support plate, the support plate is welded and fixed to the connecting plate, a slot is opened on the second clamping plate, a sleeve frame is sleeved on the second clamping plate, the second clamping plate corresponds one-to-one to the first push plate and the sleeve frame respectively, and the slots are equidistantly distributed on the second clamping plate.

[0012] As a preferred solution of the present invention, wherein: a second rubber pad is fixedly connected to the sleeve frame, the cross-section of the second rubber pad is "L"-shaped, a second spring is welded and fixed to the sleeve frame, a clamping rod is welded and fixed to the second spring, the clamping rod is limitedly slidably connected to the sleeve frame, the end of the clamping rod is clamped and connected in the clamping groove, a fourth hydraulic rod is installed and fixed on the connecting plate, and the fourth hydraulic rod is symmetrically distributed on both sides of the connecting plate.

[0013] As a preferred solution of the present invention, the automatic protection component includes a traction rope and a coil, one end of the traction rope is fixedly connected to the top surface of the mounting plate, the other end of the traction rope is wound around the coil, a threaded rod is welded and fixed to the coil, the traction rope is symmetrically distributed on both sides of the top of the mounting plate, the traction rope corresponds one-to-one with the threaded rod through the coil, and the top end of the threaded rod is rotatably connected to the inner top surface of the storage frame.

[0014] As a preferred solution of the present invention, a limit frame is welded and fixed on the inner top surface of the storage frame, a spiral spring is welded and fixed inside the limit frame, the inner end of the spiral spring is welded and fixed to the top of the threaded rod, a protective frame is threadedly connected to the threaded rod, the protective frame is limited and slidably connected in the storage frame, and a rubber plate is fixedly connected to the bottom inner wall of the protective frame.

[0015] As a preferred solution of the present invention, the threaded rods are symmetrically distributed on both sides of the protective frame, the outer wall of the protective frame fits with the inner wall of the storage frame, and the rubber plates are symmetrically distributed on both sides of the bottom of the protective frame, and the rubber plates on both sides fit with each other.

[0016] The working principle and beneficial effects of the present invention are:

[0017] 1. The present invention is provided with a multi-directional clamping assembly. Under the driving action of the second hydraulic rods on both sides, the fixed frames on both sides can be driven to move toward the middle, and the materials can be stably clamped by the first clamping plates on both sides. At the same time, the first clamping plate can push the second clamping plates on both sides to rotate toward the middle through the first push plate, so that the sides of the materials can be stably clamped, thereby realizing multi-point clamping of the materials, effectively improving the clamping stability of the materials, and ensuring the stability and safety of the subsequent transfer of the materials; and the meshing drive of the worm and the worm gear can drive the first clamping plate to adjust the angle, so that the first clamping plates on both sides can not only face the middle part at the same time, but also face downward at the same time, and can also face the outside at the same time; thereby, different types of materials can be stably and safely clamped and fixed, ensuring the stability and safety of the subsequent movement of the materials; and the cooperation of the card slot and the card rod can conveniently adjust the extension length of the sleeve frame on the second clamping plate, thereby adapting to materials of different sizes, effectively improving the practicality and applicability of the industrial robot.

[0018] 2. The present invention is provided with an automatic protection component. When the industrial robot starts working, it only needs to use the first hydraulic rod to push the mounting plate downward to push the multi-directional clamping component to move out of the storage frame. At the same time, the mounting plate can drive the threaded rod to rotate automatically through the traction rope and the coil, and then drive the protection frame to automatically move upward and fold into the storage frame, thereby ensuring the stability of the subsequent working state of the multi-directional clamping component. After the industrial robot finishes working, the multi-directional clamping component can be driven by the drive of the first hydraulic rod to move upward into the storage frame. At the same time, the volute spring can drive the threaded rod to automatically rotate in the opposite direction, and then drive the protection frame to automatically move downward and extend, thereby automatically storing and protecting the multi-directional clamping component to avoid damage caused by accidental contact, thereby increasing the diversity and safety of the industrial robot.

