Industrial robot for grabbing and clamping assembly split part

Abstract

The invention belongs to the technical field of grabbing and clamping parts, and particularly relates to an industrial robot for grabbing and clamping assembly split parts, which comprises a guide assembly, the top of the guide assembly is in transmission connection with a driving assembly, and the bottom of the guide assembly is in sliding connection with three groups of claw arm clamping assemblies for grabbing assembly objects. The tops of the three sets of claw arm clamping assemblies are all in transmission connection with the driving assembly, the center of the central axis of the bottom of the guiding assembly is rotationally connected with a material transferring assembly used for transferring fastening assembly parts, and the driving assembly is used for driving the three sets of claw arm clamping assemblies to rotate around the center of the central axis of the guiding assembly. The three sets of claw arm clamping assemblies are arranged, the distance between the three sets of claw arm clamping assemblies can be adjusted, grabbing space is provided for assembled objects of different sizes, fasteners can be conveyed through the material conveying assembly after the assembled objects are assembled through the three sets of claw arm clamping assemblies, and therefore the stability of the assembled parts is improved, and the efficiency of free switching assembly in the narrow space is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of grabbing and clamping parts, and in particular relates to an industrial robot for grabbing and clamping split parts for assembly. Background Art

[0002] Complete sets of industrial robot automated production line equipment have become the mainstream of automated equipment and its future development direction. The development of industrial robots has greatly liberated labor and increased industrial production efficiency. As one of the important components of industrial robots, the retractable robotic arm plays an extremely important role in production work. Traditional industrial robot telescopic arms mostly use support slides and nested telescopic arms. The support slide sliders mostly use bronze sliders or nylon sliders. Although this type of self-lubricating slider has a low surface friction coefficient and a strong load-bearing capacity, it needs to add lubricating oil during the working process to ensure work efficiency, has a short service life, and has high maintenance costs.

[0003] After searching, in the prior art, Chinese patent publication number CN220864053U, authorization announcement date: 2024-04-30, discloses a telescopic arm for a clamping robot, including a mechanical arm, the top of the mechanical arm is fixedly connected with a connecting shaft, the end of the connecting shaft away from the mechanical arm is fixedly connected with a swing arm, the top of the swing arm is fixedly connected with a telescopic frame, and the side of the telescopic frame is provided with an anti-stiffness mechanism, the anti-stiffness mechanism includes a connecting ring, one side of the connecting ring is fixedly connected to the side of the telescopic frame, and the side of the connecting ring away from the telescopic frame is fixedly connected with a telescopic support rod. This application realizes the automatic discharge of lubricating oil when the arm is telescopic and retracting through the mutual cooperation between the telescopic support rod, oil storage tank, block, moving rod and other components inside the anti-stiffness mechanism, thereby achieving the effect of lubrication, reducing the mutual friction between the joint components, preventing the telescopic arm from moving stiffly, and fully lubricating the moving rod. It conforms to modern technology and is worthy of vigorous promotion.

[0004] However, the device still has the following defects: although it can reduce the mutual friction between the joint parts and prevent the telescopic arm from moving stiffly, it is unable to control the position adjustment of multiple objects after grasping in a small space, resulting in less than ideal assembly effect. Summary of the invention

[0005] In view of the above problems, the present invention provides an industrial robot for grasping and clamping split parts for assembly, comprising a guide assembly, the top of which is transmission-connected to a drive assembly, the bottom of which is slidably connected to three groups of claw arm clamping assemblies for grasping assembly objects, and the tops of the three groups of claw arm clamping assemblies are all transmission-connected to the drive assembly, and the bottom of the guide assembly is rotationally connected to a material delivery assembly for delivering and fastening assembly parts at the center of its central axis.

[0006] Furthermore, the guide assembly includes a guide plate; a first sliding cavity, a second sliding cavity and a third sliding cavity are opened on the surface of the guide plate, and the first sliding cavity, the second sliding cavity and the third sliding cavity are arranged in a circular array with the central axis of the guide plate as the center, and the inner wall of the first sliding cavity is slidably connected to the first vertical rod, and the inner wall of the second sliding cavity is slidably connected to the second vertical rod.

