Manipulator and intelligent control method based on high-precision linear motion

Abstract

The invention relates to the technical field of manipulators, and discloses a manipulator and an intelligent control method based on high-precision linear motion. In the working process of the manipulator, when a clamp needs to be detached from the manipulator for maintenance or replacement, the clamp can be detached from the manipulator by pulling down a pull rod of a linkage assembly; when the clamp is installed, the pull rod synchronously drives the side insertion rod and the upper insertion rod of the locking assembly to be pulled out of the connecting plate through the push rod and the connecting rod, so that locking of the connecting plate is relieved, and the clamp can be rapidly taken down from the equipment; the pull rod moving upwards drives the push rod and the connecting rod to move synchronously, the side inserting rod and the upper inserting rod are pushed into the connecting plate again, and the connecting plate is fixed to the equipment, so that the clamp on the equipment is rapidly disassembled and assembled, the clamp is quite easy and convenient to disassemble and assemble, the time spent on maintaining or replacing the clamp is shortened, and the working efficiency is improved. And the production progress of products is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, in particular to a manipulator and an intelligent control method based on high-precision linear motion. Background Art

[0002] With the development of modern science and technology, it is becoming more and more common to replace manual operation with mechanical operation. Different types of robots are widely used in many fields such as industrial production. Among them, some existing single-axis robots use the clamps on them to grasp and place workpieces. During the operation of the robot, wear, looseness or damage may occur. Therefore, the clamps on the robot need to be maintained or replaced regularly to ensure the performance and safety of the robot. However, most of the clamps on the robots are fixed to the robots by bolts. When the clamp needs to be removed from the robot for maintenance or replacement, the bolts between the clamp and the robot need to be tediously disassembled and assembled, which not only delays the production of the product, but also increases the labor intensity of the workers. Summary of the invention

[0003] In view of the deficiencies of the prior art, the present invention provides a robot arm to overcome the above-mentioned technical problems existing in the prior art.

[0004] To solve the above technical problems, the present invention provides the following technical solutions: a manipulator comprises a frame and a driving mechanism installed on the frame, the frame is provided with a fixing plate, a locking assembly, a linkage assembly, a connecting assembly and a clamp, the fixing plate is connected to the driving mechanism, the driving mechanism can drive the fixing plate to reciprocate on the frame, the locking assembly comprises a mounting plate, an upper insertion rod and a side insertion rod, the mounting plate is connected to the fixing plate, the upper insertion rod is installed on the upper end of the mounting plate, the side insertion rod is installed on the side of the mounting plate, the linkage assembly comprises a pull rod, a push rod and a connecting rod, the pull rod is installed on the upper end of the mounting plate, and the pull rod can be The mounting plate slides in the vertical direction, and the push rod and the connecting rod are respectively connected to the pull rod. When the pull rod slides, the push rod and the connecting rod can be driven to move synchronously. The push rod cooperates with the side insertion rod. When the push rod moves, the side insertion rod can be driven to move on the side of the connecting assembly. The connecting rod is connected to the upper insertion rod. When the connecting rod moves, the upper insertion rod can be driven to move on the upper end of the connecting assembly. The connecting assembly includes a connecting plate, the clamp is installed on the connecting plate, and the connecting plate is connected to the mounting plate. The side insertion rod can be inserted into the side of the connecting plate for locking, and the upper insertion rod can be inserted into the upper end of the connecting plate for locking.

[0005] Preferably, spring grooves are provided on both sides of the upper end of the mounting plate, a sliding groove is provided on the mounting plate, the upper end of the sliding groove is communicated with the spring groove, a notch is provided on the side of the mounting plate, the notch is communicated with the sliding groove, a locking hole is also provided on the mounting plate, the locking hole is located below the sliding groove, the upper end of the locking hole is communicated with the lower end of the sliding groove, an upper storage chamber is fixedly connected to the upper end of the mounting plate, the upper storage chamber corresponds to the lower end of the sliding groove, a side storage chamber is fixedly connected to the side of the mounting plate, and the side storage chamber is located below the notch.