[0019] 3. The present invention is provided with a connecting frame and a third hydraulic rod. Under the driving action of the second hydraulic rods on both sides, the connecting frame and the third hydraulic rod can drive the multi-directional clamping assemblies on both sides to clamp the materials; and under the driving action of the third hydraulic rod, the distance between the multi-directional clamping assemblies on both sides can be further adjusted, so that the multi-directional clamping assemblies can be suitable for larger materials, further improving the applicability and functionality of the industrial robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 is a schematic diagram of the connection structure between the third mechanical arm and the fourth mechanical arm of the present invention;

[0023] Figure 3 It is a schematic diagram of the connection structure between the fourth mechanical arm and the storage frame of the present invention;

[0024] Figure 4 The present invention Figure 3 The enlarged structural diagram at A in the middle;

[0025] Figure 5 It is a schematic diagram of the connection structure between the second hydraulic rod and the connecting frame of the present invention;

[0026] Figure 6 It is a schematic diagram of the connection structure between the mounting plate and the second hydraulic rod of the present invention;

[0027] Figure 7 It is a schematic diagram of the connection structure between the second clamping plate and the sleeve frame of the present invention;

[0028] Figure 8 It is a schematic diagram of the connection structure between the limit rod and the second push plate of the present invention;

[0029] Fig. 9 The present invention Figure 8 The enlarged structural diagram at B in the middle;

[0030] Fig.10 It is a schematic diagram of the connection structure between the connecting plate and the limiting rod of the present invention;

[0031] Fig.11 It is a schematic diagram of the connection structure of the first push plate and the second clamping plate of the present invention;

[0032] Fig.12 It is a schematic diagram of the connection structure between the third hydraulic rod and the fixing frame of the present invention;

[0033] Fig.13 It is a schematic diagram of the main cross-sectional structure of the fixing frame of the present invention;

[0034] Fig.14 It is a schematic diagram of the side section structure of the fixing frame of the present invention;

[0035] Fig.15 It is a schematic diagram of the connection structure between the protection frame and the rubber plate of the present invention;

[0036] Fig.16 The present invention Fig.15 Enlarged structural diagram at point C in the middle.

[0037] In the figure: 1, mounting base; 2, first mechanical arm; 3, second mechanical arm; 4, third mechanical arm; 5, fourth mechanical arm; 6, storage frame; 7, first hydraulic rod; 8, mounting plate; 9, second hydraulic rod; 10, connecting frame; 11, third hydraulic rod; 12, multi-directional clamping assembly; 1201, fixing frame; 1202, connecting groove; 1203, servo motor; 1204, worm; 1205, worm wheel; 1206, rotating shaft; 1207, rotating frame; 1208, connecting plate; 1209, through groove; 1210, limiting rod; 1211, first spring; 1212, first clamping plate; 1213 , first rubber pad; 1214, slide groove; 1215, slider; 1216, first push plate; 1217, second clamping plate; 1218, driven shaft; 1219, support plate; 1220, slot; 1221, sleeve frame; 1222, second rubber pad; 1223, second spring; 1224, clamping rod; 1225, second push plate; 1226, fourth hydraulic rod; 13, automatic protection component; 1301, traction rope; 1302, guide wheel; 1303, coil; 1304, threaded rod; 1305, limit frame; 1306, volute spring; 1307, protection frame; 1308, rubber plate. DETAILED DESCRIPTION

[0038] The following will be combined with 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.

