Multi-joint industrial robot and using method thereof

Abstract

The invention relates to the technical field of industrial robots, in particular to a multi-joint industrial robot and a using method thereof. Comprising a robot body, a protection frame is arranged at the end of the robot body, a rotating gear is arranged on the side wall of the robot body, an air cylinder is arranged in the protection frame, a lifting plate is arranged at the end of the air cylinder, and a clamping assembly is arranged at the bottom of the lifting plate. The bottom of the clamping block slides into the telescopic spring under the pressure of the spherical part, meanwhile, the clamping block is subjected to the acting force of the telescopic spring, so that a rotating roller arranged at the end is attached to the surface of the spherical part, and in the upward moving process of the spherical part, the rotating roller rotates under friction force to drive magnesium powder to be painted on the surface of the spherical part; and the clamping plates clamp and fix the spherical part under the acting force of the torsional springs, so that the clamping strength of the contact surfaces of the clamping plates and the spherical part is improved through magnesium powder, and the clamping stability of the spherical part is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and in particular to a multi-joint industrial robot and a method for using the same. Background Art

[0002] Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field. Industrial robots can rely on their own power and control capabilities to achieve various industrial processing and manufacturing functions. They have been widely used in industrial production, logistics, chemical industry and other fields. Industrial robots need to be installed with grasping devices before work to grasp, locate or transfer products. Robot technology is a symbol of the new generation of industrial revolution.

[0003] There are many existing technologies for multi-joint industrial machines, such as:

[0004] Chinese patent publication number CN116833985A, a multi-joint industrial robot, the patent relates to the field of industrial robot technology, including an anti-drop mechanism, which is arranged at the lower position of the grasping mechanism, and drives the high-temperature ball to move to the inner side of the anti-drop mechanism through friction, and limits the high-temperature ball by wrapping, and the grasping mechanism cooperates with the connecting rod structure to drive the high-temperature ball to move; including a guide component and a clamping component, the bottom of the guide component is rotatably connected to the clamping table, and the lower position of the clamping table surface is fixedly connected to the first motor. In this multi-joint industrial robot, when the clamping component approaches and contacts the high-temperature ball, the clamping component drives the high-temperature ball to approach the clamping table through friction, and at the same time, the first motor drives the clamping component to deflect, and the four clamping components deflect centripetally at the same time, so that the high-temperature ball is clamped into the inside of the clamping table, solving the problem of how to grasp the surface of the high-temperature spherical object to prevent the ball from falling.

[0005] However, in actual use, there are still some problems that need to be solved:

[0006] 1. In the production process, the existing multi-joint industrial robots usually clamp spherical objects through clamping plates. However, since the surface of the spherical parts is relatively smooth, it is easy for the spherical parts to slip during the clamping process. Once this happens, the operator needs to perform secondary clamping, which undoubtedly greatly increases the labor intensity of the operators and reduces production efficiency. Moreover, frequent secondary clamping may also cause damage to the spherical objects and affect product quality.

[0007] 2. When the clamping assembly becomes loose during use, the spherical part is very likely to fall and roll, which may not only damage the spherical part itself, but also cause serious safety hazards to nearby workers. For example, the fallen spherical part may hit the worker's feet, or hit the worker during rolling, causing injury.

[0008] Therefore, a multi-joint industrial robot and a method for using the same are proposed. Summary of the invention

[0009] The object of the present invention is to provide a multi-joint industrial robot and a method of using the same to solve the problems raised in the above-mentioned background technology.

[0010] In order to solve the above technical problems, one of the purposes of the present invention is to provide a multi-joint industrial robot, including a robot body, a protective frame is provided at the end of the robot body, a rotating gear is provided on the side wall of the robot body, a cylinder is provided in the protective frame, a lifting plate is provided at the end of the cylinder, a limit rod is provided between the lifting plate and the robot body, a first rack is provided on both sides of the limit rod, and the first rack drives the rotating gear to rotate when it moves, a clamping assembly is provided at the bottom of the lifting plate, and when the cylinder drives the lifting plate to move downward in a vertical direction, the clamping assembly automatically clamps the spherical part, and an anti-skid assembly is provided at the end of the clamping assembly, and the anti-skid assembly is used to apply magnesium powder to the clamping surface of the spherical part to increase the friction between the spherical part and the clamping assembly; a protective assembly is provided on one side of the rotating gear, and the protective assembly is used to automatically protect the spherical part that slips from the clamping assembly to prevent the spherical part from falling to the ground and being deformed and damaged.

