Laser feeding manipulator

Abstract

The invention is suitable for the technical field of manipulators, and provides a laser feeding manipulator which comprises a mechanical arm assembly, an upper hanging bracket is connected to the output end of the mechanical arm assembly, a connecting frame assembly is arranged on the inner wall of the upper hanging bracket, and a plurality of lower hanging manipulator assemblies are arranged at the bottom of the connecting frame assembly; a plurality of external scanning probes are arranged at the bottom of the connecting frame assembly; through cooperative use of a mechanical palm mechanism and a mechanical finger mechanism in the downward-hanging mechanical arm assembly, when the mechanical palm mechanism and the mechanical finger mechanism are moved by the mechanical arm assembly and the mechanical arm mechanism to the position close to a to-be-fed material, a built-in scanning probe scans the nearby and peripheral surface conditions of the material; and according to the scanning result, the bending direction of taking of the mechanical finger mechanism is judged, and whether an extension hydraulic cylinder in a fingertip section needs to be controlled to stretch out an extension grabbing rod to grab the exterior of the material or not is judged, so that the exterior of the material is accurately and stably grabbed.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a laser feeding robot. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements of human hands and arms, and is used to grab, move objects or operate tools according to a fixed program. It is characterized by being able to complete various expected operations through programming, and its structure and performance combine the advantages of both human and mechanical machines;

[0003] The automatic loading robot for laser cutting described in the patent application with reference publication number CN118682802A includes a base, on which is disposed a driving mechanism for driving the rotation and lifting of materials, and on which is disposed an actuator for adsorbing and supporting the materials. The present invention can drive the same horizontal height-adjusting racks to move closer or farther away from each other through a gear shaft, so as to adapt to the transfer of materials of different areas. Before the transfer, the present invention can adjust the position of the material through the inclined surface of the support plate to ensure the accuracy of the material transfer. At the same time, the present invention can also ensure the stability of the material transfer through the cooperation of the vacuum suction cup and the support plate, thereby improving the diversity and safety of the material transfer.

[0004] The existing feeding robot generally has a limited controllable and grasping range, and cannot be adjusted according to the size of the feeding material (such as the above-mentioned comparative technical means); at the same time, it is difficult to find a suitable grasping point for feeding materials with more complex shapes, and it is easy to grab empty or the material falls during the process of grabbing and re-feeding due to unstable grasping. The scope of application is limited, or the parameters of the robot need to be adjusted according to the characteristics of each feeding material, and the applicability is low. In order to solve the above situation, a laser feeding robot is now provided. Summary of the invention

[0005] The present invention provides a laser feeding robot, aiming to solve the problems that the existing feeding robots generally have limited controllable and grasping ranges and cannot be adjusted according to the size of the feeding materials; at the same time, it is difficult to find suitable grasping points for feeding materials with more complex shapes, and it is easy for the material to fall off during grasping or after the material is grasped and then fed again due to unstable grasping; the scope of application is limited, or the parameters of the robot need to be adjusted according to the characteristics of each feeding material, and the applicability is low.

[0006] The present invention is implemented as follows: a laser feeding manipulator comprises a manipulator assembly: an output end of the manipulator assembly is connected to an upper hanger, an inner wall of the upper hanger is provided with a connecting frame assembly, a plurality of lower hanging manipulator assemblies are provided at the bottom of the connecting frame assembly, and a plurality of external scanning probes are provided at the bottom of the connecting frame assembly;

[0007] The hanging robot assembly and the external scanning probe are arranged in an equidistant array, and the hanging robot assembly and the external scanning probe are arranged correspondingly;

[0008] Wherein, the hanging manipulator assembly comprises a manipulator arm mechanism, one end of the manipulator arm mechanism is connected to a manipulator palm mechanism, and the output end of the manipulator palm mechanism is connected to a plurality of manipulator finger mechanisms;

[0009] The mechanical palm mechanism comprises a mechanical palm, the outer wall of the mechanical palm is provided with a built-in groove, the inner wall of the built-in groove is embedded with a built-in scanning probe, and the bottom of the mechanical palm is fixedly connected with a connecting handle.

