Rigid industrial robot manipulator for metal processing

Abstract

The invention relates to an industrial robot manipulator, in particular to a rigid industrial robot manipulator for metal processing. A rigid industrial robot manipulator for metal machining comprises two inner cylinders which are oppositely arranged, a plurality of elastic pieces are fixed to the outer sides of the inner cylinders, and the outer ends of the elastic pieces are fixed to the inner circumference of a cylinder. The inner cylinder is fixed to a shaft rod, the shaft rod is fixed to an output shaft of a third motor, and the third motor is fixed to an L-shaped piece. A round cover is connected to the end of the shaft rod in an inserted mode, a round table is arranged on the round cover and can be inserted into the end of the cylinder, a fastening screw is connected to the round cover through threads, and the fastening screw is pressed on the shaft rod. The rigid cylinder can be used for clamping the metal block, and the situation that too deep marks are formed on the metal block due to too large clamping force is prevented.

Description

Technical Field

[0001] The present invention relates to an industrial robot manipulator, and more particularly to a rigid industrial robot manipulator for metal processing. Background Art

[0002] In industrial production, robots are used as automated equipment in the grasping, handling and assembly of materials. Especially in the field of metal processing, robots need to accurately clamp and operate metal blocks. However, when clamping metal blocks, existing robots generally have the problem of excessive clamping force, which causes deep marks on the surface of the metal block and even permanent damage. Most existing robot clamping systems use a fixed clamping force, which aggravates the damage to the surface of the metal block. Summary of the invention

[0003] In order to overcome the shortcomings of the prior art, the present invention provides a rigid industrial robot manipulator for metal processing, which has the beneficial effect of being able to clamp a metal block using a cylinder with a rigid surface, with high clamping stability, while preventing excessive clamping force from leaving deep marks on the metal block.

[0004] The technical solution adopted by the present invention to solve its technical problem is:

[0005] A rigid industrial robot manipulator for metal processing comprises two inner cylinders which are arranged opposite to each other. A plurality of elastic sheets are fixed on the outer sides of the inner cylinders, and the outer ends of the plurality of elastic sheets are fixed on the inner circumference of the cylinders.

[0006] The inner cylinder is fixed on the shaft rod, the shaft rod is fixed on the output shaft of the motor three, and the motor three is fixed on the L-shaped piece.

[0007] The end of the shaft rod is plugged with a round cover, on which a round table is arranged, which can be inserted into the end of the cylinder, and the round cover is threadedly connected with a fastening screw, which is pressed on the shaft rod.

[0008] Both ends of each cylinder are sleeved with a circular ring, and a plurality of wheel frames are arranged on the opposite surfaces of the two circular rings, and each wheel frame is rotatably connected with a rotating wheel. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The present invention is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0010] Figure 1 A schematic diagram of the structure of a rigid industrial robot manipulator for metal processing Figure 1 ;

[0011] Figure 2 A schematic diagram of the structure of a rigid industrial robot manipulator for metal processing Figure 2 ;

[0012] Figure 3 A schematic diagram of the structure of a rigid industrial robot manipulator for metal processing Figure 3 ;

[0013] Figure 4 A schematic diagram of the structure of a rigid industrial robot manipulator for metal processing Figure 4 ;

[0014] Figure 5 The structure of the crossbar is shown in Figure 1. Figure 1 ;

[0015] Figure 6 The structure of the crossbar is shown in Figure 1. Figure 2 ;

[0016] Figure 7 Schematic diagram of the cylinder structure Figure 1 ;

[0017] Figure 8 Schematic diagram of the cylinder structure Figure 2 ;

[0018] Fig. 9 Schematic diagram of the structure of the plug Figure 1 ;

[0019] Fig.10 Schematic diagram of the structure of the plug Figure 2 ;

[0020] Fig.11 The structure of the steering arm Figure 1 ;

[0021] Fig.12 The structure of the steering arm Figure 2 .

[0022] In the figure: crossbar 101; motor 1 102; slider 103; orifice plate 104; motor 2 105; rotating rod 106; electric push rod 1 107; convex seat 108;

[0023] Cylinder 201; anti-skid groove 202; inner cylinder 203; round cover 204; elastic sheet 205; side frame 206; positioning pin 207; L-shaped member 208; motor 3 209; shaft 210; round table 211;

[0024] Insert rod 301; screw rod 302; motor 4 303; sliding arm 304; stopper 305; convex cylinder 306; collar 307; ring 308; rotating wheel 309; wheel frame 310;

[0025] Steering arm 401; electric push rod 2 402; flat rod 403; motor 5 404; rope drum 405; pull rope 406; electromagnet 407; motor 6 408; seat block 409. DETAILED DESCRIPTION

[0026] like Figure 7-8 As shown, this example can prevent the clamping force of the two cylinders 201 from being too strong and leaving too deep marks on the metal block.