[0011] As a further improvement of the present technical solution, the clamping assembly includes a motor arranged on the top of the lifting plate, a main gear is provided at the output end of the motor, a sub-gear is provided at the bottom of the main gear, the sub-gears are arranged in a circular array, a screw is provided at the end of the sub-gear, a movable substrate is provided on the surface of the screw, the movable substrate moves on the surface of the screw, a fixed rod is provided at the bottom of the movable substrate, a clamping plate is rotatably provided on the surface of the fixed rod, a torsion spring is provided on the surface of the fixed rod, the two ends of the torsion spring are respectively connected to the movable substrate and the clamping plate, and the clamping plate is subjected to the force of the torsion spring and forms an angle of 20° with the movable substrate.

[0012] As a further improvement of the technical solution, a rubber pad is provided on the side of the clamping plate close to the spherical member, and the rubber pad is used to increase the friction force with the spherical member.

[0013] As a further improvement of the technical solution, a sliding rod is provided on the side of the movable base away from the spherical part, the sliding rod passes through the movable base and a knocking ball is provided at the end, a compression spring is provided between the sliding rod and the movable base, and the clamping plate is used to clamp the spherical part, and when the clamping plate rotates, it pushes the sliding rod, so that the sliding rod knocks on the anti-slip component.

[0014] As a further improvement of the technical solution, the upper length of the clamp rotating along the fixed rod is greater than the radius of the spherical part to be clamped, and a groove is provided at the bottom of the clamp, and an anti-slip component is provided in the groove. The anti-slip component is used to apply magnesium powder to the side wall of the clamped spherical part.

[0015] As a further improvement of the present technical solution, the anti-slip component includes a magnesium powder can arranged outside the movable base plate, an electric valve is provided at the bottom of the magnesium powder can, a bellows is connected to the end of the electric valve, the bellows passes through the groove and a block is provided at the end, the block is wedge-shaped, a cavity is provided above the block, a rotating roller is provided at the end of the cavity, a cowhide pad is provided on the surface of the rotating roller, and the end of the bellows is connected to the inside of the cavity.

[0016] As a further improvement of the technical solution, a telescopic spring is provided between the clamping block and the groove, and the bottom of the clamping block slides into the groove under pressure.

[0017] As a further improvement of the present technical solution, the protection component includes a column tube provided on both sides of the bottom of the protection frame, a moving rod is slidably provided on the inner wall of the column tube, an elastic member is provided between the column tube and the moving rod, an anti-fall box is provided at the end of the moving rod, the anti-fall box is semicircular, a buffer pad is provided at the bottom of the anti-fall box, an arc groove is provided at the center of the bottom of the anti-fall box, a telescopic clamp is provided inside the anti-fall box, and the spherical member is clamped between the telescopic clamps when it falls.

[0018] As a further improvement of the present technical solution, a second rack is provided on the side of the rotating gear away from the first rack. When the rotating gear moves, it drives the second rack to move in the opposite direction. A pull rope is provided at the bottom of the second rack, and the pull rope is connected to the end of the anti-fall box. A fixed pulley is provided under the second rack, and when the pull rope moves, it moves in close contact with the bottom of the fixed pulley.

[0019] A second object of the present invention is to provide a multi-joint industrial robot processing method, comprising the multi-joint industrial robot described in any one of the above, comprising the following steps:

[0020] S1. The robot body drives the protective frame to move above the spherical part to be clamped, and the piston rod at the end of the control cylinder drives the lifting plate to descend;

[0021] S2. The clamping size of the clamping assembly is adjusted according to the size of the spherical piece. When the lifting plate descends, the spherical piece is automatically clamped and fixed by the clamping assembly. During the clamping process of the spherical piece, magnesium powder is applied to the surface of the spherical piece through the anti-slip assembly to increase the friction between the spherical piece and the clamping assembly.