[0010] Preferably, the mechanical finger mechanism comprises a connecting section, the number of the connecting sections is multiple, the output end of the connecting section is connected to the fingertip section; the connecting section and the fingertip section and two adjacent connecting sections are connected by a rotating shaft, the outer wall of each connecting section is fixedly connected to a micro steering motor, and the output shaft of the micro steering motor is fixedly connected to one end of the rotating shaft through a coupling;

[0011] Wherein, the fingertip section includes an outer shell, an inner storage tank is provided inside the outer shell, an inner wall of the inner storage tank is fixedly connected with a built-in extended hydraulic cylinder, one end of the built-in extended hydraulic cylinder is fixedly connected with an extended grab rod, and the extended grab rod and the inner storage tank are slidably connected; the mechanical palm mechanism and the mechanical finger mechanism in the hanging manipulator assembly are used in conjunction with each other. During use, when the mechanical palm mechanism and the mechanical finger mechanism are moved by the mechanical arm assembly and the mechanical arm mechanism to a position close to the material to be loaded, the built-in scanning probe scans the vicinity and surrounding surface conditions of the material, and judges the bending direction of the mechanical finger mechanism's picking up and whether it is necessary to control the extended hydraulic cylinder in the fingertip section to extend the extended grab rod to grab the outside of the material, so as to achieve accurate and stable grabbing of the material on the outside, and cooperate with the mechanical arm assembly and the mechanical arm mechanism to transfer and load the material.

[0012] Preferably, the robotic arm mechanism includes a connecting seat, the outer wall of the connecting seat is fixedly connected to an outer protective cylinder, the outer wall of the connecting seat is fixedly connected to an inner limiting slide cylinder, the outer wall of the connecting seat is fixedly connected to an inner retracting and pulling hydraulic cylinder, one end of the inner retracting and pulling hydraulic cylinder is fixedly connected to an inner cylinder part, and the inner cylinder part is slidably connected to the inner wall of the outer protective cylinder and the outer wall of the inner limiting slide cylinder respectively.

[0013] Preferably, the inner wall of the inner cylinder is fixedly connected with threaded teeth, the outer wall of the inner cylinder is fixedly connected with two small support plates, and a locking rod is movably connected between the two small support plates through a movable pin, and a tension spring is fixedly connected between the locking rod and the inner cylinder.

[0014] Preferably, the outer wall of the connecting handle is provided with a threaded groove, one end of the connecting handle is provided with an inner locking hole, the outer wall of the connecting handle is threadedly connected to the inner cylinder part, and the outer wall of the inner cylinder part is provided with an outer locking hole, and the locking rod passes through the outer locking hole and penetrates into the inner wall of the inner locking hole; through the setting of the mechanical arm mechanism, in use, by starting and controlling the use of the built-in retracting and pulling hydraulic cylinder, the position of the inner cylinder part can be telescopically pulled, so that the mechanical palm mechanism and the mechanical finger mechanism on one end of the inner cylinder part are close to the position of the material to be grasped, wherein the setting of the threaded connection between the outer wall of the connecting handle and the inner cylinder part can facilitate the rotation to disassemble and assemble the mechanical palm mechanism, wherein the setting of the locking rod is used by pulling the movable operation of the locking rod, and when the locking rod is stuck in the inner locking hole and the outer locking hole, the position between the connecting handle and the inner cylinder part can be locked by the locking rod, so as to avoid the loose connection between the connecting handle and the inner cylinder part, thereby causing the mechanical palm mechanism and the mechanical finger mechanism to fall off, wherein the setting of the tension spring can realize the locking rod to maintain a stable locking state.

[0015] Preferably, the connecting frame assembly includes an upper connecting block fixedly arranged at the bottom of the upper hanger, one end of the upper connecting block is fixedly connected to a transverse retraction and pulling hydraulic cylinder, one end of the transverse retraction and pulling hydraulic cylinder is fixedly connected to a lower connecting block, and the bottom of the lower connecting block is fixedly connected to a lower sliding frame.