[0007] Furthermore, the inner wall of the third sliding cavity is slidably connected with a third upright pole, the bottom ends of the first upright pole, the second upright pole and the third upright pole are arranged at the same level, and the top ends of the first upright pole, the second upright pole and the third upright pole gradually increase in height, and a guide ring is penetrated and connected at the same horizontal position of the first upright pole, the second upright pole and the third upright pole, three groups of positioning blocks are embedded and installed on the guide ring, and the bottoms of several groups of the positioning blocks are fixedly connected to the top of the guide plate.

[0008] Furthermore, the driving assembly includes a driving cylinder; the top of the driving cylinder is an open structure, the side wall of the driving cylinder is provided with a first slide groove, and the inner wall of the first slide groove is slidably connected to a first cross bar, the bottom of the driving cylinder is fixedly connected to a first motor, and the output end of the first motor is transmission-connected to one end of the first cross bar, and the other end of the first cross bar is fixedly connected to the side wall of the first vertical pole.

[0009] Furthermore, a lower partition is fixedly connected to the inner wall of the driving cylinder, a second slide groove is opened on the side wall of the driving cylinder, and a second cross bar is slidably connected to the inner wall of the second slide groove, a second motor is fixedly connected to the top of the lower partition, and the output end of the second motor is transmission-connected to one end of the second cross bar, and the other end of the second cross bar is fixedly connected to the side wall of the second vertical pole.

[0010] Furthermore, the inner wall of the driving cylinder is fixedly connected to an upper partition, the side wall of the driving cylinder is provided with a third slide groove, and the inner wall of the third slide groove is slidably connected to a third cross bar, the top of the upper partition is fixedly connected to a third motor, and the output end of the third motor is transmission-connected to one end of the third cross bar, and the other end of the third cross bar is fixedly connected to the side wall of the third vertical pole, and a servo motor is also embedded and installed on the top end of the inner wall of the driving cylinder, and the output end of the servo motor is transmission-connected to a robot connecting seat.

[0011] Furthermore, the claw arm clamping assembly includes three groups of claw supports; the tops of the three groups of claw supports are embedded with a fourth motor, and the output ends of the fourth motor are respectively transmission-connected to the bottom ends of the first vertical pole, the second vertical pole and the third vertical pole, a hollow sliding cavity is opened at the bottom of the claw support, a dual-axis motor is fixedly connected to the center of the central axis of the inner wall of the hollow sliding cavity, the output ends on both sides of the dual-axis motor are transmission-connected with a screw rod, and the screw rod is threaded with a clamping arm, the bottom of the dual-axis motor is fixedly connected to an electric telescopic rod, and the output end of the electric telescopic rod is provided with a vacuum suction cup.

[0012] Furthermore, the material delivery assembly includes a first electric push rod; the output end of the first electric push rod is transmission-connected to a material guide tube, and a side wall of the material guide tube is provided with a material guide groove, the bottom end of the material guide tube is fixedly connected to a fastening sleeve, and a plurality of groups of micro cylinders are embedded and installed on the outer wall of the fastening sleeve.

[0013] Furthermore, several groups of the micro-cylinders are arranged in a circular array with the central axis of the fastener sleeve as the center, and the output ends of the several groups of the micro-cylinders extend into the fastener sleeve. A fifth motor is embedded in the top of the first electric push rod, and the output end of the fifth motor is transmission-connected to the bottom of the guide plate. A side wall of the guide tube is slidably fitted with a bolt storage track, and the bolt storage track is inclined.

[0014] Furthermore, a limiting groove is provided at the bottom of the bolt storage track, and a plurality of groups of bolt members are slidably connected to the inner wall of the bolt storage track, the countersunk ends of the plurality of groups of bolt members extend into the bolt storage track, and the threads of the plurality of groups of bolt members extend into the limiting groove, and the top of the bolt storage track is transmission-connected with a second electric push rod, and a side of the second electric push rod away from the output end is fixedly connected to the bottom of the guide plate.