[0022] S3. When the clamping assembly drives the spherical part to move, the protective assembly protects the moving spherical part to prevent the spherical part from slipping and causing safety hazards.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] 1. In the process of the multi-joint industrial robot moving down, the bottom of the clamping block first contacts the side wall of the spherical part, and the bottom of the clamping block slides into the inside of the telescopic spring due to the pressure of the spherical part. At the same time, the clamping block is acted upon by the telescopic spring to make the rotating roller provided at the end fit the surface of the spherical part. In the process of the spherical part moving up, the rotating roller rotates due to the friction force and drives the magnesium powder to be brushed on the surface of the spherical part. When the spherical part moves to the upper end of the clamping plate to squeeze the clamping plate, the clamping plate is clamped and fixed by the torsion spring, so that the contact surface between the clamping plate and the spherical part improves the clamping strength through the magnesium powder, thereby further improving the stability of the clamping of the spherical part.

[0025] 2. For the multi-joint industrial robot, when the lifting plate is driven to move up by the cylinder, the first rack drives the rotating gear to rotate in the opposite direction, so that the second rack moves downward in the vertical direction. The moving rod provided at the end of the anti-fall box is pushed by the restoring force of the elastic member, so that the anti-fall boxes are brought closer to each other, so that the anti-fall boxes form an enclosure. When the spherical part clamped between the clamping plates falls during the movement, the spherical part squeezes the telescopic clamp to move to both sides. The telescopic clamp can buffer the impact force of the spherical part when it falls, so that the bottom of the sphere falls smoothly into the arc groove, and the spherical part is prevented from popping out of the anti-fall box, thereby improving the safety of the processing process and avoiding safety hazards. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0027] Figure 2 It is a schematic diagram of the protection frame structure of the present invention;

[0028] Figure 3 It is a cross-sectional view of the protection frame of the present invention;

[0029] Figure 4 It is a schematic diagram of the structure of the clamping assembly of the present invention;

[0030] Figure 5 It is a schematic diagram of the splint structure of the present invention;

[0031] Figure 6 is a cross-sectional view of a clamping assembly of the present invention;

[0032] Figure 7 For the present invention Figure 6 Schematic diagram of point A;

[0033] Figure 8 It is a schematic diagram of the structure of the protection component of the present invention.

[0034] The meaning of each number in the figure is:

[0035] 100, robot body; 101, protection frame; 102, rotating gear;

[0036] 200, cylinder; 201, lifting plate; 202, limit rod; 203, first rack;

[0037] 300, clamping assembly; 301, motor; 302, main gear; 303, sub gear; 304, lead screw; 305, moving base plate; 306, clamping plate; 307, torsion spring; 308, rubber pad; 309, groove; 310, slide bar; 311, knocking ball; 312, compression spring;

[0038] 400, anti-skid assembly; 401, magnesium powder tank; 402, bellows; 403, clamping block; 404, rotating roller; 405, telescopic spring;

[0039] 500, protection assembly; 501, second rack; 502, fixed pulley; 503, anti-fall box; 504, column; 505, moving rod; 506, elastic member; 507, buffer pad; 508, arc groove; 509, telescopic clamp. DETAILED DESCRIPTION

[0040] 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.

[0041] One of the purposes of the present invention is to Figure 1-Figure 8As shown, a multi-joint industrial robot is provided, including a robot body 100, a protective frame 101 is provided at the end of the robot body 100, a rotating gear 102 is provided on the side wall of the robot body 100, a cylinder 200 is provided in the protective frame 101, a lifting plate 201 is provided at the end of the cylinder 200, a limiting rod 202 is provided between the lifting plate 201 and the robot body 100, and first racks 203 are provided on both sides of the limiting rod 202. When the first rack 203 moves, it drives the rotating gear 102 to rotate. The bottom of the lifting plate 201 is provided with a There is a clamping assembly 300. When the cylinder 200 drives the lifting plate 201 to move downward in the vertical direction, the clamping assembly 300 automatically clamps the spherical part. An anti-skid assembly 400 is provided at the end of the clamping assembly 300. The anti-skid assembly 400 is used to apply magnesium powder to the clamping surface of the spherical part to increase the friction between the spherical part and the clamping assembly 300; a protective assembly 500 is provided on one side of the rotating gear 102. The protective assembly 500 is used to automatically protect the spherical part that slips from the clamping assembly 300 to prevent the spherical part from falling to the ground and being deformed and damaged.