[0027] Since the rigid industrial robot manipulator for metal processing includes two inner cylinders 203, the two inner cylinders 203 are arranged opposite to each other, and multiple elastic sheets 205 are welded on the outer side of the inner cylinder 203, and the outer ends of the multiple elastic sheets 205 are welded to the inner circumference of the cylinder 201, in the field of metal processing, the manipulator needs to accurately clamp the metal block, and when the two inner cylinders 203 are driven to approach each other, the cylinder 201 is driven to approach each other. At this time, the metal block is clamped by the two cylinders 201. The material of the two cylinders 201 itself is rigid, which can ensure high stability when clamping the metal. When the clamping force is too large, since the multiple elastic sheets 205 are elastic, the cylinder 201 is adaptively displaced relative to the inner cylinder 203 inside it through the elasticity of the multiple elastic sheets 205, thereby preventing the clamping force of the two cylinders 201 from being too large and leaving too deep marks on the metal block.

[0028] like Figure 7-8 As shown, this example can achieve the effect of adjusting the clamping position of the two cylinders 201 on the metal block by rotating the two cylinders 201.

[0029] Since the inner cylinder 203 is connected to the shaft 210 through a key, the shaft 210 is connected to the output shaft of the motor three 209 through a coupling, and the motor three 209 is connected to the L-shaped piece 208 through screws, when the cylinder 201 is clamped on the metal block, the two shafts 210 are driven to rotate by the two motors three 209 respectively, thereby driving the inner cylinder 203, multiple elastic sheets 205 and the cylinder 201 to rotate around the corresponding shaft 210, and then the metal block between the two cylinders 201 is driven to move up and down through the simultaneous rotation of the two cylinders 201, and the clamping position of the two cylinders 201 on the metal block is adjusted by the rotation of the two cylinders 201.

[0030] like Figure 7-8 As shown, this example can achieve the effect of limiting the relative movement between the cylinder 201 and the inner cylinder 203.

[0031] Since the end of the shaft 210 is plugged with a round cover 204, a round table 211 is provided on the round cover 204, and the round table 211 can be inserted into the end of the cylinder 201. The round cover 204 is threadedly connected with a fastening screw, and the fastening screw is pressed on the shaft 210. If the multiple elastic sheets 205 are not needed to work, that is, when adaptive displacement between the cylinder 201 and the inner cylinder 203 is not needed, the round cover 204 can be slid on the shaft 210, and the round table 211 on the round cover 204 can be inserted into the cylinder 201. When the round table 211 is inserted into the cylinder 201, the relative movement between the cylinder 201 and the inner cylinder 203 can be limited. The fastening screw on the round cover 204 is rotated to press on the shaft 210, and the round cover 204 is fixed on the shaft 210.

[0032] like Figure 7-10 As shown, this example can achieve the effect of avoiding affecting the upward and downward movement of the metal block to adjust the position.

[0033] Since both ends of each of the cylinders 201 are covered with rings 308, and multiple wheel frames 310 are provided on the opposite surfaces of the two rings 308, and each wheel frame 310 is rotatably connected to a rotating wheel 309, it is not stable enough to clamp the metal block using only two cylinders 201. Therefore, two rings 308 are provided on the cylinder 201, and the two rings 308 are driven to approach each other, and then the rotating wheels 309 of the two rings 308 are pressed on both sides of the metal block respectively, so that the four sides of the metal block are clamped at this time, and the clamping stability is higher, and when the two cylinders 201 drive the metal block to move up and down, the rotating wheel 309 can roll on the metal block to avoid affecting the up and down movement adjustment of the metal block.

[0034] like Figure 9-10 As shown, this example can achieve the effect that when the rotating wheel 309 on the ring 308 presses on the metal block, it does not affect the upward and downward movement of the metal block.

[0035] Since a convex cylinder 306 is welded to the outer side of each of the circular rings 308, the convex cylinder 306 is rotatably connected to the corresponding sleeve 307, a stopper 305 for blocking the sleeve 307 is inserted on the convex cylinder 306, and a sliding arm 304 is integrally formed on the sleeve 307, the circular ring 308 can rotate on the sleeve 307 through the convex cylinder 306 thereon, and the multiple rotating wheels 309 on the circular ring 308 can also rotate freely, making the circular ring 308 more flexible, and when the rotating wheels 309 on the circular ring 308 press on the metal block, it does not affect the up and down movement of the metal block.