[0015] The beneficial effects of the present invention are: 1. The driving assembly is used to drive the three groups of claw arm clamping assemblies to rotate at the center of the central axis of the guide assembly, and the spacing between the three groups of claw arm clamping assemblies can be adjusted to provide grasping space for assembly objects of different sizes. The delivery assembly can also be used to transport fasteners after the three groups of claw arm clamping assemblies have assembled the assembly objects, so as to improve the stability of the assembly parts and the efficiency of free switching of assembly in a small space.

[0016] 2. After the connection with the industrial robot is completed through the robot connecting seat, the mechanical arm of the industrial robot can be used to drive the split part to grab and clamp the main body to move. The vacuum suction cups at the bottom of the three sets of clamping claw supports can be used to drive the electric telescopic rod to rise after the vacuum suction cups fall to adsorb the assembly object. If the adsorbed assembly object does not fall, the clamp arm will not work, which is used to reduce the damage of the traditional clamp arm to the assembly object. If the assembly object is too heavy and falls, the clamp arm will clamp the assembly object for a second time.

[0017] 3. Through the continuous operation of the servo motor, the three groups of clamp supports can be driven to rotate with the output end of the servo motor as the center. According to the assembly order of the objects, the clamp arms at the bottom of the three groups of clamp supports can be used to grab and clamp the assembled objects in turn, and the output end of the first motor can be used to drive the first cross bar to rotate, so that the clamp support at the bottom of the first vertical bar moves along the first sliding cavity, which is used to approach or move away from the clamp supports on the other two sides, and is used to adjust the position of the assembled objects after grabbing in a narrow space to facilitate free assembly.

[0018] 4. After a group of bolts pass through the guide tube and enter the fastener sleeve, the countersunk ends of the bolts are tightened by using the output ends of several groups of micro cylinders, and then the output end of the fifth motor is used to drive the first electric push rod to rotate, so that the threaded end of the bolt rotates synchronously and then the threaded end of the bolt is connected to the assembled object to achieve the purpose of threaded fastening connection.

[0019] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 The schematic diagram of the structure of the industrial robot for grasping and clamping the split parts according to the embodiment of the present invention is shown. Figure 1 ; Figure 2 The schematic diagram of the structure of the industrial robot for grasping and clamping the split parts according to the embodiment of the present invention is shown. Figure 2 ; Figure 3 A schematic diagram of the structure of a guide component according to an embodiment of the present invention is shown; Figure 4A schematic diagram of the structure of a driving component according to an embodiment of the present invention is shown; Figure 5 It shows a schematic diagram of the structure explosion of the driving assembly according to an embodiment of the present invention; Figure 6 A schematic diagram of the structure of a claw arm clamping assembly according to an embodiment of the present invention is shown; Figure 7 A schematic structural diagram of a material transfer assembly according to an embodiment of the present invention is shown.

[0022] In the figure: 1. guide assembly; 11. guide plate; 12. first slide cavity; 13. first vertical rod; 14. second slide cavity; 15. second vertical rod; 16. third slide cavity; 17. third vertical rod; 18. guide ring; 19. positioning block; 2. drive assembly; 21. drive cylinder; 22. first slide groove; 23. first cross bar; 24. first motor; 25. lower partition; 26. second slide groove; 27. second cross bar; 28. second motor; 29. ​​third slide groove; 210. third cross bar; 211. 1. Upper partition; 212. Third motor; 213. Robot connecting seat; 3. Claw arm clamping assembly; 31. Claw support; 32. Hollow slide cavity; 33. Double-axis motor; 34. Screw; 35. Clamp arm; 36. Electric telescopic rod; 37. Vacuum suction cup; 4. Material transfer assembly; 41. First electric push rod; 42. Material guide pipe; 43. Material guide trough; 44. Fastener sleeve; 45. Micro cylinder; 46. Bolt storage track; 47. Limiting groove; 48. Bolt member; 49. Second electric push rod. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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.

[0024] The embodiment of the present invention provides an industrial robot for grasping and clamping a split component for assembly, comprising a guide assembly 1; exemplarily, as Figure 1 and Figure 2 shown.

