Industrial robot device for gripping and transferring parts

Abstract

The application relates to the technical field of industrial robots, and discloses an industrial robot device for clamping and transferring parts, wherein a mobile assembly is connected with an outer ring seat on a mobile frame, a rotating drum is rotationally connected to the inner side of the outer ring seat, and an outer tooth ring is arranged on the outer side of the upper end of the rotating drum and located on the top of the outer ring seat; a lifting frame assembly is slidably connected to the inner wall of the rotating drum through a limiting sliding connection assembly, and clamping arms are movably connected to the lifting frame assembly at equal intervals; the clamping arms are flexibly clamped through air bag expansion, rigid contact damage to the surface of the parts is avoided, and the application is especially suitable for precise parts. The application can clamp the parts and lift the clamped parts upwards at the same time, so that the position of the parts can be transferred and the direction of the parts can be adjusted; high-pressure air is continuously sprayed during the clamping process, impurities on the surface of the parts are removed, and the subsequent machining quality is improved.

Description

Technical Field

[0001] This invention relates to the field of industrial robot technology, specifically to an industrial robot device for gripping and transferring parts. Background Technology

[0002] Robotic arms are crucial components of industrial robots, widely used in industrial fields, especially in the gripping and transporting of parts. Traditional industrial robot gripper components suffer from the following technical bottlenecks: rigid gripping easily leads to scratches or deformation of part surfaces, causing irreversible damage, particularly to precision electronic components and optical devices. Furthermore, it's impossible to simultaneously remove debris and dust from part surfaces during transport, affecting subsequent assembly or processing quality. Moreover, the gripping process requires corresponding modular components to form the robot's descent, opening, closing clamping, and lifting, increasing the overall structure complexity. Therefore, we have introduced an industrial robot device for gripping and transporting parts. Summary of the Invention

[0003] The purpose of this invention is to provide an industrial robot device for clamping and transferring parts, so as to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: an industrial robot device for clamping and transferring parts, comprising a movable frame, wherein an outer ring seat is connected to the movable frame by a movable component, a rotating cylinder is rotatably connected to the inner side of the outer ring seat, and an outer toothed ring is provided on the outer side of the upper end of the rotating cylinder and located on the top of the outer ring seat;

[0005] The inner wall of the rotary drum is slidably connected to a lifting frame assembly using a limiting sliding connection assembly, and clamping arms are movably connected to the lifting frame assembly at equal intervals.

[0006] The first servo motor on the outer ring seat is used to drive the rotating drum to rotate through the outer gear ring, thereby enabling the clamping arm to adjust the orientation of the clamped parts;

[0007] The bottom of the lifting frame assembly is provided with an air jet hole, which is connected to the air jet pipeline system between the outer ring seat, the rotating cylinder and the lifting frame assembly. The air ejected through the air jet hole cleans the clamped parts.

[0008] The inner wall of the rotating drum is fixed with a cylinder body in the center by an L-shaped frame. A piston cylinder body is installed on the top of the moving component. The piston rod at the bottom output end of the piston cylinder body extends through the cylinder body and is connected to a conical frustum. The compression plate fixed on the piston rod is located inside the cylinder body.

[0009] The drive rod assembly at the upper end of the clamping arm is in close contact with the surface of the conical truncated cone. When the piston rod extends, it causes the lifting frame assembly to lower the clamping arm and open it. Then the piston rod retracts, causing the lifting frame assembly to raise the clamping arm back to its original height. At the same time, after the clamping arms close, they move closer to each other, and the compression plate forces the air in the cylinder into the air bladder at the lower part of the inner wall of the clamping arm through the pipe assembly. This causes the air bladder to expand and clamp the parts.

[0010] Preferably, the movable component includes a socket frame fitted onto the movable frame, a top plate fixed to the bottom of the socket frame, and a fixing frame connecting the top plate to the outer wall of the outer ring seat.

[0011] Preferably, the socket frame is provided with two rows of top rollers and bottom rollers distributed vertically inside, and the top rollers and bottom rollers roll on the upper and lower end surfaces of the movable frame, respectively;

[0012] A second servo motor is fixed to the side of the socket frame, and the output end of the second servo motor is connected to the corresponding top roller.

[0013] Preferably, the limiting sliding assembly is a vertical limiting frame that is fixed at equal intervals to the inner wall of the rotating cylinder;

[0014] The lifting frame assembly includes a bottom contact plate and a slide block connected to the bottom side of the bottom contact plate by connecting plates that are fixed at equal intervals.

[0015] The slide block is slidably connected to the inner cavity of the corresponding vertical limiting frame, and the upper end of the slide block is connected to the top wall of the inner cavity of the vertical limiting frame by a spring.