[0016] Preferably, an outer wall of the lower slide frame is fixedly connected with a fitting slide bar, the number of the fitting slide bars is two, and the two fitting slide bars are symmetrically arranged.

[0017] Preferably, a long slide groove is provided at the bottom of the upper hanger, and the inner wall of the long slide groove slides in engagement with the outer wall of the matching slide bar; through the setting of the connecting frame assembly, during use, the transverse retraction and pulling hydraulic cylinder can be controlled as needed to achieve sliding movement along the direction of the long slide groove and adjust the use position of the lower hanging manipulator assembly and the external scanning probe to facilitate grabbing operations.

[0018] Preferably, the mechanical arm assembly comprises a mounting base, a first direction adjustment motor and a second direction adjustment motor, the top of the mounting base is movably connected to a lower arm rod via the second direction adjustment motor, and one end of the lower arm rod is movably connected to an upper arm rod via the first direction adjustment motor;

[0019] A card slot is provided on one side of the mounting base, and a positioning mounting hole is provided on the top of the mounting base, and the positioning mounting hole passes through the card slot; through the setting of the mechanical arm assembly, in use, by controlling the use of the first adjustment motor and the second adjustment motor to drive the upper arm and the lower arm to rotate, it is possible to achieve large-scale regulation and the operating working area of ​​the upper hanger, the connecting frame assembly, the lower hanging manipulator assembly on the connecting frame assembly, and the external scanning probe, thereby facilitating the lower hanging manipulator assembly to easily grab and load materials; wherein the setting of the card slot, in use, by clamping the mounting base on the outer wall of the outer frame of the nearby mountable mechanism, and by installing bolts in the positioning mounting hole to fix the position of the mounting base, thereby achieving the fixation of the use position of the device.

[0020] Preferably, several miniature built-in steering motors are buried at the bottom of the lower slide, and the output shaft of the miniature built-in steering motor is fixedly connected to a rotating rod through a coupling, and the outer wall of the rotating rod is fixedly connected to the inner wall of the connecting seat; the miniature built-in steering motor is set to drive and adjust the rotating grasping position of the hanging manipulator assembly.

[0021] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0022] Through the cooperation of the mechanical palm mechanism and the mechanical finger mechanism in the hanging mechanical hand assembly, when the mechanical palm mechanism and the mechanical finger mechanism are moved by the mechanical arm assembly and the mechanical arm mechanism to a position close to the material to be loaded, the built-in scanning probe scans the vicinity and peripheral surface conditions of the material, and judges the bending direction of the mechanical finger mechanism to take and whether it is necessary to extend the extended grabbing rod to grab the outside of the material by controlling the extended hydraulic cylinder in the fingertip section according to the scanning result, so as to realize the accurate and stable grabbing of the material on the outside, and cooperate with the mechanical arm assembly and the mechanical arm mechanism to transfer and load the material;

[0023] Through the setting of the mechanical arm mechanism, in use, by starting and controlling the use of the built-in retracting and pulling hydraulic cylinder, the position of the inner cylinder can be telescopically pulled, so that the mechanical palm mechanism and the mechanical finger mechanism on one end of the inner cylinder are close to the position of the material to be grasped, wherein the setting of the threaded connection between the outer wall of the connecting handle and the inner cylinder can facilitate the rotation to disassemble and assemble the mechanical palm mechanism, wherein the setting of the locking rod can be used by pulling the movable operation of the locking rod, and when the locking rod is stuck in the inner locking hole and the outer locking hole, the position between the connecting handle and the inner cylinder can be locked by the locking rod, so as to avoid the connection between the connecting handle and the inner cylinder from loosening, thereby causing the mechanical palm mechanism and the mechanical finger mechanism to fall off, wherein the setting of the tension spring can realize that the locking rod maintains a stable locking state;

[0024] Through the setting of the connecting frame assembly, in use, the lateral retracting hydraulic cylinder can be controlled as needed to achieve sliding movement along the long slideway direction and adjust the use position of the lower hanging manipulator assembly and the external scanning probe to facilitate operation and grasping;