[0006] Preferably, the upper insertion rod is slidably installed in the upper storage chamber, and a support spring is fixedly connected between the end of the upper insertion rod and the inner wall of the upper storage chamber, and the support spring can push the upper insertion rod to move into the sliding groove, and the side insertion rod is slidably installed in the side storage chamber, and a locking rack is fixedly connected to the side insertion rod, and a driving groove is opened on the side storage chamber, and the driving groove is located on the side of the locking rack close to the fixed plate, and the driving groove runs through the side storage chamber, and a sliding block is fixedly connected to the side of the mounting plate facing the fixed plate.

[0007] Preferably, one end of the pull rod is slidably installed in the sliding groove, and a return spring is provided on the upper side of one end of the pull rod located in the sliding groove, and the two ends of the return spring are respectively fixedly connected to the upper side of the pull rod and the inner wall of the top of the spring groove, the upper end of the push rod passes through the notch and is fixedly connected to the side of the pull rod, the lower end of the push rod extends into the driving groove, and a driving rack is fixedly connected to the lower end of the push rod, the upper end of the connecting rod is rotatably connected to the lower side of the pull rod, and the lower end of the connecting rod is rotatably connected to the upper side of the upper insertion rod, and the pull rod can push the upper insertion rod to move through the connecting rod when it moves downward.

[0008] Preferably, the linkage assembly also includes a driving shaft, which is rotatably installed in the side storage chamber, and both ends of the driving shaft are coaxially fixed with a driving gear and a transmission gear, and the driving gear is meshed with the driving rack. When the push rod moves, the driving gear is driven to rotate by the driving rack, and the transmission gear is meshed with the locking rack. When the driving gear is driven, the side insertion rod can be driven to move through the locking rack.

[0009] Preferably, a locking rod is fixedly connected to the upper end of the connecting plate, and the locking rod can be inserted into the sliding groove through the locking hole. A locking groove is provided on the locking rod, and the locking groove matches with the upper insertion rod. A card slot is provided on the side of the connecting plate, and the card slot matches with the side insertion rod. The clamp is fixedly installed on the connecting plate.

[0010] Preferably, the driving mechanism includes a driving motor, the driving motor is fixedly mounted at one end of the frame, a lead screw is fixedly connected to the output shaft of the driving motor, the lead screw is rotatably mounted on the frame, a sliding block is matched with the lead screw, and when the lead screw rotates, the sliding block can be driven to reciprocate on the frame, and the sliding block is fixedly connected to the fixed plate.

[0011] Preferably, a slide rail is fixedly mounted on the fixed plate, and the sliding block on the mounting plate is slidably mounted on the slide rail.

[0012] Preferably, a telescopic cylinder is fixedly mounted on the upper end of the fixing plate, and an output shaft of the telescopic cylinder is fixedly connected to the upper end of the mounting plate.

[0013] Preferably, an intelligent control method based on high-precision linear motion uses a manipulator.

[0014] Compared with the prior art, the present invention provides a manipulator and an intelligent control method based on high-precision linear motion, which has the following beneficial effects:

[0015] 1. The manipulator and the intelligent control method based on high-precision linear motion cooperate with the locking component and the linkage component. When the device is in operation and needs to remove the fixture from the manipulator for maintenance or replacement, the pull rod of the linkage component is pulled down to synchronously drive the side insertion rod and the upper insertion rod of the locking component to be pulled out from the connecting plate through the push rod and the connecting rod, thereby releasing the lock of the connecting plate, so that the fixture can be quickly removed from the device. When installing the fixture back, it is only necessary to place the connecting plate, release the pull rod that is pulled down, and make the upward pull rod drive the push rod and the connecting rod to move synchronously, push the side insertion rod and the upper insertion rod back into the connecting plate, and fix the connecting plate on the device, thereby quickly completing the removal and installation of the fixture on the device, making the removal and installation of the fixture very easy and convenient, and reducing the time spent on maintenance or replacement of the fixture, ensuring the production progress of the product.