[0036] like Figure 9-10 As shown, this example can achieve stable clamping of the metal block without affecting the up and down movement of the metal block.

[0037] Since the two sliding arms 304 are respectively slidably connected to the two ends of the plug rod 301, the end of the plug rod 301 is connected to the motor 4 303 through a screw, and the output shaft of the motor 4 303 is connected to the screw rod 302 through a coupling, and the front and rear parts of the screw rod 302 have opposite screw threads, and the two ends of the screw rod 302 are respectively matched with the two sliding arms 304 through threads. The motor 4 303 drives the screw rod 302 to rotate, and then the screw rod 302 drives the two sliding arms 304 to move closer to or away from each other on the plug rod 301, and then drives the two rings 308 to move closer to or away from each other. When the two cylinders 201 are clamped on both sides of the metal block, the wheels 309 on the four rings 308 are pressed on the other two vertical surfaces of the metal block, thereby stably clamping the metal block without affecting the up and down movement of the metal block.

[0038] like Figure 7-10 As shown, this example can achieve the effect of facilitating the removal of the two rings 308 from the cylinder 201 .

[0039] Since the L-shaped member 208 is connected to the side frame 206 by screws, the end of the insertion rod 301 is inserted into the side frame 206, and the positioning pin 207 passes through the side frame 206 and the insertion rod 301 to fix the insertion rod 301 on the side frame 206. After the positioning pin 207 is pulled out, it is convenient to remove the insertion rod 301 from the side frame 206, and then it is convenient to remove the two rings 308 from the cylinder 201.

[0040] like Figure 5-8 As shown, this example can achieve the effect of driving the two cylinders 201 to change the angle and position to clamp the metal block.

[0041] Since the rigid industrial robot manipulator for metal processing also includes a cross bar 101, both ends of the cross bar 101 are welded with orifice plates 104, and the orifice plates 104 are provided with screw sockets, both ends of the cross bar 101 are slidably connected with sliders 103, the slider 103 is connected with motor 102 by screws, the output shaft of motor 102 is connected with a rotating rod 106 by screws, the lower end of the rotating rod 106 is connected with motor 2 105 by screws, the output shaft of motor 2 105 is connected to the L-shaped piece 208 by screws, the screw sockets on the orifice plate 104 can be inserted with screws, and the orifice plate 104 can be conveniently fixed on the industrial robot, and the manipulator can be conveniently driven by the industrial robot to move to the required position, the motor 102 drives the rotating rod 106 to rotate on the slider 103, and the motor 2 105 drives the L-shaped piece 208 to rotate on the rotating rod 106, thereby driving the two cylinders 201 to change the angle and position to clamp the metal block.

[0042] like Figure 5-6 As shown, this example can achieve the effect of driving the two rotating rods 106, the two L-shaped members 208 and the two cylinders 201 to move closer to or away from each other.

[0043] Since a boss 108 is welded to the middle of the cross bar 101, each slider 103 is connected to an electric push rod 107 via a flange, and the ends of the two electric push rods 107 are connected to the boss 108 via flanges. The two electric push rods 107 respectively drive the two sliders 103 to slide on the cross bar 101, and then drive the two rotating rods 106, the two L-shaped pieces 208 and the two cylinders 201 to move closer to or away from each other.

[0044] like Figure 1-12 As shown, this example can achieve the effect of temporarily lifting the metal block by energizing the electromagnet 407 to suck the metal block.

[0045] Since a seat block 409 is welded to the middle of the crossbar 101, a motor 6 408 is connected to the seat block 409 by screws, the output shaft of the motor 6 408 is connected to the lower end of the steering arm 401 by screws, the upper end of the steering arm 401 is slidably connected to a flat rod 403 in the horizontal direction, the flat rod 403 is connected to an electric push rod 2 402 by screws, the end of the electric push rod 2 402 is connected to the steering arm 401 by screws, the end of the flat rod 403 is connected to a motor 5 404 by screws, and the output shaft of the motor 5 404 is connected to a rope drum 405 through a coupling. The upper end of the pull rope 406 is tied to the rope drum 405, and the lower end of the pull rope 406 is tied with an electromagnet 407. The motor six 408 drives the steering arm 401 to change its direction. The electric push rod two 402 drives the flat rod 403 to move horizontally on the steering arm 401, and then moves the rope drum 405 to above the clamped metal block. The motor five 404 drives the rope drum 405 to rotate, controls the retraction and release of the pull rope 406, and then the electromagnet 407 is energized to suck on the metal block to temporarily lift the metal block, and then the two cylinders 201 are used to clamp the metal block more conveniently.

