An industrial robot manipulator that is easy to control

Abstract

The present invention belongs to the technical field of manipulators, and relates to an industrial robot manipulator that is easy to operate. The present invention includes a lifting device, and a base is arranged at the lower end of the lifting device. The base is arc-shaped, and the notch faces downward. Both ends of the lower side of the base are rotatably provided with a plurality of clamping assemblies for clamping tubular goods; and the rotation axis of the clamping assembly is arranged horizontally; when it is necessary to clamp the tubular goods, the clamping assembly is rotated to the bottom of the tubular goods, and the clamping assembly and the base clamp the tubular goods. When the clamping piece moves to the bottom of the tubular goods, the clamping piece is rotated to a certain angle away from the clamping piece on the same side, so that the supporting range of the clamping assembly on the length direction of the tubular goods becomes larger, so that the tubular goods are more stable when clamped and are not easy to fall. At the same time, the clamping piece has a certain clamping force on the tubular goods, which further makes the clamping effect better and makes the tubular goods more stable. The manipulator has a simple and compact structure and is suitable for working in a narrow space.

Description

Technical Field

[0001] The present invention belongs to the technical field of manipulators and relates to an industrial robot manipulator that is easy to operate. Background Art

[0002] The robot manipulator is the end effector of the robot. The manipulator imitates the movements of human hands to achieve the functions of grasping, carrying and operating. The manipulator plays an important role in the transportation and lifting of goods. However, the current robot manipulators are generally large in size and require a large space for movement when in use, which is not suitable for working in a small space.

[0003] In order to solve the above problems, the present invention proposes an industrial robot manipulator that is easy to control. Summary of the invention

[0004] In order to solve the problems existing in the background technology, the present invention proposes an industrial robot manipulator that is easy to control.

[0005] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is as follows: an industrial robot manipulator that is easy to operate, including a lifting device, a base is arranged at the lower end of the lifting device, the base is arc-shaped, and the notch faces downward, and both ends of the lower side surface of the base are rotatably provided with a plurality of clamping assemblies for clamping tubular goods; and the rotation axis of the clamping assembly is arranged horizontally; when the tubular goods need to be clamped, the clamping assembly is rotated to the bottom of the tubular goods, and the clamping assembly and the base clamp the tubular goods.

[0006] Furthermore, the clamping assembly includes a fixed seat and a clamping member; the fixed seat is rotatably connected to the base, a rotation groove is provided on the fixed seat, and the axis of the rotation groove is perpendicular to the rotation axis of the fixed seat; a shaft rod is fixedly provided at one end of the clamping member, and the shaft rod is rotatably set in the rotation groove; limit grooves are symmetrically provided in the rotation groove, and limit blocks are symmetrically fixed on the shaft rod, the limit blocks correspond to the shaft rod one by one, and the limit blocks are slidably set in the corresponding limit grooves.

[0007] Furthermore, a torsion spring is sleeved on the shaft rod, one end of the torsion spring is fixedly connected to the inner wall of the rotating groove, and the other end of the torsion spring is fixedly connected to the shaft rod.

[0008] Furthermore, a mounting groove is provided at the lower end of the base, a motor is fixedly installed in the mounting groove, and a motor shaft of the motor is fixedly connected to the fixing seat; the axis of the motor shaft of the motor is arranged horizontally.

[0009] Furthermore, a convex block is fixedly provided in the middle of the lower side surface of the base, and a pressure sensor is mounted on the convex block.

[0010] Furthermore, it also includes a controller, and the pressure sensor and the clamping assembly are electrically connected to the controller.