[0016] 2. The manipulator and the intelligent control method based on high-precision linear motion, through the setting of the connecting components, when installing the fixture, the locking rod on the upper end of the connecting plate and the card slot on the side of the connecting plate cooperate to make the disassembly and installation of the fixture no longer cumbersome, and by installing the new fixture on the spare connecting plate in advance, when the fixture needs to be replaced, the prepared connecting plate can be directly installed on the equipment after removing the old fixture, thereby improving the maintenance efficiency of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0018] Figure 2 for Figure 1 A local enlarged structural schematic diagram;

[0019] Figure 3 It is a side view structural schematic diagram of the driving mechanism of the present invention;

[0020] Figure 4 It is a schematic diagram of the side view structure of the clamp of the present invention;

[0021] Figure 5 It is a schematic diagram of the internal structure of the locking assembly of the present invention;

[0022] Figure 6 for Figure 5 A schematic diagram of the local enlarged structure at B;

[0023] Figure 7 for Figure 5 A schematic diagram of the local enlarged structure at C;

[0024] Figure 8 It is a schematic diagram of the positional relationship between the locking component and the connecting component of the present invention;

[0025] Fig. 9 for Figure 8 A schematic diagram of the local enlarged structure at D;

[0026] Fig.10 It is a schematic diagram of the side structure of the mounting plate of the present invention;

[0027] Fig.11 It is a schematic diagram of the local enlarged structure of E of the present invention 10.

[0028] In the figure: 1. frame; 2. driving mechanism; 21. driving motor; 22. lead screw; 23. sliding block; 24. telescopic cylinder; 25. slide rail; 3. fixing plate; 4. locking assembly; 41. mounting plate; 411. spring groove; 412. sliding groove; 413. notch; 414. locking hole; 42. upper storage chamber; 421. upper insertion rod; 422. supporting spring; 43. side storage chamber; 431. side insertion rod; 432. locking rack; 433. driving groove; 44. slider; 5. linkage assembly; 51. pull rod; 511. reset spring; 52. push rod; 53. driving rack; 54. connecting rod; 55. driving shaft; 551. driving gear; 552. transmission gear; 6. connecting assembly; 61. connecting plate; 62. locking rod; 63. locking groove; 64. card slot; 7. clamp. DETAILED DESCRIPTION

[0029] 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.

[0030] Example 1: Please refer to Figure 1-Figure 11 A manipulator and an intelligent control method based on high-precision linear motion, comprising a frame 1 and a driving mechanism 2 installed on the frame 1, the frame 1 is provided with a fixing plate 3, a locking assembly 4, a linkage assembly 5, a connecting assembly 6 and a clamp 7, the fixing plate 3 is connected to the driving mechanism 2, the driving mechanism 2 can drive the fixing plate 3 to reciprocate on the frame 1, the locking assembly 4 comprises a mounting plate 41, an upper insertion rod 421 and a side insertion rod 431, the mounting plate 41 is connected to the fixing plate 3, the upper insertion rod 421 is installed at the upper end of the mounting plate 41, the side insertion rod 431 is installed on the side of the mounting plate 41, the linkage assembly 5 comprises a pull rod 51, a push rod 52 and a connecting rod 54, the pull rod 51 is installed at the upper end of the mounting plate 41, the pull rod 51 can The pull rod 51 is capable of sliding in the vertical direction on the mounting plate 41. The push rod 52 and the connecting rod 54 are respectively connected to the pull rod 51. When the pull rod 51 slides, it can synchronously drive the push rod 52 and the connecting rod 54 to move. The push rod 52 cooperates with the side insertion rod 431. When the push rod 52 moves, it can drive the side insertion rod 431 to move on the side of the connecting component 6. The connecting rod 54 is connected to the upper insertion rod 421. When the connecting rod 54 moves, it can drive the upper insertion rod 421 to move on the upper end of the connecting component 6. The connecting component 6 includes a connecting plate 61. The clamp 7 is installed on the connecting plate 61. The connecting plate 61 is connected to the mounting plate 41. The side insertion rod 431 can be inserted into the side of the connecting plate 61 for locking, and the upper insertion rod 421 can be inserted into the upper end of the connecting plate 61 for locking.