[0025] Through the setting of the mechanical arm assembly, in use, by controlling the use of the first adjustment motor and the second adjustment motor to drive the upper arm and the lower arm to rotate, it is possible to achieve large-scale regulation and the operation working area of ​​the upper hanger, the connecting frame assembly, the lower hanging manipulator assembly on the connecting frame assembly, and the external scanning probe, thereby facilitating the lower hanging manipulator assembly to easily grab and load materials; wherein the setting of the card slot, in use, by fixing the card installation card seat on the outer wall of the outer frame of the nearby mountable mechanism, and by installing bolts in the positioning mounting holes to achieve the fixing of the mounting card seat position, thereby achieving the fixing of the use position of the device;

[0026] The rotational grasping position of the hanging manipulator assembly is driven and adjusted by setting a micro built-in steering motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is the front view of the present invention;

[0028] Figure 2 It is a schematic diagram of the connection structure of the external scanning probe, the hanging manipulator assembly and the connecting frame assembly of the present invention;

[0029] Figure 3 It is a structural schematic diagram of the hanging manipulator assembly of the present invention;

[0030] Figure 4 It is a structural schematic diagram of the mechanical palm mechanism of the present invention;

[0031] Figure 5 It is a structural schematic diagram of the mechanical arm mechanism of the present invention;

[0032] Figure 6 It is a structural schematic diagram of the mechanical finger mechanism of the present invention;

[0033] Figure 7 is a schematic structural diagram of the fingertip segment of the present invention;

[0034] Figure 8 It is a structural schematic diagram of the connecting frame assembly of the present invention;

[0035] Fig. 9 It is a structural schematic diagram of the mechanical arm assembly of the present invention.

[0036] In the figure: 1, upper hanger; 2, lower hanging manipulator assembly; 201, manipulator palm mechanism; 2011, manipulator palm; 2012, built-in scanning probe; 2013, built-in slot; 2014, connecting handle; 2015, inner lock hole; 202, manipulator finger mechanism; 2021, fingertip segment; 2021-a, outer shell; 2022-b, built-in extended hydraulic cylinder; 2023-c, extended grab bar; 2022, connecting segment; 2023, micro steering motor; 203, manipulator arm mechanism; 2031, inner cylinder; 2032, tension spring; 2033, inner Place a hydraulic cylinder for retracting and pulling; 2034, an outer protective tube; 2035, an inner limit slide; 2036, a connecting seat; 2037, a locking rod; 2038, a small support plate; 3, a connecting frame assembly; 301, a lower slide frame; 302, a matching slide bar; 303, an upper connecting block; 304, a horizontal hydraulic cylinder for retracting and pulling; 305, a lower connecting block; 4, a mechanical arm assembly; 401, an upper arm rod; 402, a first adjustment motor; 403, a lower arm rod; 404, a mounting base; 405, a second adjustment motor; 406, a slot; 407, a positioning mounting hole; 5, an external scanning probe. DETAILED DESCRIPTION

[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by technicians in the technical field of this application; the terms used in the specification of the application herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, not to describe a specific order.

[0038] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0039] The embodiment of the present invention provides a laser feeding manipulator, comprising a manipulator assembly 4: an output end of the manipulator assembly 4 is connected to an upper hanger 1, an inner wall of the upper hanger 1 is provided with a connecting frame assembly 3, a plurality of lower hanging manipulator assemblies 2 are provided at the bottom of the connecting frame assembly 3, and a plurality of external scanning probes 5 are provided at the bottom of the connecting frame assembly 3;

[0040] The lower hanging manipulator assembly 2 and the external scanning probe 5 are both arranged in an equidistant array, and the lower hanging manipulator assembly 2 and the external scanning probe 5 are arranged correspondingly;

[0041] The hanging robot assembly 2 includes a robot arm mechanism 203, one end of the robot arm mechanism 203 is connected to a robot palm mechanism 201, and the output end of the robot palm mechanism 201 is connected to a plurality of robot finger mechanisms 202;