[0011] Compared with the prior art, the present invention has the following beneficial effects: when in use, when the clamping member moves to the bottom of the tubular cargo, the clamping member is rotated to a certain angle away from the clamping member on the same side, so that the supporting range of the clamping assembly on the length direction of the tubular cargo becomes larger, so that the tubular cargo is more stable when clamped and is not easy to fall. At the same time, the clamping member has a certain clamping force on the tubular cargo, which further improves the clamping effect, makes the tubular cargo more stable, and makes the tubular cargo not easy to fall. In the process of clamping the pipe fitting, the clamping member sweeps along the axial direction of the pipe fitting, and the radial space occupied by the clamping member during the movement is small. In addition, the manipulator has a simple and compact structure, occupies a small space when in use, and is suitable for operation in a narrow space. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the clamping assembly of the present invention cooperating with the tubular goods in the initial state;

[0013] Figure 2 is a schematic diagram of the initial state of the clamping assembly in the present invention;

[0014] Figure 3 It is a structural schematic diagram of the clamping assembly in the present invention;

[0015] Figure 4 is a schematic diagram of a second state of the clamping assembly in the present invention;

[0016] Figure 5 It is a schematic diagram of the state in which the clamping assembly of the present invention clamps tubular goods.

[0017] In the figure: 1. lifting equipment; 2. base; 3. protrusion; 4. first clamp; 5. second clamp; 6. third clamp; 7. fourth clamp; 8. shaft; 9. limit block; 10. motor; 11. fixed seat; 12. limit groove; 13. tubular cargo. DETAILED DESCRIPTION

[0018] 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.

[0019] like Figure 1-Figure 5 As shown, the technical solution adopted by the present invention is as follows: an industrial robot manipulator that is easy to control includes a lifting device 1 and a base 2. The base 2 is installed at the lower end of the lifting device 1.

[0020] The base 2 is arc-shaped, and the notch faces downward. A convex block 3 is fixedly arranged in the middle of the lower side surface of the base 2. A pressure sensor is installed on the convex block 3.

[0021] A plurality of clamping assemblies are provided at both ends of the lower side of the base 2. In the present embodiment, there are four clamping assemblies, and two clamping assemblies are provided at each end of the base 2. The clamping assembly cooperates with the base 2 to clamp the tubular cargo 13. The clamping assembly includes a fixed seat 11 and a clamping member. The fixed seat 11 is rotatably connected to the lower end of the base 2. Specifically, a mounting groove is provided at the lower end of the base 2, and a motor 10 is fixedly provided in the mounting groove, and the axis of the motor shaft of the motor 10 is horizontally provided. The fixed seat 11 is fixedly connected to the motor shaft of the motor 10. A rotation groove is provided on the fixed seat 11, and the axis of the rotation groove is perpendicular to the axis of the motor shaft of the motor 10. A limiting groove 12 is symmetrically provided in the rotation groove. The limiting groove 12 is in the shape of an arc. A shaft rod 8 is fixedly provided at one end of the clamping member, and a limiting block 9 is symmetrically fixed on the shaft rod 8. The limiting block 9 corresponds to the limiting groove 12 one by one. The shaft rod 8 is rotatably provided in the rotation groove, and the limiting block 9 is located in the corresponding limiting groove 12. The limiting block 9 is slidably matched with the limiting groove 12. A torsion spring is sleeved on the shaft rod 8, one end of the torsion spring is fixedly connected to the inner wall of the rotating groove, and the other end of the torsion spring is fixedly connected to the shaft rod 8.

[0022] For the convenience of description, the four clamping assemblies are named as the first clamping assembly, the second clamping assembly, the third clamping assembly, and the fourth clamping assembly. Figure 3 In the direction shown, the first clamping assembly is located at the left front, the second clamping assembly is located at the right front, the third clamping assembly is located at the left rear, and the fourth clamping assembly is located at the right rear. The first clamping assembly and the second clamping assembly are symmetrically arranged, and the third clamping assembly and the fourth clamping assembly are symmetrically arranged. The clamping member in the first clamping assembly is the first clamping jaw 4, the clamping member in the second clamping assembly is the second clamping jaw 5, the clamping member in the third clamping assembly is the third clamping jaw 6, and the clamping member in the fourth clamping assembly is the fourth clamping jaw 7. The first clamping jaw 4, the second clamping jaw 5, the third clamping jaw 6, and the fourth clamping jaw 7 are all arc rods with the same shape.