[0031] When in use, the clamp 7 is fixedly mounted on the connecting plate 61, and then mounted on the device through the connecting plate 61, so as to be put into operation. When the device has been working for a certain period of time and the clamp 7 on the device needs to be removed for maintenance or replacement, the driving mechanism 2 is first stopped to suspend the operation of the device. At this time, the side insertion rod 431 is inserted into the connecting plate 61 from the side of the connecting plate 61, and the upper insertion rod 421 is inserted into the connecting plate 61 from the upper end of the connecting plate 61, so that the connecting plate 61 is fixedly mounted on the mounting plate 41, and the pull rod 51 is located at the upper end of the mounting plate 41 at this time. After determining that the device has stopped running, the operator needs to pull the pull rod 51 of the linkage assembly 5 toward the mounting plate 41 with one hand. The pull rod 51 is pulled in the direction of the lower end, and the other hand holds the clamp 7 to prevent the locking assembly 4 from contacting the locking of the connecting assembly 6, and the locking plate with the clamp 7 falls directly and is damaged. As the pull rod 51 moves downward, the pull rod 51 will drive the push rod 52 and the connecting rod 54 to move synchronously. When the push rod 52 moves downward, the push rod 52 cooperates with the side plug rod 431 to drive the side plug rod 431 to be pulled out from the side of the connecting plate 61, thereby releasing the lock of the side plug rod 431 on the side of the connecting plate 61. At the same time, as the pull rod 51 moves downward, the pull rod 51 will push the upper plug rod 421 to be pulled out from the upper end of the connecting plate 61 through the connecting rod 54, thereby releasing the lock of the upper plug rod 421 on the upper end of the connecting plate 61, and the connecting plate can be 61 and the clamp 7 thereon are removed to maintain or replace the clamp 7. The device has a plurality of spare connecting plates 61. When replacing the clamp 7, the new clamp 7 will be installed on the spare connecting plate 61 in advance, so that the clamp 7 can be quickly replaced during the working process. If the clamp 7 is to be maintained, the pull rod 51 can be loosened after the clamp 7 is removed. The loosened pull rod 51 will automatically move up and return to the upper end of the mounting plate 41. When the pull rod 51 moves up, the pull rod 51 will drive the push rod 52 and the connecting rod 54 to move synchronously. The upward push rod 52 will drive the side insertion rod 431 to move toward the middle of the mounting plate 41, and at the same time, the connecting rod 54 will pull the upper insertion rod 421 to move toward the mounting plate 41, thereby Return the locking assembly 4 to the locked state. After the maintenance of the clamp 7 is completed, pull down the pull rod 51 again to release the locking state of the locking assembly 4. After the connecting plate 61 is installed back on the mounting plate 41, release the handle again to allow the locking assembly 4 to lock the connecting plate 61, thereby completing the maintenance of the clamp 7. If the clamp 7 needs to be replaced, after removing the clamp 7, there is no need to release the handle. After the prepared spare connecting plate 61 is directly installed on the mounting plate 41, release the handle again, and insert the side insertion rod 431 and the upper insertion rod 421 into the new connecting plate 61 through the linkage assembly 5 to complete the locking of the connecting plate 61, thereby completing the replacement of the clamp 7. Afterwards, the equipment can continue to be put into use.

[0032] The difference from the above embodiment lies in that spring grooves 411 are provided on both sides of the upper end of the mounting plate 41, a sliding groove 412 is provided on the mounting plate 41, the upper end of the sliding groove 412 is communicated with the spring groove 411, a slot 413 is provided on the side of the mounting plate 41, the slot 413 is communicated with the sliding groove 412, a locking hole 414 is provided on the upper end of the mounting plate 41, the locking hole 414 is located below the sliding groove 412, the upper end of the locking hole 414 is communicated with the lower end of the sliding groove 412, the upper end of the mounting plate 41 is fixedly connected with an upper storage chamber 42, the upper storage chamber 42 corresponds to the lower end of the sliding groove 412, the side of the mounting plate 41 is fixedly connected with a side storage chamber 43, and the side storage chamber 43 is located below the slot 413.