[0039] Example 1

[0040] like Figures 1 to 16As shown, this embodiment proposes an industrial robot with a multi-directional adjustable clamp, including a mounting seat 1 and a fourth mechanical arm 5, a first mechanical arm 2 is mounted on the mounting seat 1, a second mechanical arm 3 is connected to the first mechanical arm 2, a third mechanical arm 4 is connected to the second mechanical arm 3, a fourth mechanical arm 5 is connected to the third mechanical arm 4, a storage frame 6 is connected to the fourth mechanical arm 5, a first hydraulic rod 7 is fixedly mounted on the top of the storage frame 6, a mounting plate 8 is fixedly connected to the bottom of the first hydraulic rod 7, a second hydraulic rod 9 is fixedly mounted in the mounting plate 8, a connecting frame 10 is fixedly connected to the end of the second hydraulic rod 9, a third hydraulic rod 11 is fixedly mounted on the connecting frame 10, a multi-directional clamping assembly 12 is mounted on the end of the third hydraulic rod 11, an automatic protection assembly 13 is mounted in the storage frame 6, the multi-directional clamping assembly 12 includes a fixing frame 1201 and a first spring 1211, the fixing frame 1201 is fixedly connected to the end of the third hydraulic rod 11, a connecting groove 1202 is provided in the fixing frame 1201, and a fixing frame 1201 is fixedly connected to the end of the third hydraulic rod 11. A servo motor 1203 is welded and fixed on the frame 1201, and a worm 1204 is connected to the output end of the servo motor 1203, and a worm gear 1205 is meshed and connected to the worm gear 1204, and a rotating shaft 1206 is welded and fixed on the worm gear 1205, and a rotating frame 1207 is welded and fixed on the rotating shaft 1206, and a connecting plate 1208 is welded and fixed on the rotating frame 1207. The multi-directional clamping component 12 can automatically and stably clamp the material at multiple points, which effectively improves the clamping stability of the material and ensures the stability and safety of the subsequent transfer of the material; and by adjusting the angle and length, different types and sizes of materials can be stably and safely clamped and fixed, ensuring the stability and safety of the subsequent movement of the material, effectively improving the practicality and applicability of the industrial robot, and combined with the automatic protection component 13, the multi-directional clamping component 12 can be automatically stored and protected to avoid the multi-directional clamping component 12 from being damaged by accidental contact, thereby increasing the diversity and safety of the use of the industrial robot.

[0041] Example 2

[0042] like Figures 1 to 16 As shown, based on the same concept as the above-mentioned embodiment 1, this embodiment also proposes an industrial robot with a multi-directional adjustable clamp.

[0043] In this embodiment, the first hydraulic rod 7 is connected to the central part of the mounting plate 8, the second hydraulic rod 9 is symmetrically distributed on both sides of the mounting plate 8, the second hydraulic rod 9 corresponds one-to-one with the third hydraulic rod 11 through the connecting frame 10, the third hydraulic rod 11 corresponds one-to-one with the fixed frame 1201, and the rotating frame 1207 is fixed to the middle part of the side end of the connecting plate 1208. Under the driving action of the second hydraulic rods 9 on both sides, the multi-directional clamping assemblies 12 on both sides can be driven by the connecting frame 10 and the third hydraulic rod 11 to clamp the material; and under the driving action of the third hydraulic rod 11, the distance between the multi-directional clamping assemblies 12 on both sides can be further adjusted, thereby further improving the applicability and functionality of the industrial robot.

[0044] In this embodiment, the worm 1204 is rotatably connected in the connecting groove 1202, the rotating shaft 1206 is rotatably connected to the fixed frame 1201, a through slot 1209 is opened on the connecting plate 1208, and a limiting rod 1210 is slidably connected to the connecting plate 1208. One end of the limiting rod 1210 is welded and fixed with a first clamping plate 1212, and the other end of the limiting rod 1210 is welded and fixed with a second push plate 1225, one end of the first spring 1211 is welded and fixed to the connecting plate 1208, and the other end of the first spring 1211 is welded and fixed to the first clamping plate 1212, so that The first clamping plate 1212 is automatically reset subsequently, and the through grooves 1209 are symmetrically distributed on both sides of the connecting plate 1208. The limiting rod 1210 is connected to the center of the first clamping plate 1212. The meshing drive of the worm 1204 and the worm wheel 1205 can drive the first clamping plate 1212 to adjust the angle, so that the first clamping plates 1212 on both sides can not only face the middle part at the same time, but also face downward and outward at the same time; thereby, different types of materials can be stably and safely clamped and fixed, ensuring the stability and safety of the subsequent movement of the materials.