[0016] The vertical limiting frame is provided with limiting grooves on both sides, and the slider on the side of the slide block slides into the corresponding limiting groove.

[0017] Preferably, the jet nozzle is located at the bottom of the bottom contact plate and the bottom of the connecting plate;

[0018] The jet pipeline system includes an annular protrusion centrally located on the inner wall of the outer ring seat, a first annular groove centrally located on the inner wall of the annular protrusion, an air inlet pipe on the outer wall of the outer ring seat communicating with the first annular groove, a second annular groove on the upper part of the outer wall of the rotating cylinder, and a connecting hose on the upper part of the inner wall of the rotating cylinder communicating with the second annular groove. The other end of the connecting hose extends into the inner cavity of the vertical limiting frame and is connected to the upper end of the slide. The spring is located on the outer side of the lower part of the connecting hose.

[0019] Preferably, the bottom contact plate and the connecting plate are provided with an air jet channel communicating with the air jet hole, and the other end of the air jet channel is connected to the bottom of the connecting hose.

[0020] Preferably, the outer side of the rotating cylinder is fitted with bearings located on the upper and lower sides of the second annular inner groove, the upper and lower sets of bearings are embedded in the inner wall of the outer ring seat, and the upper and lower sets of bearings are located on the upper and lower sides of the annular protrusion.

[0021] Preferably, the first servo motor is fixed on the outside of the outer ring seat, and a gear is connected to the top output end of the first servo motor, the gear meshing with the outside of the outer gear ring.

[0022] Preferably, the conical frustum is narrower at the top and wider at the bottom;

[0023] The bottom of the connecting plate is provided with a connecting protrusion. The connecting plate passes through the slot at the upper part of the clamping arm. Connecting ear plates are provided on both sides of the slot. The connecting ear plates are movably connected to the outside of the connecting protrusion by a pin.

[0024] The drive rod assembly includes an L-shaped drive rod fixed to the upper end of the clamping arm, a contact ball fixed to the inner side of the upper end of the L-shaped drive rod, and elastic tension rings sleeved between several sets of L-shaped drive rods.

[0025] The outer side of the L-shaped drive rod is provided with a U-shaped retainer for engaging the elastic tension ring;

[0026] The contact ball is in close contact with the outer wall of the conical frustum.

[0027] Preferably, the piping assembly includes an L-shaped pipe connected to the upper side of the cylinder block and an intake hose symmetrically connected to the bottom of the L-shaped pipe;

[0028] The clamping arm has two sets of symmetrical connection holes at its top. The connection holes are connected to the airbag through the air guide channel inside the clamping arm. The bottom of the air intake hose is connected to the corresponding connection hole.

[0029] Preferably, a sealing cylinder is provided at the center of the top of the cylinder, a sealing ring is embedded in the inner wall of the sealing cylinder, the piston rod extends through the sealing ring, and a buffer spring is connected to the bottom of the compression plate and sleeved on the outside of the piston rod.

[0030] Compared with the prior art, the beneficial effects of the present invention are:

[0031] 1. The first servo motor of the present invention achieves 360° rotation of the drum through gear meshing with the external gear ring, supporting the orientation adjustment of the components.

[0032] 2. The clamping arm achieves flexible clamping through airbag expansion, avoiding rigid contact that could damage the surface of parts, making it especially suitable for precision components.

[0033] 3. After the piston rod extends, the clamping arm descends and opens, placing the component between the clamping arms. The piston rod retracts, causing the lifting frame assembly and the clamping arm to move upward synchronously, allowing the clamping arm to rotate and close around the pin until it completely clamps the component. This not only clamps the component but also lifts it upward for subsequent repositioning and orientation adjustments.

[0034] 4. High-pressure air is continuously sprayed during the clamping process to remove impurities from the surface of the parts and improve the quality of subsequent processing. Attached Figure Description

[0035] Figure 1 This is a first three-dimensional structural diagram of the entire invention;

[0036] Figure 2 This is a second three-dimensional structural diagram of the entire invention;

[0037] Figure 3 This is a three-dimensional structural diagram of the connection between the movable frame, the movable component, and the outer ring seat of the present invention;

[0038] Figure 4 This is a three-dimensional structural diagram of the connection between the cylinder body, L-shaped frame, vertical limiting frame and rotating drum of the present invention;

[0039] Figure 5 For the present invention Figure 4 First sectional view of the structure;

[0040] Figure 6 For the present invention Figure 4 The second sectional view of the structure;

[0041] Figure 7 This is a three-dimensional structural diagram of the connection between the piston rod, the lifting frame assembly, and the clamping arm of the present invention.