[0025] The top of the guide assembly 1 is transmission-connected with a driving assembly 2, and the bottom of the guide assembly 1 is slidingly connected with three groups of claw arm clamping assemblies 3 for grabbing and assembling objects, and the tops of the three groups of claw arm clamping assemblies 3 are all transmission-connected with the driving assembly 2, and the bottom of the guide assembly 1 is rotationally connected with a material delivery assembly 4 for delivering fastened assembly parts at the center of the central axis.

[0026] Specifically, the driving assembly 2 is used to drive the three groups of claw arm clamping assemblies 3 to rotate at the center of the central axis of the guide assembly 1, and can also adjust the spacing between the three groups of claw arm clamping assemblies 3 to provide grasping space for assembly objects of different sizes. The material delivery assembly 4 can also be used to transport fasteners after the three groups of claw arm clamping assemblies 3 have completed the assembly of the assembly objects, so as to improve the stability of the assembly parts.

[0027] The guide assembly 1 includes a guide plate 11; illustratively, as Figure 3 shown.

[0028] The surface of the guide plate 11 is provided with a first sliding cavity 12, a second sliding cavity 14 and a third sliding cavity 16, which are arranged in a circular array with the central axis of the guide plate 11 as the center, the inner wall of the first sliding cavity 12 is slidably connected with a first vertical rod 13, the inner wall of the second sliding cavity 14 is slidably connected with a second vertical rod 15, and the inner wall of the third sliding cavity 16 is slidably connected with a third vertical rod 17, the bottom ends of the first vertical rod 13, the second vertical rod 15 and the third vertical rod 17 are arranged at the same level, and the top heights of the first vertical rod 13, the second vertical rod 15 and the third vertical rod 17 gradually increase, and a guide ring 18 is connected through the same horizontal position of the first vertical rod 13, the second vertical rod 15 and the third vertical rod 17, and three groups of positioning blocks 19 are embedded and installed on the guide ring 18, and the bottoms of several groups of the positioning blocks 19 are fixedly connected to the top of the guide plate 11.

[0029] The driving assembly 2 includes a driving cylinder 21; illustratively, Figure 4 and Figure 5 shown.

[0030] The top of the driving cylinder 21 is an open structure, the side wall of the driving cylinder 21 is provided with a first slide groove 22, and the inner wall of the first slide groove 22 is slidably connected with a first cross bar 23, the bottom of the driving cylinder 21 is fixedly connected with a first motor 24, and the output end of the first motor 24 is transmission-connected with one end of the first cross bar 23, and the other end of the first cross bar 23 is fixedly connected with the side wall of the first vertical pole 13; The inner wall of the driving cylinder 21 is fixedly connected with a lower partition 25, the side wall of the driving cylinder 21 is provided with a second slide groove 26, and the inner wall of the second slide groove 26 is slidably connected with a second cross bar 27, the top of the lower partition 25 is fixedly connected with a second motor 28, and the output end of the second motor 28 is transmission-connected with one end of the second cross bar 27, and the other end of the second cross bar 27 is fixedly connected with the side wall of the second vertical pole 15; An upper partition 211 is fixedly connected to the inner wall of the driving cylinder 21, a third slide slot 29 is provided on the side wall of the driving cylinder 21, and a third cross bar 210 is slidably connected to the inner wall of the third slide slot 29, a third motor 212 is fixedly connected to the top of the upper partition 211, and the output end of the third motor 212 is transmission-connected to one end of the third cross bar 210, and the other end of the third cross bar 210 is fixedly connected to the side wall of the third vertical pole 17; A servo motor is also embedded in the top of the inner wall of the driving cylinder 21 , and the output end of the servo motor is transmission-connected to the robot connection seat 213 .

[0031] The claw arm clamping assembly 3 includes three groups of claw supports 31; illustratively, as Figure 6 shown.