[0033] The difference from the above embodiment is that the upper insertion rod 421 is slidably installed in the upper storage chamber 42, and a support spring 422 is fixedly connected between the end of the upper insertion rod 421 and the inner wall of the upper storage chamber 42, and the support spring 422 can push the upper insertion rod 421 to move into the sliding groove 412, and the side insertion rod 431 is slidably installed in the side storage chamber 43, and a locking rack 432 is fixedly connected to the side insertion rod 431, and a driving groove 433 is opened on the side storage chamber 43, and the driving groove 433 is located on the side of the locking rack 432 close to the fixed plate 3, and the driving groove 433 runs through the side storage chamber 43, and a slider 44 is fixedly connected to the side of the mounting plate 41 facing the fixed plate 3.

[0034] Among them, when the connecting rod 54 moves downward, the connecting rod 54 pushes the upper insertion rod 421 to move into the upper storage chamber 42, thereby releasing the lock of the upper insertion rod 421 on the upper end of the connecting plate 61 and compressing the support spring 422. After the pull rod 51 is released, the compressed support spring 422 recovers its deformation, thereby pushing the upper insertion rod 421 to move outside the storage room, thereby locking the upper end of the connecting plate 61. When the push rod 52 moves downward, the push rod 52 drives the side insertion rod 431 to move into the side storage chamber 43, thereby contacting the lock of the side insertion rod 431 on the side of the connecting plate 61. When the push rod 52 moves upward, the push rod 52 drives the side insertion rod 431 to move outside the storage room, thereby locking the side of the connecting plate 61.

[0035] The difference from the above embodiment is that one end of the pull rod 51 is slidably installed in the sliding groove 412, and a return spring 511 is arranged on the upper side of one end of the pull rod 51 located in the sliding groove 412, and the two ends of the return spring 511 are respectively fixedly connected to the upper side of the pull rod 51 and the inner wall at the top of the spring groove 411, the upper end of the push rod 52 passes through the groove 413 and is fixedly connected to the side of the pull rod 51, the lower end of the push rod 52 extends into the driving groove 433, and the lower end of the push rod 52 is fixedly connected with the driving rack 53, the upper end of the connecting rod 54 is rotatably connected to the lower side of the pull rod 51, and the lower end of the connecting rod 54 is rotatably connected to the upper side of the upper insertion rod 421, and when the pull rod 51 moves downward, the upper insertion rod 421 can be pushed to move by the connecting rod 54.

[0036] Among them, when the pull rod 51 moves, as the pull rod 51 moves, the pull rod 51 will drive the push rod 52 to move synchronously in the slot 413. When the pull rod 51 moves downward from the upper end to the lower end of the sliding slot 412, the pull rod 51 will stretch the reset spring 511. After the handle is released, the stretched reset spring 511 restores the deformation, thereby pulling the pull rod 51 from the lower end of the sliding slot 412 to the upper end.

[0037] The difference from the above embodiment is that the linkage assembly 5 also includes a driving shaft 55, which is rotatably installed in the side storage chamber 43. The two ends of the driving shaft 55 are coaxially fixedly connected with a driving gear 551 and a transmission gear 552. The driving gear 551 is meshed with the driving rack 53. When the push rod 52 moves, the driving gear 551 is driven to rotate through the driving rack 53. The transmission gear 552 is meshed with the locking rack 432. When the driving gear 551 is driven, the side insertion rod 431 can be driven to move through the locking rack 432.

[0038] Among them, when the push rod 52 moves downward, the driving rack 53 at the lower end of the push rod 52 will drive the driving gear 551 to rotate in the opposite direction, so that the driving gear 551 drives the transmission gear 552 to rotate in the same direction through the driving shaft 55, and the transmission gear 552 rotating in the opposite direction drives the side insertion rod to be pulled out from the connecting plate 61 through the locking rack 432 engaged therewith. When the push rod 52 moves upward, the driving rack 53 at the lower end of the push rod 52 will drive the driving gear 551 to rotate forward, so that the driving gear 551 drives the transmission gear 552 to rotate in the same direction through the driving shaft 55, and the transmission gear 552 rotating forward drives the side insertion rod to be inserted into the connecting plate 61 through the locking rack 432 engaged therewith.