[0042] The mechanical palm mechanism 201 includes a mechanical palm 2011, the outer wall of the mechanical palm 2011 is provided with a built-in groove 2013, the inner wall of the built-in groove 2013 is embedded with a built-in scanning probe 2012, and the bottom of the mechanical palm 2011 is fixedly connected with a connecting handle 2014;

[0043] The mechanical finger mechanism 202 includes a connecting section 2022, the number of the connecting sections 2022 is multiple, and the output end of the connecting section 2022 is connected to the fingertip section 2021; the connecting section 2022 and the fingertip section 2021 and two adjacent connecting sections 2022 are connected by a rotating shaft, the outer wall of each connecting section 2022 is fixedly connected to a micro steering motor 2023, and the output shaft of the micro steering motor 2023 is fixedly connected to one end of the rotating shaft through a coupling;

[0044] The fingertip section 2021 includes a shell 201-a, an inner storage tank is provided inside the shell 201-a, a built-in extension hydraulic cylinder 2021-b is fixedly connected to the inner wall of the inner storage tank, an extension grab bar 2021-c is fixedly connected to one end of the built-in extension hydraulic cylinder 2021-b, and the extension grab bar 2021-c is slidably connected to the inner storage tank;

[0045] The mechanical arm mechanism 203 includes a connecting seat 2036, the outer wall of the connecting seat 2036 is fixedly connected to an outer protective cylinder 2034, the outer wall of the connecting seat 2036 is fixedly connected to an inner limit slide 2035, the outer wall of the connecting seat 2036 is fixedly connected to an inner retracting hydraulic cylinder 2033, one end of the inner retracting hydraulic cylinder 2033 is fixedly connected to an inner cylinder member 2031, and the inner cylinder member 2031 is slidably connected to the inner wall of the outer protective cylinder 2034 and the outer wall of the inner limit slide 2035 respectively;

[0046] The inner wall of the inner cylinder 2031 is fixedly connected with a threaded tooth, the outer wall of the inner cylinder 2031 is fixedly connected with two small support plates 2038, and a locking rod 2037 is movably connected between the two small support plates 2038 through a movable pin, and a tension spring 2032 is fixedly connected between the locking rod 2037 and the inner cylinder 2031;

[0047] A threaded groove is provided on the outer wall of the connecting handle 2014, and an inner locking hole 2015 is provided at one end of the connecting handle 2014. The outer wall of the connecting handle 2014 is threadedly connected to the inner cylinder part 2031, and an outer locking hole is provided on the outer wall of the inner cylinder part 2031. The locking rod 2037 passes through the outer locking hole and penetrates into the inner wall of the inner locking hole 2015.

[0048] It should be noted that the existing loading robots generally have limited controllable and grasping ranges and cannot be adjusted according to the size of the loading materials. At the same time, it is difficult to find suitable grasping points for loading materials with more complex shapes, and it is easy for the material to fall due to unstable grasping during the process of grasping and re-loading. The scope of application is limited, or the parameters of the robot need to be adjusted according to the characteristics of each loading material, and the applicability is low.

[0049] Specifically, in this embodiment, this solution is mainly used in conjunction with the mechanical arm assembly 4, the upper hanger 1, the connecting frame assembly 3, the lower hanging manipulator assembly 2 and the external scanning probe 5. First, the manipulator is installed: the card mounting card holder 404 is fixed by placing the card mounting card holder 404 on the outer wall of the outer frame of the nearby mounting mechanism, and the bolts are installed in the positioning mounting hole 407 to achieve the fixing of the use position of the device;

[0050] Then, by controlling the use of the first direction adjustment motor 402 and the second direction adjustment motor 405 to drive the upper arm 401 and the lower arm 403 to rotate, it is possible to achieve large-scale regulation and the operation working area of ​​the upper hanging frame 1, the connecting frame assembly 3, the lower hanging manipulator assembly 2 on the connecting frame assembly 3, and the external scanning probe 5, thereby facilitating the lower hanging manipulator assembly 2 to easily grasp and load materials;