[0032] A fourth motor is embedded and installed on the top of the three groups of clamping claw supports 31, and the output end of the fourth motor is respectively connected to the bottom end of the first vertical pole 13, the second vertical pole 15 and the third vertical pole 17. A hollow sliding cavity 32 is opened at the bottom of the clamping claw support 31, and a dual-axis motor 33 is fixedly connected to the center of the central axis of the inner wall of the hollow sliding cavity 32. The output ends of both sides of the dual-axis motor 33 are connected to the screw rod 34, and the clamping arm 35 is threadedly connected to the screw rod 34. The bottom of the dual-axis motor 33 is fixedly connected to an electric telescopic rod 36, and the output end of the electric telescopic rod 36 is provided with a vacuum suction cup 37.

[0033] The material delivery assembly 4 includes a first electric push rod 41; illustratively, as Figure 7 shown.

[0034] The output end of the first electric push rod 41 is transmission-connected with a material guide pipe 42, and a material guide groove 43 is provided on one side wall of the material guide pipe 42. A fastening sleeve 44 is fixedly connected to the bottom end of the material guide pipe 42, and a plurality of groups of micro cylinders 45 are embedded and installed on the outer wall of the fastening sleeve 44. The plurality of groups of micro cylinders 45 are arranged in a circular array with the central axis of the fastening sleeve 44 as the center, and the output ends of the plurality of groups of micro cylinders 45 extend into the fastening sleeve 44. A fifth motor is embedded and installed on the top of the first electric push rod 41, and the output end of the fifth motor is transmission-connected to the bottom of the guide plate 11. One side wall of the material tube 42 is slidably connected to a bolt storage track 46, and the bolt storage track 46 is inclined. A limiting groove 47 is provided at the bottom of the bolt storage track 46. The inner wall of the bolt storage track 46 is slidably connected to a plurality of groups of bolt members 48. The countersunk ends of the plurality of groups of bolt members 48 extend into the bolt storage track 46, and the threads of the plurality of groups of bolt members 48 extend into the limiting groove 47. The top of the bolt storage track 46 is transmission-connected to a second electric push rod 49, and the side of the second electric push rod 49 away from the output end is fixedly connected to the bottom of the guide plate 11.

[0035] Specifically, after the robot connection base 213 is connected to the industrial robot, the robot arm of the industrial robot can be used to drive the split part to grab and clamp the main body and move it. The vacuum suction cup 37 at the bottom of the three-group clamping claw support 31 can be used to drive the vacuum suction cup 37 to rise after the vacuum suction cup 37 falls to absorb the assembled object. If the absorbed assembled object does not fall, the clamp arm 35 will not work, which is used to reduce the damage of the traditional clamp arm 35 to the assembled object. If the assembled object is too heavy and falls, the clamp arm 35 will clamp the assembled object for a second time. The continuous operation of the servo motor can drive the three groups of clamping claw supports 31 to rotate around the output end of the servo motor. The clamping arms 35 at the bottom of the three groups of clamping claw supports 31 can be used to grab and clamp the assembled objects in turn according to the assembly order of the objects. The output end of the first motor 24 drives the first cross bar 23 to rotate, so that the clamping claw supports 31 at the bottom of the first vertical rod 13 move along the first sliding cavity 12 to move closer to or away from the clamping claw supports 31 on the other two sides, and to adjust the position of the assembled objects after grabbing in a narrow space, so as to facilitate free assembly. After the output end of the first electric push rod 41 drives the material guide pipe 42 to fall, the material guide groove 43 is away from the end of the bolt storage track 46, which is used to block the discharge of several groups of bolts 48. When the output end of the first electric push rod 41 drives the material guide pipe 42 to rise, the material guide groove 43 is connected with the end of the bolt storage track 46, and under the action of the inclined bolt storage track 46, a group of bolts 48 in the bolt storage track 46 are penetrated into the material guide groove 43, and the material guide pipe 42 is immediately driven to fall by the output end of the first electric push rod 41, so as to prevent several groups of bolts 48 from falling continuously. After a group of the bolt members 48 enter the fastener sleeve 44 through the guide tube 42, the countersunk ends of the bolt members 48 are tightened by using the output ends of several groups of micro cylinders 45, and then the output end of the fifth motor is used to drive the first electric push rod 41 to rotate, so that the threaded ends of the bolt members 48 rotate synchronously and are connected with the assembled objects to achieve the purpose of threaded fastening connection.