[0039] The difference from the above-mentioned embodiment lies in that a locking rod 62 is fixedly connected to the upper end of the connecting plate 61, and the locking rod 62 can be inserted into the sliding groove 412 through the locking hole 414. A locking groove 63 is provided on the locking rod 62, and the locking groove 63 matches with the upper insertion rod 421. A card slot 64 is provided on the side of the connecting plate 61, and the card slot 64 matches with the side insertion rod 431. The clamp 7 is fixedly installed on the connecting plate 61.

[0040] Among them, when installing the connecting plate 61, the locking rod 62 on the connecting plate 61 will be inserted into the locking hole 414, so that one end of the locking rod 62 with the locking groove 63 is located in the sliding groove 412. When the upper insertion rod 421 locks the connecting plate 61, the upper insertion rod 421 will be inserted into the locking groove 63, thereby completing the fixation of the upper end of the connecting plate 61. At the same time, the side insertion rod 431 will be inserted into the card groove 64 on the side of the connecting plate 61, thereby fixing the side of the connecting plate 61, thereby completing the installation of the connecting plate 61. When the connecting plate 61 needs to be disassembled, the upper insertion rod 421 will be pulled out of the locking groove 63 by the linkage component 5, and the side insertion rod 431 will be pulled out of the card groove 64 by the linkage component 5, thereby releasing the lock of the locking component 4 on the connecting plate 61, so that the connecting plate 61 and the clamp 7 thereon can be removed from the mounting plate 41.

[0041] Embodiment 2; The difference from the above embodiment is that the driving mechanism 2 includes a driving motor 21, which is fixedly mounted at one end of the frame 1, and a lead screw 22 is fixedly connected to the output shaft of the driving motor 21, and the lead screw is rotatably mounted on the frame 1. The lead screw 22 is equipped with a sliding block 23, and when the lead screw 22 rotates, it can drive the sliding block 23 to reciprocate on the frame 1, and the sliding block 23 is fixedly connected to the fixed plate 3.

[0042] When the device is running, the driving motor 21 drives the lead screw to rotate so that the sliding block 23 on the lead screw drives the fixed plate 3 to reciprocate on the frame 1, thereby driving the clamp 7 to move in the horizontal direction.

[0043] The difference from the above embodiment is that a slide rail 25 is fixedly mounted on the fixing plate 3 , and a slider 44 on the mounting plate 41 is slidably mounted on the slide rail 25 .

[0044] The difference from the above embodiment is that a telescopic cylinder 24 is fixedly mounted on the upper end of the fixing plate 3 , and the output shaft of the telescopic cylinder 24 is fixedly connected to the upper end of the mounting plate 41 .

[0045] When the device is in operation, the telescopic cylinder 24 pulls the mounting plate 41 to move on the slide rail 25 through the telescopic output shaft, thereby driving the clamp 7 to move in the vertical direction.

[0046] The difference from the above-mentioned embodiment is that an intelligent control method based on high-precision linear motion uses a manipulator.

[0047] Working principle: When in use, the driving motor 21 drives the lead screw to rotate so that the sliding block 23 on the lead screw drives the fixed plate 3 to reciprocate on the frame 1, thereby driving the clamp 7 to move in the horizontal direction. At the same time, the telescopic cylinder 24 pulls the mounting plate 41 to move on the slide rail 25 through the telescopic output shaft, thereby driving the clamp 7 to move in the vertical direction. In this process, the clamp 7 will be fixedly installed on the connecting plate 61, and then installed on the device through the connecting plate 61, so as to be put into work. When the device has been working for a certain period of time and the clamp 7 on the device needs to be disassembled for maintenance or replacement, the driving mechanism 2 is first stopped to suspend the work of the device. At this time, the side insertion rod 431 is inserted into the connecting plate 61 from the side of the connecting plate 61, and the upper insertion rod 421 is inserted into the connecting plate 61 from the upper end of the connecting plate 61, so that the connecting plate 61 is fixedly installed on the mounting plate 41, and the pull rod 51 is located at the upper end of the mounting plate 41 at this time. After determining that the equipment has stopped running, the operator needs to pull the pull rod 51 of the linkage assembly 5 toward the lower end of the mounting plate 41 with one hand, and hold the clamp 7 with the other hand to prevent the locking assembly 4 from contacting the locking of the connecting assembly 6, and the locking plate with the clamp 7 directly falling and being damaged. As the pull rod 51 moves downward, the pull rod 51 will drive the push rod 52 and the connecting rod 54 to move synchronously and stretch the reset spring 511;