[0051] Then, the outer wall of the material to be grabbed and sent to the laser processing is scanned by the external scanning probe 5, and the lower hanging manipulator component 2 to be controlled and used is analyzed according to the scanning result to start the grabbing;

[0052] By starting and controlling the use of the built-in retracting and pulling hydraulic cylinder 2033, the position of the inner cylinder 2031 can be telescopically pulled, so that the robotic palm mechanism 201 and the robotic finger mechanism 202 on one end of the inner cylinder 2031 are close to the position of the material to be grasped. When the robotic palm mechanism 201 and the robotic finger mechanism 202 are moved by the robotic arm assembly 4 and the robotic arm mechanism 203 to a position close to the material to be loaded, the built-in scanning probe 2012 scans the vicinity and surrounding surface conditions of the material, and determines the bending direction of the robotic finger mechanism 202 for picking up and whether it is necessary to control the extended hydraulic cylinder 2021-b in the fingertip section 2021 to extend the extended grab rod 2021-c to grab the outside of the material based on the scanning results, so as to achieve accurate and stable grasping of the material on the outside, and cooperate with the robotic arm assembly 4 and the robotic arm mechanism 203 to transfer and load the material.

[0053] In this embodiment, the robot palm mechanism 201 and the robot finger mechanism 202 in the hanging robot assembly 2 are used in cooperation. During use, when the robot palm mechanism 201 and the robot finger mechanism 202 are moved by the robot arm assembly 4 and the robot arm mechanism 203 to a position close to the material to be loaded, the built-in scanning probe 2012 scans the vicinity and peripheral surface conditions of the material, and determines the bending direction of the robot finger mechanism 202 for taking and whether it is necessary to extend the extended grab rod 2021-c to grab the outside of the material by controlling the extended hydraulic cylinder 2021-b in the fingertip section 2021 according to the scanning result, so as to realize accurate and stable grabbing of the material on the outside, and cooperate with the robot arm assembly 4 and the robot arm mechanism 203 to transfer and load the material;

[0054] In this embodiment, by setting the mechanical arm mechanism 203, in use, by starting and controlling the use of the built-in retracting and pulling hydraulic cylinder 2033, the position of the inner cylinder 2031 can be telescopically pulled, so that the mechanical palm mechanism 201 and the mechanical finger mechanism 202 on one end of the inner cylinder 2031 are close to the position of the material to be grasped, wherein the threaded connection between the outer wall of the connecting handle 2014 and the inner cylinder 2031 can facilitate the rotation to disassemble and assemble the mechanical palm mechanism 201, wherein the locking rod 20 The setting of 37 is to use the movable operating locking rod 2037 by pulling. When the locking rod 2037 is inserted into the inner locking hole 2015 and the outer locking hole, the position between the connecting handle 2014 and the inner cylinder part 2031 can be locked by the locking rod 2037 to prevent the connection between the connecting handle 2014 and the inner cylinder part 2031 from loosening, thereby causing the mechanical palm mechanism 201 and the mechanical finger mechanism 202 to fall off. Among them, the setting of the tension spring 2032 can keep the locking rod 2037 in a stable locking state.

[0055] In a further preferred embodiment of the present invention, the connecting frame assembly 3 includes an upper connecting block 303 fixedly arranged at the bottom of the upper hanger 1, one end of the upper connecting block 303 is fixedly connected to a lateral retracting hydraulic cylinder 304, one end of the lateral retracting hydraulic cylinder 304 is fixedly connected to a lower connecting block 305, and the bottom of the lower connecting block 305 is fixedly connected to a lower slide frame 301;

[0056] The outer wall of the lower slide frame 301 is fixedly connected with a matching slide bar 302, the number of the matching slide bars 302 is two, and the two matching slide bars 302 are symmetrically arranged;

[0057] A long slide groove is provided at the bottom of the upper hanger 1, and the inner wall of the long slide groove fits and slides with the outer wall of the fitting slide bar 302;

[0058] A plurality of micro built-in steering motors are embedded in the bottom of the lower slide 301 . The output shafts of the micro built-in steering motors are fixedly connected to rotating rods through couplings, and the outer walls of the rotating rods are fixedly connected to the inner walls of the connecting seat 2036 .