[0036] An industrial robot for grabbing and clamping a disassembled component for assembly proposed by an embodiment of the present invention has the following working principle: After the robot connection base 213 is connected with the industrial robot, the robot arm of the industrial robot can be used to drive the split part to grab and clamp the main body to move. The vacuum suction cup 37 at the bottom of the three sets of clamping claw supports 31 can be used to drive the vacuum suction cup 37 to fall and absorb the assembled object, and then the electric telescopic rod 36 can be used to drive it to rise. If the absorbed assembled object does not fall, the clamp arm 35 will not work, which is used to reduce the damage of the traditional clamp arm 35 to the assembled object. If the assembled object is too heavy and falls, the clamp arm 35 will clamp the assembled object for a second time. Through the continuous operation of the servo motor, the three groups of clamping claw supports 31 can be driven to rotate around the output end of the servo motor. According to the assembly order of the objects, the clamping arms 35 at the bottom of the three groups of clamping claw supports 31 can be used to grab and clamp the assembled objects in turn, and the output end of the first motor 24 can be used to drive the first crossbar 23 to rotate, so that the clamping claw supports 31 at the bottom of the first vertical rod 13 move along the first sliding cavity 12, and are used to move closer to or away from the clamping claw supports 31 on the other two sides, and are used to adjust the position of the assembled objects after grabbing in a narrow space, so as to facilitate free assembly; After the guide tube 42 is driven down by the output end of the first electric push rod 41, the guide groove 43 is away from the port of the bolt storage track 46 to block the discharge of several groups of bolts 48. When the output end of the first electric push rod 41 drives the guide tube 42 to rise, the guide groove 43 is connected with the port of the bolt storage track 46, and under the action of the inclined bolt storage track 46, a group of bolts 48 in the bolt storage track 46 are penetrated into the guide groove 43, and the guide tube 42 is immediately driven down by the output end of the first electric push rod 41 to prevent several groups of bolts 48 from continuously falling. After a group of bolts 48 pass through the guide tube 42 and enter the fastener sleeve 44, the countersunk ends of the bolts 48 are tightened by using the output ends of several groups of micro cylinders 45, and then the output end of the fifth motor is used to drive the first electric push rod 41 to rotate, so that the threaded end of the bolt 48 rotates synchronously and then is connected with the assembled object to achieve the purpose of threaded fastening connection.

[0037] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein; and these modifications or substitutions do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An industrial robot for grabbing and clamping split parts for assembly, characterized in that: It includes a guide assembly, the top of which is transmission-connected to a drive assembly, the bottom of which is slidably connected to three groups of claw arm clamping assemblies for grabbing and assembling objects, and the tops of the three groups of claw arm clamping assemblies are all transmission-connected to the drive assembly, and the bottom of the guide assembly is rotationally connected to a material delivery assembly for delivering and fastening assembly parts at the center of the central axis.

2. The industrial robot for grabbing and clamping the assembled split parts according to claim 1, characterized in that: The guide assembly includes a guide plate; a first sliding cavity, a second sliding cavity and a third sliding cavity are opened on the surface of the guide plate, and the first sliding cavity, the second sliding cavity and the third sliding cavity are arranged in a circular array with the central axis of the guide plate as the center, the inner wall of the first sliding cavity is slidably connected to the first vertical rod, and the inner wall of the second sliding cavity is slidably connected to the second vertical rod.

3. The industrial robot for grabbing and clamping the assembled split parts according to claim 2, characterized in that: The inner wall of the third sliding cavity is slidably connected with a third upright pole, the bottom ends of the first upright pole, the second upright pole and the third upright pole are arranged at the same level, and the top ends of the first upright pole, the second upright pole and the third upright pole are gradually increased in height, and a guide ring is penetrated and connected at the same horizontal position of the first upright pole, the second upright pole and the third upright pole, three groups of positioning blocks are embedded and installed on the guide ring, and the bottoms of several groups of the positioning blocks are fixedly connected to the top of the guide plate.