Claims

1. A rigid industrial robot manipulator for metal processing, comprising two inner cylinders (203), characterized in that: The two inner cylinders (203) are arranged opposite to each other, and a plurality of elastic sheets (205) are fixed on the outer sides of the inner cylinders (203), and the outer ends of the plurality of elastic sheets (205) are fixed on the inner circumference of the cylinder (201).

2. A rigid industrial robot manipulator for metal processing according to claim 1, characterized in that: The inner cylinder (203) is fixed on the shaft (210), the shaft (210) is fixed on the output shaft of the motor three (209), and the motor three (209) is fixed on the L-shaped piece (208).

3. A rigid industrial robot manipulator for metal processing according to claim 2, characterized in that: The end of the shaft (210) is plugged with a round cover (204), and a round table (211) is arranged on the round cover (204). The round table (211) can be inserted into the end of the cylinder (201). The round cover (204) is threadedly connected with a fastening screw, and the fastening screw is pressed on the shaft (210).

4. A rigid industrial robot manipulator for metal processing according to claim 3, characterized in that: Both ends of each cylinder (201) are sleeved with a circular ring (308), and a plurality of wheel frames (310) are arranged on the opposite surfaces of the two circular rings (308), and each wheel frame (310) is rotatably connected to a rotating wheel (309).

5. A rigid industrial robot manipulator for metal processing according to claim 4, characterized in that: A convex cylinder (306) is fixed on the outer side of each circular ring (308), and the convex cylinder (306) is rotatably connected to the corresponding sleeve ring (307). A stopper (305) for blocking the sleeve ring (307) is fixed on the convex cylinder (306), and a sliding arm (304) is fixed on the sleeve ring (307).

6. A rigid industrial robot manipulator for metal processing according to claim 5, characterized in that: The two sliding arms (304) are respectively slidably connected to the two ends of the insertion rod (301), a motor four (303) is fixed to the end of the insertion rod (301), a screw rod (302) is fixed on the output shaft of the motor four (303), the front and rear parts of the screw rod (302) have opposite thread rotation directions, and the two ends of the screw rod (302) are respectively matched with the two sliding arms (304) through threads.

7. A rigid industrial robot manipulator for metal processing according to claim 6, characterized in that: The L-shaped member (208) is fixed with a side frame (206), the end of the insertion rod (301) is inserted into the side frame (206), and the positioning pin (207) passes through the side frame (206) and the insertion rod (301) to fix the insertion rod (301) on the side frame (206).

8. A rigid industrial robot manipulator for metal processing according to claim 7, characterized in that: The invention also comprises a cross bar (101), wherein both ends of the cross bar (101) are fixed with a perforated plate (104), the perforated plate (104) is provided with a screw insertion hole, both ends of the cross bar (101) are slidably connected with a slider (103), a motor 1 (102) is fixed on the slider (103), a rotating rod (106) is fixed on the output shaft of the motor 1 (102), a motor 2 (105) is fixed at the lower end of the rotating rod (106), and the output shaft of the motor 2 (105) is fixed on the L-shaped member (208).

9. A rigid industrial robot manipulator for metal processing according to claim 8, characterized in that: A convex seat (108) is fixed in the middle of the crossbar (101), and each slider (103) is connected to an electric push rod (107) via a flange, and the ends of the two electric push rods (107) are connected to the convex seat (108) via flanges.

10. A rigid industrial robot manipulator for metal processing according to claim 9, characterized in that: A seat block (409) is fixed to the middle of the crossbar (101), a motor six (408) is fixed to the seat block (409), an output shaft of the motor six (408) is fixed to the lower end of the steering arm (401), the upper end of the steering arm (401) is slidably connected to a flat rod (403) in a horizontal direction, an electric push rod two (402) is fixed to the flat rod (403), the end of the electric push rod two (402) is fixed to the steering arm (401), a motor five (404) is fixed to the end of the flat rod (403), a rope drum (405) is fixed to the output shaft of the motor five (404), the upper end of the pull rope (406) is fixed to the rope drum (405), and the lower end of the pull rope (406) is fixed to an electromagnet (407).

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