[0045] In this embodiment, a first rubber pad 1213 is fixedly connected to the first clamping plate 1212, a slide groove 1214 is provided on the first clamping plate 1212, a slider 1215 is slidably connected in the slide groove 1214, a first push plate 1216 is welded and fixed on the slider 1215, the slide grooves 1214 are symmetrically distributed on both sides of the first clamping plate 1212, the slide grooves 1214 correspond one-to-one with the first push plate 1216 through the slider 1215, the first push plate 1216 is slidably connected in the through groove 1209, the cross-sections of the slider 1215 and the slide groove 1214 are both "T"-shaped, the slider 1215 is fixed to the middle part of the side end of the first push plate 1216, and the first push plate 1216 is rotatably connected to the second The clamping plate 1217, a driven shaft 1218 is welded and fixed on the second clamping plate 1217, and a support plate 1219 is rotatably connected to the driven shaft 1218. The support plate 1219 is welded and fixed on the connecting plate 1208. Under the driving action of the second hydraulic rods 9 on both sides, the fixed frames 1201 on both sides can be driven to move toward the middle, and the materials can be stably clamped through the first clamping plates 1212 on both sides. At the same time, the first clamping plate 1212 can push the second clamping plates 1217 on both sides to rotate toward the middle through the first push plate 1216, so as to stably clamp the sides of the materials, realize multi-point clamping of the materials, effectively improve the clamping stability of the materials, and ensure the stability and safety of the subsequent material transfer work.

[0046] In this embodiment, a slot 1220 is provided on the second clamping plate 1217, a sleeve frame 1221 is sleeved on the second clamping plate 1217, the second clamping plate 1217 is slidably connected in the sleeve frame 1221, the second clamping plate 1217 corresponds to the first push plate 1216 and the sleeve frame 1221 one by one, the slots 1220 are equidistantly distributed on the second clamping plate 1217, a second rubber pad 1222 is fixedly connected to the sleeve frame 1221, and the cross section of the second rubber pad 1222 is "L" shaped, and a second spring 1223 is welded and fixed on the sleeve frame 1221, and the second spring A clamping rod 1224 is welded and fixed on 1223, and the clamping rod 1224 is limitedly slidably connected to the sleeve frame 1221. The end of the clamping rod 1224 is clamped and connected in the clamping groove 1220. A fourth hydraulic rod 1226 is installed and fixed on the connecting plate 1208. The fourth hydraulic rod 1226 is symmetrically distributed on both sides of the connecting plate 1208. By utilizing the cooperation of the clamping groove 1220 and the clamping rod 1224, the extension length of the sleeve frame 1221 on the second clamping plate 1217 can be conveniently adjusted to adapt to materials of different sizes, thereby effectively improving the practicality and applicability of the industrial robot.

[0047] In this embodiment, the automatic protection component 13 includes a traction rope 1301 and a coil 1303, one end of the traction rope 1301 is fixedly connected to the top surface of the mounting plate 8, the other end of the traction rope 1301 is wound around the coil 1303, a guide wheel 1302 is installed on the inner top surface of the storage frame 6, the traction rope 1301 is limitedly slidably connected to the guide wheel 1302, a threaded rod 1304 is welded and fixed to the coil 1303, the traction rope 1301 is symmetrically distributed on both sides of the top of the mounting plate 8, and the traction rope 1301 corresponds one by one to the threaded rod 1304 through the coil 1303 The top end of the threaded rod 1304 is rotatably connected to the inner top end surface of the storage frame 6, and a protective frame 1307 is threadedly connected to the threaded rod 1304. When the industrial robot starts working, it only needs to use the first hydraulic rod 7 to push the mounting plate 8 downward to push the multi-directional clamping assembly 12 to move out of the storage frame 6. At the same time, the mounting plate 8 can drive the threaded rod 1304 to rotate automatically through the traction rope 1301 and the coil 1303, and then drive the protective frame 1307 to move upward automatically and fold into the storage frame 6, thereby ensuring the stability of the subsequent working state of the multi-directional clamping assembly 12.