[0042] When processing the spherical parts, in order to facilitate the rapid grasping of the spherical parts, the clamping assembly 300 includes a motor 301 arranged on the top of the lifting plate 201, a main gear 302 is provided at the output end of the motor 301, a sub-gear 303 is provided at the bottom of the main gear 302, the sub-gear 303 is arranged in a ring array, a screw rod 304 is provided at the end of the sub-gear 303, a movable base plate 305 is provided on the surface of the screw rod 304, the movable base plate 305 moves on the surface of the screw rod 304, a fixed rod is provided at the bottom of the movable base plate 305, a clamping plate 306 is provided on the surface of the fixed rod for rotation, a torsion spring 307 is provided on the surface of the fixed rod, and the two ends of the torsion spring 307 are respectively connected to the movable base plate 305 and the clamping plate 306, the clamping plate 306 is subjected to the force of the torsion spring 307 and forms an angle of 20° with the movable base plate 305, the protective frame 101 is driven by the robot body 100 to move above the spherical part to be processed, and the spherical part is clamped. When the main gear 302 rotates, the main gear 302 drives the sub-gear 303 to mesh and rotate. The screw rod 304 provided at the end of the sub-gear 303 rotates coaxially. When the screw rod 304 rotates, it drives the movable base plate 305 to move relatively. The moving distance of the movable base plate 305 is controlled so that the distance between them is the same as the diameter of the spherical part. The lifting plate 201 is driven to descend by the control cylinder 200. When the lifting plate 201 descends, the clamping plate 306 is driven to move downward. The clamping plate 306 is enclosed to limit the spherical part. When the clamping plate 306 continues to move downward, the spherical part squeezes the upper part of the clamping plate 306, and the clamping plate 306 rotates on the fixed surface. When the clamping plate 306 rotates to fit the outer wall of the movable base plate 305, the piston rod at the end of the control cylinder 200 stops moving. At this time, the side wall of the spherical part is squeezed between the clamping plates 306 so as to be quickly fixed, thereby improving the grabbing efficiency of the spherical part.

[0043] Taking into account that the surface of the spherical part is relatively smooth, in order to prevent it from slipping during the grasping process, causing the surface of the spherical part to be bumped and deformed, and affecting the processing quality of the spherical part, a rubber pad 308 is provided on the side of the clamp 306 close to the spherical part. The rubber pad 308 is used to increase the friction with the spherical part. By arranging the rubber pad 308 on the surface of the clamp 306, during the grasping and clamping of the spherical part, the rubber pad 308 can increase the friction with the contact surface of the sphere, thereby preventing the sphere from falling during the grasping process, improving the clamping force and stability of the sphere, and preventing the sphere from slipping and being damaged.