[0059] In this embodiment, by setting the connecting frame assembly 3, in use, the lateral retracting hydraulic cylinder 304 can be controlled as needed to achieve sliding movement along the long chute direction and adjust the use position of the hanging manipulator assembly 2 and the external scanning probe 5, so as to operate the grabbing;

[0060] In this embodiment, the rotational grasping position of the hanging manipulator assembly 2 is driven and adjusted by the provision of a miniature built-in direction adjustment motor.

[0061] In a further preferred embodiment of the present invention, the mechanical arm assembly 4 includes a mounting base 404, a first direction adjustment motor 402 and a second direction adjustment motor 405, the top of the mounting base 404 is movably connected to a lower arm 403 through the second direction adjustment motor 405, and one end of the lower arm 403 is movably connected to an upper arm 401 through the first direction adjustment motor 402;

[0062] A slot 406 is formed on one side of the mounting base 404 , and a positioning mounting hole 407 is formed on the top of the mounting base 404 , and the positioning mounting hole 407 passes through the slot 406 .

[0063] In this embodiment, through the setting of the robot arm assembly 4, in use, by controlling the use of the first adjustment motor 402 and the second adjustment motor 405 to drive the upper arm 401 and the lower arm 403 to rotate, large-scale regulation and the operating working area of ​​the upper hanger 1, the connecting frame assembly 3, and the lower hanging robot assembly 2 and the external scanning probe 5 on the connecting frame assembly 3 can be achieved, thereby facilitating the lower hanging robot assembly 2 to easily grab and load materials; wherein the setting of the card slot 406, in use, by clamping the mounting base 404 on the outer wall of the outer frame of the nearby mountable mechanism, and by installing bolts in the positioning mounting hole 407 to achieve the fixing of the mounting base 404 position, thereby achieving the fixing of the use position of the device.

[0064] It should be noted that, for the above-mentioned embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described order of actions, because according to the present invention, some steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0065] In the several embodiments provided in the present application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are merely schematic, such as the division of the above-mentioned units. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be in the form of telecommunication or other forms.

[0066] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0067] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the scope of protection of the invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on these embodiments, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in this field can still combine, add, delete or make other adjustments to the features in the various embodiments of the present invention according to the circumstances without conflict, without making creative work, so as to obtain different other technical solutions that do not deviate from the concept of the present invention in essence, and these technical solutions also belong to the scope of protection of the present invention.

Claims

1. A laser feeding robot, characterized in that: The invention comprises a mechanical arm assembly (4): the output end of the mechanical arm assembly (4) is connected to an upper hanger (1), the inner wall of the upper hanger (1) is provided with a connecting frame assembly (3), the bottom of the connecting frame assembly (3) is provided with a plurality of lower hanging mechanical arm assemblies (2), and the bottom of the connecting frame assembly (3) is provided with a plurality of external scanning probes (5); The hanging robot assembly (2) and the external scanning probe (5) are arranged in an equidistant array, and the hanging robot assembly (2) and the external scanning probe (5) are arranged correspondingly; The hanging robot assembly (2) comprises a robot arm mechanism (203), one end of the robot arm mechanism (203) is connected to a robot palm mechanism (201), and the output end of the robot palm mechanism (201) is connected to a plurality of robot finger mechanisms (202); The mechanical palm mechanism (201) comprises a mechanical palm (2011), the outer wall of the mechanical palm (2011) is provided with a built-in groove (2013), the inner wall of the built-in groove (2013) is embedded with a built-in scanning probe (2012), and the bottom of the mechanical palm (2011) is fixedly connected with a connecting handle (2014).