[0048] In this embodiment, a limit frame 1305 is welded and fixed on the inner top surface of the storage frame 6, a spiral spring 1306 is welded and fixed in the limit frame 1305, the inner end of the spiral spring 1306 is welded and fixed to the top of the threaded rod 1304, a protective frame 1307 is limited and slidably connected in the storage frame 6, a rubber plate 1308 is fixedly connected to the bottom inner wall of the protective frame 1307, the threaded rods 1304 are symmetrically distributed on both sides of the protective frame 1307, the outer wall of the protective frame 1307 is in contact with the inner wall of the storage frame 6, and the rubber plate 1308 is fixedly connected to the bottom inner wall of the protective frame 1307. 08 are symmetrically distributed on both sides of the bottom of the protective frame 1307, and the rubber plates 1308 on both sides fit each other. After the industrial robot finishes working, the multi-directional clamping assembly 12 can be driven by the first hydraulic rod 7 to move upward to the storage frame 6. At the same time, the volute spring 1306 can drive the threaded rod 1304 to automatically rotate in the opposite direction, and then drive the protective frame 1307 to automatically move downward and extend, so that the multi-directional clamping assembly 12 can be automatically stored and protected to prevent the multi-directional clamping assembly 12 from being damaged by accidental contact.

[0049] It should be noted that the present invention is an industrial robot with a multi-directional adjustable clamp. First, when the industrial robot starts working, it drives the first hydraulic rod 7 in the storage frame 6. Under the driving action of the first hydraulic rod 7, the second hydraulic rod 9 on the mounting plate 8 can drive the connecting frame 10 to move downward, and then the third hydraulic rod 11 on the connecting frame 10 can drive the multi-directional clamping assembly 12 to move downward until the mounting plate 8 moves downward to be separated from the storage frame 6; and during the downward movement of the mounting plate 8, the traction rope 1301 on the guide wheel 1302 can be pulled. At this time, under the pulling action of the traction rope 1301, the threaded rod 1304 can be driven to rotate automatically through the coil 1303. Under the joint rotation action of the threaded rods 1304 on both sides, the threaded protective frame 1307 can be driven to move automatically upward and folded and stored in the storage frame 6. At this time, the multi-directional clamping assembly 12 can push away the rubber plates 1308 on both sides and move away from the protective frame 1307 to prevent the protective frame 1307 from blocking the normal operation of the multi-directional clamping assembly 12.

[0050] Subsequently, under the driving action of the second hydraulic rods 9 on both sides, the corresponding connecting frame 10 can be driven to move to the side, and then the corresponding multi-directional clamping assembly 12 can be driven to move to the side through the third hydraulic rod 11. When it is necessary to clamp larger materials, the third hydraulic rod 11 can be driven at the same time. At this time, under the driving action of the third hydraulic rod 11, the distance between the multi-directional clamping assemblies 12 on both sides can be further increased to ensure the stability of subsequent clamping work; then, under the coordinated driving action of the first mechanical arm 2, the second mechanical arm 3 and the third mechanical arm 4, the storage frame 6 can be driven by the fourth mechanical arm 5 to move above the material to be clamped, and the multi-directional clamping assemblies 12 on both sides are located on both sides of the material. At this time, under the driving action of the second hydraulic rod 9 and the third hydraulic rod 11, the multi-directional clamping assemblies 12 on both sides can be driven to move to the middle.