[0044] Since the surface of the spherical piece is relatively smooth, it is easy to slide during the clamping process of the spherical piece, resulting in the spherical piece falling, bumping and deformation during the clamping and placing process. Therefore, the upper length of the clamping plate 306 rotating along the fixed rod is greater than the radius of the spherical piece to be clamped. A groove 309 is provided at the bottom of the clamping plate 306. An anti-skid component 400 is provided in the groove 309. The anti-skid component 400 is used to apply magnesium powder to the side wall of the spherical piece being clamped. The anti-skid component 400 includes a magnesium powder tank 401 arranged outside the movable base plate 305. An electric valve is provided at the bottom of the magnesium powder tank 401. A bellows 402 is connected to the end of the electric valve. The bellows 402 passes through the groove 309 and a block 403 is provided at the end. The block 403 is wedge-shaped. A cavity is provided above the block 403. A rotating roller 404 is provided at the end of the cavity. A cowhide pad is provided on the surface of the rotating roller 404. The end of the bellows 402 is connected to the inside of the cavity. An extension rod 403 is provided between the block 403 and the groove 309. The bottom of the block 403 is pressed against the expansion spring 405 and slides into the groove 309. When the spherical part is clamped, the clamp plate 306 moves downward and the bottom of the block 403 first contacts the side wall of the spherical part. The bottom of the block 403 is pressed against the expansion spring 405 and slides into the expansion spring 405. At the same time, the block 403 is acted upon by the expansion spring 405 so that the rotating roller 404 provided at the end is in contact with the surface of the spherical part. When the spherical part moves upward, the rotating roller 404 is rotated by the friction force. Since the cavity is filled with magnesium powder, the magnesium powder is applied to the surface of the spherical part during the rotation of the rotating roller 404. When the spherical part moves to the upper end of the clamp plate 306 and squeezes the clamp plate 306, the clamp plate 306 is clamped and fixed by the torsion spring 307, so that the contact surface between the clamp plate 306 and the spherical part is improved by the magnesium powder to improve the clamping strength, thereby preventing the spherical part from sliding and falling, thereby further improving the stability of the clamping of the spherical part.

[0045] In order to enable the rotating roller 404 to perform the clamping operation, the operator needs to frequently fill the cavity tightly with magnesium powder to ensure that when the rotating roller 404 is rotated by friction, the fur pad on its surface adheres with magnesium powder to brush the surface of the spherical part. Therefore, a sliding rod 310 is provided on the side of the movable base plate 305 away from the spherical part. The sliding rod 310 penetrates the movable base plate 305 and a knocking ball 311 is provided at the end. A compression spring 312 is provided between the sliding rod 310 and the movable base plate 305. When the clamping plate 306 is used to clamp the spherical part, the clamping plate 306 rotates to push the sliding rod 310, so that the sliding rod 310 knocks on the anti-skid component 400, and the control cylinder 20 When the lifting plate 201 is driven downward by the lifting plate 201, the clamping plate 306 is squeezed by the spherical part and rotates on the surface of the fixed rod. The clamping plate 306 is clamped by the torsion spring 307. When the clamping plate 306 is squeezed by the spherical part and rotates, it pushes the sliding rod 310. The sliding rod 310 drives the knocking ball 311 to move horizontally to knock the magnesium powder tank 401, so that the magnesium powder contained in the magnesium powder tank 401 is transmitted to the cavity through the bellows 402, thereby ensuring that the fur pad provided on the surface of the rotating roller 404 is always adhered with magnesium powder during the rotation process, so that the surface of the spherical part is coated with magnesium powder during the movement process, reducing the labor intensity of the operators.