[0023] The device also includes a controller, and the pressure sensor and the plurality of motors 10 are all electrically connected to the controller. The pressure sensor transmits the pressure value to the controller, and when the controller detects that the pressure value of the pressure sensor reaches a preset value, the controller stops the motor 10 from working.

[0024] Working principle: In the initial state, the first clamping jaw 4, the second clamping jaw 5, the third clamping jaw 6, and the fourth clamping jaw 7 are all located directly above the corresponding fixing seat 11. Figure 3As shown, the limit block 9 is located at one end of the limit groove 12. The torsion spring is in a natural state. In the initial state, in the first clamping assembly and the fourth clamping assembly, the limit block 9 can only rotate counterclockwise around the shaft 8. In the second clamping assembly and the third clamping assembly, the limit block 9 can only rotate clockwise around the shaft 8.

[0025] The base 2 is placed on the tubular cargo 13 by the lifting device 1. The first clamping assembly, the third clamping assembly and the second clamping assembly, the fourth clamping assembly are arranged on both sides above the tubular cargo 13.

[0026] Multiple motors 10 are started at the same time. The motor 10 drives the fixed seat 11 to rotate around the motor shaft of the motor 10. The fixed seat 11 drives the corresponding clamping member to rotate around the motor shaft of the motor 10. At this time, the clamping member is located above the fixed seat 11, and each clamping member moves in the direction away from the clamping member on the same side. Assume that the rotation direction of the motor 10 is positive at this time. During the rotation of the clamping member around the motor shaft of the corresponding motor 10, the clamping member moves along the outer surface of the tubular cargo 13. Due to the friction between the clamping member and the tubular cargo 13, under the guidance of the outer surface of the tubular cargo 13, the clamping member rotates around the axis of the corresponding shaft rod 8 while rotating around the motor shaft of the corresponding motor 10, so that the clamping member rolls on the outer surface of the tubular cargo 13. The limit block 9 on the shaft rod 8 moves in the corresponding limit groove 12. The corresponding torsion spring is torsionally deformed.

[0027] Specifically, the clamping members in the first clamping assembly and the fourth clamping assembly rotate counterclockwise, and the clamping members in the second clamping assembly and the third clamping assembly rotate clockwise.

[0028] When the fixing seat 11 rotates 180 degrees, the clamping piece moves to the bottom of the tubular cargo 13, and the motor 10 is stopped. The torsion spring is reset under the action of its own elastic force, and the torsion spring drives the clamping piece to rotate around the corresponding shaft 8, so that the torsion spring returns to the natural state, and the limit block 9 returns to the initial position relative to the limit groove 12.

[0029] When the clamping member is located above the fixing seat 11, the motor 10 rotates forward, causing the clamping members on the same side to move away from each other. When the clamping member is located below the fixing seat 11, the motor 10 rotates forward, causing the clamping members on the same side to move toward each other.

[0030] Therefore, the motor 10 rotates in the reverse direction, and the motor 10 drives the clamping member to rotate in the reverse direction. Since the clamping member is located below the fixing seat 11 at this time, the clamping member moves in a direction away from the clamping member on the same side.