[0051] At this time, the first rubber pads 1213 on the first clamping plates 1212 on both sides first contact with the left and right sides of the material, and the first clamping plates 1212 cannot move further. Subsequently, under the continued driving action of the second hydraulic rod 9 and the third hydraulic rod 11, the connecting plate 1208 can be pushed to move toward the first clamping plate 1212 through the rotating frame 1207 on the fixed frame 1201. At this time, during the movement of the connecting plate 1208, the first clamping plate 1212 pushes the second clamping plate 1217 to automatically rotate toward the material through the first push plate 1216 on the slider 1215, and the second clamping plate 1217 can be stably rotated through the driven shaft 1218 on the support plate 1219. During the rotation of the second clamping plate 1217, the first push plate 1216 can drive the slider 1215 to slide in the through groove 1209 to ensure the stability of the working state of the first push plate 1216 and avoid motion interference; at this time, under the simultaneous rotation of the second clamping plates 1217 on both sides, combined with the second rubber pads 1222 on the sleeve frame 1221, the front and rear end surfaces of the material can be automatically clamped. At this time, under the joint action of the first clamping plates 1212 on both sides and the second clamping plates 1217 on both sides of the first clamping plates 1212, the material can be clamped at multiple points, which effectively improves the clamping stability of the material and ensures the stability and safety of the subsequent material transfer work.

[0052] Before the industrial robot starts working, the staff can pull the clamping rod 1224 on the sleeve frame 1221 outward until the clamping rod 1224 moves out of the clamping slot 1220 on the second clamping plate 1217. At this time, the staff can pull the sleeve frame 1221 to slide on the second clamping plate 1217 to adjust the extension length of the sleeve frame 1221. After adjustment, the clamping rod 1224 on the sleeve frame 1221 can be released. At this time, under the elastic action of the second spring 1223, the clamping rod 1224 can be driven to automatically engage in the clamping slot 1220 on the second clamping plate 1217, completing the adjustment of the clamping length of the multi-directional clamping assembly 12, thereby ensuring that the second clamping plate 1217 cooperates with the sleeve frame 1221 to adapt to clamping materials of different sizes.

[0053] Before the industrial robot starts working, the staff can drive the servo motor 1203 on the fixed frame 1201. Under the driving action of the servo motor 1203, the worm gear 1205 can be driven to rotate through the worm 1204, and then the rotating frame 1207 can be driven to rotate stably through the rotating shaft 1206. Under the rotation action of the rotating frame 1207, the first clamping plate 1212 and the second clamping plate 1217 can be driven to rotate through the connecting plate 1208, thereby realizing the angle adjustment of the multi-directional clamping assembly 12.

[0054] By driving the first clamping plates 1212 and the corresponding second clamping plates 1217 on both sides to rotate to face downward, and then under the driving action of the second hydraulic rod 9 and the third hydraulic rod 11, the first clamping plates 1212 and the corresponding second clamping plates 1217 on both sides can be driven to move to the two ends of the pipe material respectively. At this time, under the driving action of the fourth hydraulic rod 1226, it can first contact with the second push plate 1225 and push the second push plate 1225, and then the first clamping plate 1212 can be pushed to move to the connecting plate 1208 through the limit rod 1210; similarly, the first push plate 1216 on the first clamping plate 1212 can also push the second clamping plates 1217 on both sides to move toward the middle at the same time, so that the pipe material can be The two ends are clamped, and the lifting and transfer work is realized, thereby ensuring the stability and convenience of the clamping and transfer of pipe materials; and when it is necessary to clamp and transfer larger frame materials or materials with inner holes, it is only necessary to drive the first clamping plates 1212 and the corresponding second clamping plates 1217 on both sides to rotate to face outward, and drive the fourth hydraulic rod 1226 to make the second clamping plates 1217 on both sides move toward the middle to be perpendicular to the first clamping plates 1212. At this time, under the driving action of the second hydraulic rod 9 and the third hydraulic rod 11, the second clamping plates 1217 can be driven to move from the middle to both sides, and cooperate with the sleeve frame 1221 and the second rubber pad 1222 to squeeze and clamp the inner wall of the material, thereby ensuring the stability and convenience of the subsequent transfer of the material.