[0046] Considering that when the spherical part slides and falls to the ground during the grasping process, the spherical part has the rolling property and it is easy to accidentally injure workers at other workstations during the rolling process, therefore, the protection component 500 includes a column 504 provided on both sides of the bottom of the protection frame 101, a moving rod 505 is slidably provided on the inner wall of the column 504, an elastic member 506 is provided between the column 504 and the moving rod 505, an anti-drop box 503 is provided at the end of the moving rod 505, the anti-drop box 503 is semicircular, a buffer pad 507 is provided at the bottom of the anti-drop box 503, an arc groove 508 is provided at the center of the bottom of the anti-drop box 503, and the anti-drop box 503 is provided with a buffer pad 507. 03 is provided with a telescopic clamp 509 inside. When the spherical part falls, it is clamped between the telescopic clamps 509. A second rack 501 is provided on the side of the rotating gear 102 away from the first rack 203. When the rotating gear 102 moves, it drives the second rack 501 to move in the opposite direction. A pull rope is provided at the bottom of the second rack 501, and the pull rope is connected to the end of the anti-fall box 503. A fixed pulley 502 is provided under the second rack 501. When the pull rope moves, it moves in contact with the bottom of the fixed pulley 502. In the process of clamping the spherical part, the lifting plate 201 is driven to move downward in the vertical direction by the cylinder 200, and the lifting plate 201 drives the first rack 203 to move in the vertical direction When the first rack 203 moves, it drives the rotating gear 102 to rotate, and the second rack 501 provided on one side of the rotating gear 102 moves in the opposite direction in the vertical direction. The second rack 501 pulls the anti-drop box 503 to move to both sides during the movement. The anti-drop box 503 drives the moving rod 505 to slide on the inner wall of the column 504 during the movement. At the same time, the moving rod 505 squeezes the elastic member 506 to form an opening between the anti-drop boxes 503, which is convenient for the clamping plate 306 to move down to clamp and fix the spherical member. When the spherical member is clamped, the first rack 203 drives the rotating gear 103 to move up through the cylinder 200. 02 rotates in the opposite direction, so that the second rack 501 moves downward in the vertical direction. The moving rod 505 provided at the end of the anti-fall box 503 is pushed by the restoring force of the elastic member 506, so that the anti-fall boxes 503 are brought closer to each other, so that the anti-fall boxes 503 form an enclosure. When the spherical member clamped between the clamping plates 306 falls during the movement, the spherical member squeezes the telescopic clamp 509 to move to both sides. The telescopic clamp 509 can buffer the impact force of the spherical member when it falls, so that the bottom of the sphere falls smoothly into the arc groove 508, and the spherical member is prevented from popping out of the anti-fall box 503, thereby improving the safety of the processing process and avoiding safety hazards.

[0047] During specific use, the robot body 100 drives the protective frame 101 to move above the spherical part to be clamped. The robot body 100 includes a base, a waist joint, an upper arm joint, a forearm joint, a wrist joint and a protective frame 101 provided at the end, wherein the base provides stable support for the entire robot and is usually fixed on a workbench or on the ground; the waist joint connects the base and the upper arm joint, enabling the robot to rotate and expand the working range of the robot; the upper arm joint connects the waist joint and the forearm joint, enabling pitch motion and increasing the robot's operating space; the forearm joint connects the upper arm joint and the wrist joint, enabling rotation and pitch motion and further improving the robot's flexibility; the wrist joint connects the forearm joint and the end effector, having multiple degrees of freedom and enabling precise posture adjustment of the end effector.

[0048] When the spherical part needs to be clamped, the control cylinder 200 drives the lifting plate 201 to descend, and the lifting plate 201 drives the clamping plate 306 to move downward when it descends. The clamping plate 306 is enclosed to limit the spherical part. When the clamping plate 306 continues to move downward, the spherical part squeezes the upper part of the clamping plate 306, and the clamping plate 306 rotates on the fixed surface. When the clamping plate 306 rotates to fit the outer wall of the movable substrate 305, the piston rod at the end of the control cylinder 200 stops moving. At this time, the side wall of the spherical part is squeezed between the clamping plates 306 so that it is quickly fixed, thereby improving the efficiency of grabbing the spherical part.

[0049] During the downward movement of the clamping plate 306, the bottom of the clamping block 403 first contacts the side wall of the spherical part. The bottom of the clamping block 403 slides into the inside of the telescopic spring 405 under the pressure of the spherical part. At the same time, the clamping block 403 is acted upon by the telescopic spring 405, so that the rotating roller 404 provided at the end is in contact with the surface of the spherical part. During the upward movement of the spherical part, the rotating roller 404 is rotated by the friction force. Since the cavity is filled with magnesium powder, the magnesium powder is driven to be applied to the surface of the spherical part during the rotation of the rotating roller 404. When the spherical part moves to the upper end of the clamping plate 306 to squeeze the clamping plate 306, the clamping plate 306 is clamped and fixed by the torsion spring 307, so that the contact surface between the clamping plate 306 and the spherical part is clamped with the magnesium powder to improve the clamping strength, thereby preventing the spherical part from sliding and falling, thereby further improving the stability of the clamping of the spherical part.