2. A laser feeding robot as claimed in claim 1, characterized in that: The mechanical finger mechanism (202) comprises a connecting section (2022), the connecting sections (2022) are multiple in number, the output end of the connecting section (2022) is connected to a fingertip section (2021); the connecting section (2022) and the fingertip section (2021) and two adjacent connecting sections (2022) are connected via a rotating shaft, the outer wall of each connecting section (2022) is fixedly connected to a micro steering motor (2023), and the output shaft of the micro steering motor (2023) is fixedly connected to one end of the rotating shaft via a coupling; The fingertip section (2021) comprises an outer shell (201-a), an inner storage tank is provided inside the outer shell (201-a), an inner wall of the inner storage tank is fixedly connected with a built-in extension hydraulic cylinder (2021-b), one end of the built-in extension hydraulic cylinder (2021-b) is fixedly connected with an extension grab rod (2021-c), and the extension grab rod (2021-c) and the inner storage tank are slidably connected.

3. A laser feeding robot as claimed in claim 1, characterized in that: The mechanical arm mechanism (203) comprises a connecting seat (2036), the outer wall of the connecting seat (2036) is fixedly connected to an outer protective tube (2034), the outer wall of the connecting seat (2036) is fixedly connected to an inner limit slide cylinder (2035), the outer wall of the connecting seat (2036) is fixedly connected to an inner retracting and pulling hydraulic cylinder (2033), one end of the inner retracting and pulling hydraulic cylinder (2033) is fixedly connected to an inner cylinder member (2031), and the inner cylinder member (2031) is slidably connected to the inner wall of the outer protective tube (2034) and the outer wall of the inner limit slide cylinder (2035), respectively.

4. A laser feeding robot as claimed in claim 3, characterized in that: The inner wall of the inner cylinder (2031) is fixedly connected with a threaded tooth, the outer wall of the inner cylinder (2031) is fixedly connected with two small support plates (2038), and a locking rod (2037) is movably connected between the two small support plates (2038) via a movable pin, and a tension spring (2032) is fixedly connected between the locking rod (2037) and the inner cylinder (2031).

5. A laser feeding robot as claimed in claim 4, characterized in that: The outer wall of the connecting handle (2014) is provided with a threaded groove, one end of the connecting handle (2014) is provided with an inner locking hole (2015), the outer wall of the connecting handle (2014) is threadedly connected to the inner cylinder (2031), and the outer wall of the inner cylinder (2031) is provided with an outer locking hole, and the locking rod (2037) passes through the outer locking hole and penetrates into the inner wall of the inner locking hole (2015).

6. A laser feeding robot as claimed in claim 1, characterized in that: The connecting frame assembly (3) comprises an upper connecting block (303) fixedly arranged at the bottom of the upper hanging frame (1), one end of the upper connecting block (303) is fixedly connected to a transverse retracting hydraulic cylinder (304), one end of the transverse retracting hydraulic cylinder (304) is fixedly connected to a lower connecting block (305), and the bottom of the lower connecting block (305) is fixedly connected to a lower sliding frame (301).

7. A laser feeding robot as claimed in claim 6, characterized in that: The outer wall of the lower slide frame (301) is fixedly connected with a matching slide bar (302), the number of the matching slide bars (302) is two, and the two matching slide bars (302) are symmetrically arranged.

8. A laser feeding robot as claimed in claim 7, characterized in that: A long slide groove is provided at the bottom of the upper hanger (1), and the inner wall of the long slide groove fits and slides with the outer wall of the fitting slide bar (302).

9. A laser feeding robot as claimed in claim 1, characterized in that: The mechanical arm assembly (4) comprises a mounting base (404), a first direction adjustment motor (402) and a second direction adjustment motor (405); the top of the mounting base (404) is movably connected to a lower arm (403) via the second direction adjustment motor (405); one end of the lower arm (403) is movably connected to an upper arm (401) via the first direction adjustment motor (402); A card slot (406) is provided on one side of the mounting card seat (404), a positioning mounting hole (407) is provided on the top of the mounting card seat (404), and the positioning mounting hole (407) passes through the card slot (406).

10. A laser feeding robot as claimed in claim 6, characterized in that: A plurality of miniature built-in steering motors are embedded at the bottom of the lower slide frame (301), the output shafts of the miniature built-in steering motors are fixedly connected to rotating rods via couplings, and the outer walls of the rotating rods are fixedly connected to the inner walls of the connecting seat (2036).

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