[0055] After the industrial robot finishes working, the second hydraulic rod 9 and the third hydraulic rod 11 can be driven to make the multi-directional clamping components 12 on both sides move to the middle and reset. Then, under the driving action of the first hydraulic rod 7, the multi-directional clamping component 12 can be driven by the mounting plate 8 to move upward into the storage frame 6 to complete the reset. At the same time, under the movement of the mounting plate 8, the end of the traction rope 1301 can be driven to move upward and reset. At this time, under the elastic action of the spiral spring 1306 inside the limit frame 1305, the threaded rod 1304 on the coil 1303 can be driven to automatically rotate in the opposite direction, and the traction rope 1301 can be automatically reeled up through the coil 1303, thereby ensuring the stability of the subsequent repeated working state of the traction rope 1301. Under the reverse rotation action of the threaded rod 1304, the protective frame 1307 can be driven to automatically move downward and extend, and the multi-directional clamping component 12 can be automatically stored and protected in cooperation with the rubber plate 1308.

[0056] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An industrial robot with a multi-directionally adjustable fixture, characterized in that: The invention comprises a mounting seat (1) and a fourth mechanical arm (5), wherein a first mechanical arm (2) is mounted on the mounting seat (1), a storage frame (6) is connected to the fourth mechanical arm (5), a first hydraulic rod (7) is fixedly mounted on the top end of the storage frame (6), a mounting plate (8) is fixedly connected to the bottom end of the first hydraulic rod (7), a second hydraulic rod (9) is fixedly mounted in the mounting plate (8), a connecting frame (10) is fixedly connected to the end of the second hydraulic rod (9), a third hydraulic rod (11) is fixedly mounted on the connecting frame (10), a multi-directional clamping assembly (12) is mounted on the end of the third hydraulic rod (11), an automatic protection assembly (13) is mounted in the storage frame (6), and the multi-directional clamping assembly (13) is fixedly mounted in the multi-directional clamping assembly (12). The component (12) comprises a fixed frame (1201) and a first spring (1211); the fixed frame (1201) is fixedly connected to the end of the third hydraulic rod (11); a connecting groove (1202) is provided in the fixed frame (1201); a servo motor (1203) is welded and fixed to the fixed frame (1201); a worm (1204) is connected to the output end of the servo motor (1203); a worm gear (1205) is meshedly connected to the worm gear (1204); a rotating shaft (1206) is welded and fixed to the worm gear (1205); a rotating frame (1207) is welded and fixed to the rotating shaft (1206); and a connecting plate (1208) is welded and fixed to the rotating frame (1207).

2. The industrial robot with a multi-directionally adjustable clamp according to claim 1, characterized in that: The first hydraulic rod (7) is connected to the central part of the mounting plate (8), the second hydraulic rod (9) is symmetrically distributed on both sides of the mounting plate (8), the second hydraulic rod (9) corresponds one-to-one with the third hydraulic rod (11) through the connecting frame (10), and the third hydraulic rod (11) corresponds one-to-one with the fixing frame (1201).

3. The industrial robot with a multi-directionally adjustable clamp according to claim 2, characterized in that: The connecting plate (1208) is provided with a through slot (1209), and a limiting rod (1210) is slidably connected through the connecting plate (1208). One end of the limiting rod (1210) is welded and fixed with a first clamping plate (1212), and the other end of the limiting rod (1210) is welded and fixed with a second push plate (1225). One end of the first spring (1211) is welded and fixed to the connecting plate (1208), and the other end of the first spring (1211) is welded and fixed to the first clamping plate (1212). The through slots (1209) are symmetrically distributed on both sides of the connecting plate (1208), and the limiting rod (1210) is connected to the center of the first clamping plate (1212).