[0048] When the push rod 52 moves downward, the driving rack 53 at the lower end of the push rod 52 drives the driving gear 551 to rotate in the opposite direction, so that the driving gear 551 drives the transmission gear 552 to rotate in the same direction through the driving shaft 55. The transmission gear 552 rotating in the opposite direction drives the side insertion rod to move from the side storage chamber 43 through the locking rack 432 meshing therewith, and the side insertion rod 431 is pulled out of the card slot 64, thereby releasing the locking of the side insertion rod 431 on the side of the connecting plate 61. At the same time, as the pull rod 51 moves downward, the connecting rod 54 pushes the upper insertion rod 421 to move into the upper storage chamber 42, and pulls the upper insertion rod 421 out of the locking groove 63, thereby releasing the locking of the upper end of the connecting plate 61 by the upper insertion rod 421, and compressing the supporting spring 422. At this time, the connecting plate 61 and the clamp 7 thereon can be removed, and the clamp 7 can be maintained or replaced. The device has a plurality of spare connecting plates 61. When replacing the clamp 7, the new clamp 7 will be installed on the spare connecting plate 61 in advance, so as to quickly replace the clamp 7 during the working process.

[0049] If the clamp 7 is to be maintained, the pull rod 51 can be loosened after the clamp 7 is removed. After the handle is loosened, the stretched return spring 511 is deformed to restore the deformation, thereby pulling the pull rod 51 from the lower end of the sliding groove 412 to the upper end. When the pull rod 51 moves upward, the pull rod 51 will drive the push rod 52 and the connecting rod 54 to move synchronously. The upward push rod 52 will drive the side insertion rod 431 to move toward the middle of the mounting plate 41. At the same time, the connecting rod 54 will pull the upper insertion rod 421 to move toward the mounting plate 41, so that the locking assembly 4 returns to the locked state. After the maintenance of the clamp 7 is completed, the pull rod 51 is pulled down again. After releasing the locking state of the locking assembly 4 and installing the connecting plate 61 back onto the mounting plate 41, release the handle again to allow the locking assembly 4 to lock the connecting plate 61, thereby completing the maintenance of the clamp 7. If the clamp 7 needs to be replaced, after removing the clamp 7, there is no need to release the handle. Install the pre-prepared spare connecting plate 61 directly onto the mounting plate 41, release the handle again, and insert the side insertion rod 431 and the upper insertion rod 421 into the new connecting plate 61 through the linkage assembly 5 to complete the locking of the connecting plate 61, thereby completing the replacement of the clamp 7. Subsequently, the equipment can continue to be put into use.

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

Claims

1. A robot, comprising a frame and a driving mechanism mounted on the frame, characterized in that: The frame is provided with a fixing plate, a locking assembly, a linkage assembly, a connecting assembly and a clamp, the fixing plate is connected to the driving mechanism, the driving mechanism can drive the fixing plate to reciprocate on the frame, the locking assembly includes a mounting plate, an upper insertion rod and a side insertion rod, the mounting plate is connected to the fixing plate, the upper insertion rod is installed on the upper end of the mounting plate, the side insertion rod is installed on the side of the mounting plate, the linkage assembly includes a pull rod, a push rod and a connecting rod, the pull rod is installed on the upper end of the mounting plate, the pull rod can slide in the vertical direction on the mounting plate, and the pull rods are respectively The push rod and the connecting rod are connected, and the pull rod can synchronously drive the push rod and the connecting rod to move when sliding. The push rod cooperates with the side insertion rod, and the push rod can drive the side insertion rod to move on the side of the connecting component when it moves. The connecting rod is connected to the upper insertion rod, and the upper insertion rod can drive the upper end of the connecting component to move when it moves. The connecting component includes a connecting plate, the clamp is installed on the connecting plate, and the connecting plate is connected to the mounting plate. The side insertion rod can be inserted into the side of the connecting plate for locking, and the upper insertion rod can be inserted into the upper end of the connecting plate for locking.