[0050] The cylinder 200 drives the lifting plate 201 to move downward in the vertical direction, and the lifting plate 201 drives the first rack 203 to move in the vertical direction. When the first rack 203 moves, it drives the rotating gear 102 to rotate, and the second rack 501 provided on one side of the rotating gear 102 moves in the opposite direction in the vertical direction. The second rack 501 pulls the anti-drop box 503 to move to both sides during the movement. The anti-drop box 503 drives the moving rod 505 to slide on the inner wall of the column 504 during the movement. At the same time, the moving rod 505 squeezes the elastic member 506 to form an opening between the anti-drop boxes 503, which is convenient for the clamping plate 306 to move downward to clamp and fix the spherical member. When the spherical member is clamped, the lifting plate 200 is driven by the cylinder 200. When the plate 201 moves up, the first rack 203 drives the rotating gear 102 to rotate in the opposite direction, so that the second rack 501 moves downward in the vertical direction. The moving rod 505 provided at the end of the anti-fall box 503 is pushed by the restoring force of the elastic member 506, so that the anti-fall boxes 503 are brought closer to each other, so that the anti-fall boxes 503 are enclosed. When the spherical member clamped between the clamping plates 306 falls during the movement, the spherical member squeezes the telescopic clamp 509 to move to both sides. The telescopic clamp 509 can buffer the impact force of the spherical member when it falls, so that the bottom of the sphere falls smoothly into the arc groove 508, and the spherical member is prevented from popping out of the anti-fall box 503, thereby improving the safety of the processing process and avoiding safety hazards.

[0051] A second object of the present invention is to provide a multi-joint industrial robot processing method, comprising any one of the multi-joint industrial robots described above, comprising the following steps:

[0052] S1. The robot body 100 drives the protection frame 101 to move above the spherical part to be clamped, and the piston rod at the end of the control cylinder 200 drives the lifting plate 201 to descend;

[0053] S2. The clamping size of the clamping assembly 300 is adjusted according to the size of the spherical piece. When the lifting plate 201 descends, the spherical piece is automatically clamped and fixed by the clamping assembly 300. During the clamping process of the spherical piece, magnesium powder is applied to the surface of the spherical piece by the anti-slip assembly 400 to increase the friction between the spherical piece and the clamping assembly 300.

[0054] S3. When the clamping assembly 300 drives the spherical part to move, the protective assembly 500 protects the moving spherical part to prevent the spherical part from slipping and causing safety hazards.

[0055] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A multi-joint industrial robot, characterized in that: The invention comprises a robot body (100), a protective frame (101) is provided at the end of the robot body (100), a rotating gear (102) is provided on the side wall of the robot body (100), a cylinder (200) is provided in the protective frame (101), a lifting plate (201) is provided at the end of the cylinder (200), a limiting rod (202) is provided between the lifting plate (201) and the robot body (100), first racks (203) are provided on both sides of the limiting rod (202), and when the first rack (203) moves, it drives the rotating gear (102) to rotate, and a bottom of the lifting plate (201) is provided with a A clamping assembly (300) is provided. When the cylinder (200) drives the lifting plate (201) to move downward in the vertical direction, the clamping assembly (300) automatically clamps the spherical part. An anti-skid assembly (400) is provided at the end of the clamping assembly (300). The anti-skid assembly (400) is used to apply magnesium powder to the clamping surface of the spherical part to increase the friction between the spherical part and the clamping assembly (300). A protective assembly (500) is provided on one side of the rotating gear (102). The protective assembly (500) is used to automatically protect the spherical part that slips from the clamping assembly (300) to prevent the spherical part from falling to the ground and being deformed and damaged.

2. The multi-joint industrial robot according to claim 1, characterized in that: The clamping assembly (300) comprises a motor (301) arranged on the top of the lifting plate (201); a main gear (302) is arranged at the output end of the motor (301); a sub-gear (303) is arranged at the bottom of the main gear (302); the sub-gears (303) are arranged in a ring array; a screw rod (304) is arranged at the end of the sub-gear (303); a movable base plate (305) is arranged on the surface of the screw rod (304); the movable base plate (305) moves on the surface of the screw rod (304); a fixed rod is arranged at the bottom of the movable base plate (305); a clamping plate (306) is rotatably arranged on the surface of the fixed rod; a torsion spring (307) is arranged on the surface of the fixed rod; two ends of the torsion spring (307) are respectively connected to the movable base plate (305) and the clamping plate (306); the clamping plate (306) is subjected to the force of the torsion spring (307) and forms an angle of 20° with the movable base plate (305).