[0031] In this process, in the first clamping assembly and the fourth clamping assembly, the shaft 8 has a tendency to rotate clockwise, but due to the limiting effect of the limiting groove 12 on the limiting block 9, the clamping member cannot rotate clockwise around the axis of the shaft 8. In the second clamping assembly and the third clamping assembly, the shaft 8 has a tendency to rotate counterclockwise, but due to the limiting effect of the limiting groove 12 on the limiting block 9, the clamping member cannot rotate counterclockwise around the axis of the shaft 8. In this way, when the clamping member rotates around the motor shaft of the motor 10, it has the effect of squeezing the tubular cargo 13 upward. Multiple clamping members squeeze the tubular cargo 13 upward, causing the tubular cargo 13 to move upward, and gradually increasing the pressure on the pressure sensor on the protrusion 3. When the reading of the pressure sensor reaches the preset value, the controller controls the motor 10 to stop working. Figure 4 As shown, at this time, the plurality of clamping assemblies are in the second state. The tubular cargo 13 is located between the plurality of clamping assemblies and the base 2. The plurality of clamping assemblies and the base 2 clamp the tubular cargo 13 and have a preset clamping force on the tubular cargo 13. In this way, the clamping assemblies can support a larger range of the tubular cargo 13 in the length direction, making the tubular cargo 13 more stable when clamped and not easy to fall. At the same time, the tubular cargo 13 is subjected to a certain clamping force, which further makes the clamping effect of the clamping assemblies on the tubular cargo 13 better, making the tubular cargo 13 more stable and not easy to fall.

[0032] Then the lifting device 1 drives the tubular cargo 13 to move through the base 2 and the clamping assembly, and moves the tubular cargo 13 to the destination.

[0033] When the clamping of the tubular cargo 13 needs to be released, the motor 10 is started, and the motor 10 drives the clamping member to rotate around the motor shaft of the motor 10, so that the clamping member moves to the initial position, and then the motor 10 is turned off. The clamping assembly releases the clamping of the tubular cargo 13.

[0034] The manipulator has a simple and compact structure and occupies little space when in use, and is suitable for working in narrow spaces.

[0035] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. 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 manipulator that is easy to operate, comprising a lifting device (1), wherein a base (2) is provided at the lower end of the lifting device (1), and wherein: The base (2) is arc-shaped with a notch facing downwards. A plurality of clamping assemblies for clamping tubular goods (13) are rotatably arranged at both ends of the lower side surface of the base (2); and the rotation axis of the clamping assemblies is arranged horizontally; when the tubular goods (13) need to be clamped, the clamping assemblies are rotated to the bottom of the tubular goods (13), and the clamping assemblies and the base (2) clamp the tubular goods (13); the clamping assemblies include a fixing seat (11) and a clamping member; the fixing seat (11) and the fixing seat (11) are connected to the fixing seat (11). The base (2) is rotatably connected, and a rotation groove is provided on the fixed seat (11), and the axis of the rotation groove is perpendicular to the rotation axis of the fixed seat (11); a shaft rod (8) is fixedly provided at one end of the clamping member, and the shaft rod (8) is rotatably arranged in the rotation groove; a limit groove (12) is symmetrically provided in the rotation groove, and a limit block (9) is symmetrically fixed on the shaft rod (8), the limit block (9) corresponds to the shaft rod (8) one by one, and the limit block (9) is slidably arranged in the corresponding limit groove (12).

2. The industrial robot manipulator that is easy to control according to claim 1 is characterized in that: A torsion spring is sleeved on the shaft rod (8), one end of the torsion spring is fixedly connected to the inner wall of the rotating groove, and the other end of the torsion spring is fixedly connected to the shaft rod (8).

3. The industrial robot manipulator that is easy to control according to claim 1 is characterized in that: A mounting groove is provided at the lower end of the base (2), a motor (10) is fixedly mounted in the mounting groove, and a motor shaft of the motor (10) is fixedly connected to a fixing seat (11); the axis of the motor shaft of the motor (10) is arranged horizontally.

4. The industrial robot manipulator that is easy to control according to claim 1 is characterized in that: A convex block (3) is fixedly provided in the middle of the lower side surface of the base (2), and a pressure sensor is mounted on the convex block (3).

5. The industrial robot manipulator that is easy to control according to claim 4 is characterized in that: It also includes a controller, and the pressure sensor and the clamping assembly are electrically connected to the controller.

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