2. A robot according to claim 1, characterized in that: Spring grooves are provided on both sides of the upper end of the mounting plate, a sliding groove is provided on the mounting plate, the upper end of the sliding groove is communicated with the spring groove, a notch is provided on the side of the mounting plate, the notch is communicated with the sliding groove, a locking hole is also provided on the mounting plate, the locking hole is located below the sliding groove, the upper end of the locking hole is communicated with the lower end of the sliding groove, an upper storage chamber is fixedly connected to the upper end of the mounting plate, the upper storage chamber corresponds to the lower end of the sliding groove, a side storage chamber is fixedly connected to the side of the mounting plate, and the side storage chamber is located below the notch.

3. A robot according to claim 2, characterized in that: The upper insertion rod is slidably installed in the upper storage chamber, and a support spring is fixedly connected between the end of the upper insertion rod and the inner wall of the upper storage chamber, and the support spring can push the upper insertion rod to move into the sliding groove, and the side insertion rod is slidably installed in the side storage chamber, and a locking rack is fixedly connected to the side insertion rod, and a driving groove is opened on the side storage chamber, and the driving groove is located on a side of the locking rack close to the fixed plate, and the driving groove runs through the side storage chamber, and a sliding block is fixedly connected to the side of the mounting plate facing the fixed plate.

4. A robot according to claim 3, characterized in that: One end of the pull rod is slidably installed in the sliding groove, and a return spring is provided on the upper side of one end of the pull rod located in the sliding groove, and both ends of the return spring are fixedly connected to the upper side of the pull rod and the inner wall of the top of the spring groove respectively. The upper end of the push rod passes through the notch and is fixedly connected to the side of the pull rod, and the lower end of the push rod is fixedly connected to the driving groove. A driving rack is fixedly connected to the lower end of the push rod, and the upper end of the connecting rod is rotatably connected to the lower side of the pull rod, and the lower end of the connecting rod is rotatably connected to the upper side of the upper insertion rod. When the pull rod moves downward, the upper insertion rod can be pushed to move by the connecting rod.

5. A robot according to claim 4, characterized in that: The linkage assembly also includes a driving shaft, which is rotatably installed in the side storage chamber. Both ends of the driving shaft are coaxially fixed with a driving gear and a transmission gear. The driving gear is meshed with the driving rack. When the push rod moves, the driving gear is driven to rotate through the driving rack. The transmission gear is meshed with the locking rack. When the driving gear is driven, the side insertion rod can be driven to move through the locking rack.

6. A robot according to claim 5, characterized in that: A locking rod is fixedly connected to the upper end of the connecting plate, and the locking rod can be inserted into the sliding groove through the locking hole. A locking groove is provided on the locking rod, and the locking groove matches with the upper insertion rod. A card slot is provided on the side of the connecting plate, and the card slot matches with the side insertion rod. The clamp is fixedly mounted on the connecting plate.

7. A robot according to claim 1, characterized in that: The driving mechanism includes a driving motor, which is fixedly mounted at one end of the frame. A lead screw is fixedly connected to the output shaft of the driving motor. The lead screw is rotatably mounted on the frame. A sliding block is matched with the lead screw. When the lead screw rotates, it can drive the sliding block to reciprocate on the frame. The sliding block is fixedly connected to the fixed plate.

8. A robot according to claim 7, characterized in that: A slide rail is fixedly mounted on the fixed plate, and the slider on the mounting plate is slidably mounted on the slide rail.

9. A robot according to claim 8, characterized in that: A telescopic cylinder is fixedly mounted on the upper end of the fixing plate, and an output shaft of the telescopic cylinder is fixedly connected to the upper end of the mounting plate.

10. An intelligent control method based on high-precision linear motion, characterized in that: A robot according to any one of claims 1 to 9 is used.

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