4. The industrial robot for grabbing and clamping the assembled split parts according to claim 1, characterized in that: The driving assembly includes a driving cylinder; the top of the driving cylinder is an open structure, the side wall of the driving cylinder is provided with a first slide groove, and the inner wall of the first slide groove is slidably connected to a first cross bar, the bottom of the driving cylinder is fixedly connected to a first motor, and the output end of the first motor is transmission-connected to one end of the first cross bar, and the other end of the first cross bar is fixedly connected to the side wall of the first vertical pole.

5. The industrial robot for grabbing and clamping the assembled split parts according to claim 4, characterized in that: The inner wall of the driving cylinder is fixedly connected to a lower partition, the side wall of the driving cylinder is provided with a second slide groove, and the inner wall of the second slide groove is slidably connected to a second cross bar, the top of the lower partition is fixedly connected to a second motor, and the output end of the second motor is transmission-connected to one end of the second cross bar, and the other end of the second cross bar is fixedly connected to the side wall of the second vertical pole.

6. The industrial robot for grabbing and clamping the assembled split parts according to claim 5, characterized in that: The inner wall of the driving cylinder is fixedly connected to an upper partition, the side wall of the driving cylinder is provided with a third slide groove, and the inner wall of the third slide groove is slidably connected to a third cross bar, the top of the upper partition is fixedly connected to a third motor, and the output end of the third motor is transmission connected to one end of the third cross bar, and the other end of the third cross bar is fixedly connected to the side wall of the third vertical pole, and a servo motor is also embedded and installed on the top of the inner wall of the driving cylinder, and the output end of the servo motor is transmission connected to a robot connecting seat.

7. The industrial robot for grabbing and clamping the assembled split parts according to claim 1, characterized in that: The claw arm clamping assembly includes three groups of claw supports; the tops of the three groups of claw supports are embedded with a fourth motor, and the output ends of the fourth motor are respectively connected to the bottom ends of the first vertical pole, the second vertical pole and the third vertical pole in a transmission manner; a hollow sliding cavity is provided at the bottom of the claw support, a double-axis motor is fixedly connected to the center of the central axis of the inner wall of the hollow sliding cavity, the output ends on both sides of the double-axis motor are both connected in a transmission manner with a screw rod, and the screw rod is threaded with a clamping arm, the bottom of the double-axis motor is fixedly connected to an electric telescopic rod, and a vacuum suction cup is provided at the output end of the electric telescopic rod.

8. The industrial robot for grabbing and clamping the assembled split parts according to claim 1, characterized in that: The material delivery assembly includes a first electric push rod; the output end of the first electric push rod is transmission-connected to a material guide tube, and a side wall of the material guide tube is provided with a material guide groove, the bottom end of the material guide tube is fixedly connected to a fastening sleeve, and a plurality of groups of micro cylinders are embedded and installed on the outer wall of the fastening sleeve.

9. The industrial robot for grabbing and clamping the assembled split parts according to claim 8, characterized in that: Several groups of the micro cylinders are arranged in a circular array with the central axis of the fastener sleeve as the center, and the output ends of the several groups of the micro cylinders extend into the fastener sleeve. A fifth motor is embedded in the top of the first electric push rod, and the output end of the fifth motor is transmission-connected to the bottom of the guide plate. A side wall of the guide tube is slidably connected to a bolt storage track, and the bolt storage track is inclined.

10. The industrial robot for grabbing and clamping the split parts for assembly according to claim 9, characterized in that: A limiting groove is provided at the bottom of the bolt storage track, and a plurality of groups of bolt members are slidably connected to the inner wall of the bolt storage track, the countersunk ends of the plurality of groups of bolt members extend into the bolt storage track, and the threads of the plurality of groups of bolt members extend into the limiting groove, and a second electric push rod is transmission-connected to the top of the bolt storage track, and a side of the second electric push rod away from the output end is fixedly connected to the bottom of the guide plate.

Images