3. The multi-joint industrial robot according to claim 2, characterized in that: A rubber pad (308) is provided on one side of the clamping plate (306) close to the spherical member, and the rubber pad (308) is used to increase the friction force with the spherical member.

4. The multi-joint industrial robot according to claim 2, characterized in that: A sliding rod (310) is provided on the side of the movable base plate (305) away from the spherical part. The sliding rod (310) passes through the movable base plate (305) and a knocking ball (311) is provided at the end thereof. A compression spring (312) is provided between the sliding rod (310) and the movable base plate (305). When the clamping plate (306) is used to clamp the spherical part, the clamping plate (306) pushes the sliding rod (310) when it rotates, so that the sliding rod (310) knocks the anti-slip component (400).

5. The multi-joint industrial robot according to claim 3, characterized in that: The upper length of the clamping plate (306) rotating along the fixing rod is greater than the radius of the spherical part to be clamped. A groove (309) is provided at the bottom of the clamping plate (306). An anti-skid component (400) is provided in the groove (309). The anti-skid component (400) is used to apply magnesium powder to the side wall of the spherical part being clamped.

6. The multi-joint industrial robot according to claim 5, characterized in that: The anti-skid assembly (400) includes a magnesium powder can (401) arranged outside the movable base plate (305), an electric valve is arranged at the bottom of the magnesium powder can (401), a bellows (402) is connected to the end of the electric valve, the bellows (402) passes through the groove (309) and a block (403) is arranged at the end, the block (403) is wedge-shaped, a cavity is arranged above the block (403), a rotating roller (404) is arranged at the end of the cavity, a cowhide pad is arranged on the surface of the rotating roller (404), and the end of the bellows (402) is connected to the inside of the cavity.

7. The multi-joint industrial robot according to claim 6, characterized in that: A telescopic spring (405) is provided between the clamping block (403) and the groove (309), and the bottom of the clamping block (403) slides into the groove (309) under pressure.

8. The multi-joint industrial robot according to claim 1, characterized in that: The protection component (500) includes a column (504) provided on both sides of the bottom of the protection frame (101), a moving rod (505) is slidably provided on the inner wall of the column (504), an elastic member (506) is provided between the column (504) and the moving rod (505), an anti-fall box (503) is provided at the end of the moving rod (505), the anti-fall box (503) is semicircular, a buffer pad (507) is provided at the bottom of the anti-fall box (503), an arc groove (508) is provided at the center of the bottom of the anti-fall box (503), and a telescopic clamp (509) is provided inside the anti-fall box (503), and the spherical member is clamped between the telescopic clamps (509) when it falls.

9. The multi-joint industrial robot according to claim 8, characterized in that: A second rack (501) is provided on the side of the rotating gear (102) away from the first rack (203). When the rotating gear (102) moves, it drives the second rack (501) to move in the opposite direction. A pull rope is provided at the bottom of the second rack (501), and the pull rope is connected to the end of the anti-fall box (503). A fixed pulley (502) is provided below the second rack (501). When the pull rope moves, it moves in close contact with the bottom of the fixed pulley (502).

10. A multi-joint industrial robot processing method, implemented by the multi-joint industrial robot according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1, driving the protection frame (101) to move above the spherical part to be clamped by the robot body (100), and controlling the piston rod at the end of the cylinder (200) to drive the lifting plate (201) to descend; S2, adjusting the clamping size of the clamping assembly (300) according to the size of the spherical piece, and automatically clamping and fixing the spherical piece through the clamping assembly (300) when the lifting plate (201) descends. During the clamping process of the spherical piece, magnesium powder is applied to the surface of the spherical piece through the anti-slip assembly (400) to increase the friction between the spherical piece and the clamping assembly (300); S3. When the clamping assembly (300) drives the spherical member to move, the protection assembly (500) protects the moving spherical member to prevent the spherical member from slipping and causing safety hazards.

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