4. The industrial robot with a multi-directionally adjustable clamp according to claim 3, characterized in that: A first rubber pad (1213) is fixedly connected to the first clamping plate (1212), a sliding groove (1214) is provided on the first clamping plate (1212), a sliding block (1215) is limitedly slidably connected in the sliding groove (1214), and a first push plate (1216) is welded and fixed to the sliding block (1215).

5. The industrial robot with a multi-directionally adjustable clamp according to claim 4, characterized in that: The slide grooves (1214) are symmetrically distributed on both sides of the first clamping plate (1212); the slide grooves (1214) correspond one-to-one with the first push plate (1216) through the sliders (1215); the cross-sections of the sliders (1215) and the slide grooves (1214) are both T-shaped; the sliders (1215) are fixed at the middle part of the side ends of the first push plate (1216).

6. The industrial robot with a multi-directionally adjustable clamp according to claim 5, characterized in that: The first push plate (1216) is rotatably connected to a second clamping plate (1217), a driven shaft (1218) is welded and fixed to the second clamping plate (1217), a support plate (1219) is rotatably connected to the driven shaft (1218), the support plate (1219) is welded and fixed to the connecting plate (1208), a slot (1220) is provided on the second clamping plate (1217), a sleeve frame (1221) is sleeved on the second clamping plate (1217), the second clamping plate (1217) corresponds one-to-one to the first push plate (1216) and the sleeve frame (1221), and the slots (1220) are equidistantly distributed on the second clamping plate (1217).

7. The industrial robot with a multi-directionally adjustable clamp according to claim 6, characterized in that: A second rubber pad (1222) is fixedly connected to the sleeve frame (1221), and the cross section of the second rubber pad (1222) is "L"-shaped. A second spring (1223) is welded and fixed to the sleeve frame (1221), and a clamping rod (1224) is welded and fixed to the second spring (1223). The clamping rod (1224) is connected to the sleeve frame (1221) in a limited sliding manner, and the end of the clamping rod (1224) is clamped and connected in the clamping groove (1220). A fourth hydraulic rod (1226) is installed and fixed on the connecting plate (1208), and the fourth hydraulic rod (1226) is symmetrically distributed on both sides of the connecting plate (1208).

8. The industrial robot with a multi-directionally adjustable clamp according to claim 1, characterized in that: The automatic protection component (13) comprises a traction rope (1301) and a coil (1303), one end of the traction rope (1301) is fixedly connected to the top end surface of the mounting plate (8), the other end of the traction rope (1301) is wound around the coil (1303), a threaded rod (1304) is welded and fixed to the coil (1303), the traction rope (1301) is symmetrically distributed on both sides of the top of the mounting plate (8), the traction rope (1301) corresponds to the threaded rod (1304) one by one through the coil (1303), and the top end of the threaded rod (1304) is rotatably connected to the inner top end surface of the storage frame (6).

9. The industrial robot with a multi-directionally adjustable clamp according to claim 8, characterized in that: A limit frame (1305) is welded and fixed on the inner top surface of the storage frame (6), a spiral spring (1306) is welded and fixed inside the limit frame (1305), the inner end of the spiral spring (1306) is welded and fixed to the top of the threaded rod (1304), a protective frame (1307) is threadedly connected to the threaded rod (1304), the protective frame (1307) is limitedly slidably connected in the storage frame (6), and a rubber plate (1308) is fixedly connected to the inner wall of the bottom of the protective frame (1307).

10. The industrial robot with a multi-directionally adjustable clamp according to claim 9, characterized in that: The threaded rods (1304) are symmetrically distributed on both sides of the protective frame (1307), the outer wall of the protective frame (1307) is in contact with the inner wall of the storage frame (6), and the rubber plates (1308) are symmetrically distributed on both sides of the bottom of the protective frame (1307), and the rubber plates (1308) on both sides are in contact with each other.

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