[0042] Figure 8 This is a three-dimensional structural schematic diagram of the lifting frame assembly of the present invention;

[0043] Figure 9 This is a schematic diagram of the connection between the clamping arm and the drive rod assembly of the present invention;

[0044] Figure 10 This is a cross-sectional view of the overall structure of the present invention;

[0045] Figure 11 This is a three-dimensional structural diagram of the cylinder body, piston rod, lifting frame assembly, and rotary drum connection of the present invention.

[0046] Figure 12 This is a schematic cross-sectional view of the clamping arm of the present invention after it has been opened.

[0047] Figure 13 This is a schematic cross-sectional view of the clamping arm after it is closed according to the present invention.

[0048] In the diagram: 1. Moving frame; 2. Connecting frame; 201. Top roller; 202. Lower roller; 3. High-pressure gas tank; 4. Piston cylinder; 5. Second servo motor; 6. External gear ring; 7. First servo motor; 71. Gear; 8. Rotary drum; 81. Second annular groove; 82. Bearing; 83. Vertical limiting frame; 84. Limiting slide groove; 85. Connecting hose; 9. Clamping arm; 91. Airbag; 92. Pin; 93. L-shaped drive rod; 94. Slot; 95. Connecting ear plate; 96. Contact ball; 97. U-shaped bracket; 98. Connecting hole 10. Intake pipe; 11. Fixing bracket; 12. Top plate; 13. L-shaped bracket; 14. Outer ring seat; 141. Annular protrusion; 142. First annular inner groove; 15. Cylinder body; 151. Sealing cylinder; 152. L-shaped tube; 153. Intake hose; 154. Sealing ring; 16. Piston rod; 161. Compression disc; 162. Conical frustum; 163. Buffer spring; 17. Elastic tension ring; 18. Bottom contact plate; 181. Jet port; 19. Connecting plate; 191. Connecting protrusion; 20. Slide seat; 21. Spring; 22. Slider. Detailed Implementation

[0049] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0050] Example:

[0051] Please see Figure 1-13 The present invention provides a technical solution:

[0052] An industrial robot device for clamping and transferring parts includes a mobile frame 1, on which an outer ring seat 14 is connected by a mobile component;

[0053] The movable component includes a socket frame 2 fitted onto the movable frame 1, a top plate 12 fixed to the bottom of the socket frame 2, and a fixing frame 11 connecting the top plate 12 to the outer wall of the outer ring seat 14. This arrangement allows the socket frame 2 to slide along the movable frame 1, thereby enabling the movement of the clamping and transferring device.

[0054] The socket frame 2 is provided with two rows of top rollers 201 and bottom rollers 202 distributed vertically inside. The top rollers 201 and bottom rollers 202 roll on the upper and lower end surfaces of the movable frame 1, respectively. This arrangement reduces the friction between the socket frame 2 and the movable frame 1. When the socket frame 2 slides along the movable frame 1, the top rollers 201 and bottom rollers 202 roll accordingly, making the movement of the clamping and transferring device smoother.

[0055] Furthermore, the two rows of top rollers 201 and bottom rollers 202 distributed vertically contact the upper and lower surfaces of the movable frame 1, forming a stable support through the top rollers 201 and bottom rollers 202, so that the socket frame 2 will not shift its position when it moves, making the movement of the clamping and transferring device smoother.

[0056] A second servo motor 5 is fixed to the side of the socket frame 2, and the output end of the second servo motor 5 is connected to the corresponding top roller 201. The second servo motor 5 is started and stopped by a PLC controller. The second servo motor 5 drives the corresponding top roller 201 to roll on the moving frame 1, thereby realizing the automatic movement of the clamping and transfer device, which provides convenience for the subsequent clamping and transfer of parts.

[0057] A rotating cylinder 8 is rotatably connected to the inner side of the outer ring seat 14, and an outer toothed ring 6 is provided on the outer side of the upper end of the rotating cylinder 8, which sits on the top of the outer ring seat 14.

[0058] The inner wall of the rotating drum 8 is connected to the lifting frame assembly by a limit sliding connection component, and the lifting frame assembly is movably connected to the clamping arms 9 at equal intervals.

[0059] The limiting sliding assembly is a vertical limiting frame 83 that is fixed at equal intervals to the inner wall of the rotating cylinder 8;

[0060] The lifting frame assembly includes a bottom contact plate 18 and a slide block 20 connected to the bottom side of the bottom contact plate 18 by a connecting plate 19 fixed at equal intervals;

[0061] The slide 20 slides into the inner cavity of the corresponding vertical limiting frame 83, and the upper end of the slide 20 is connected to the top wall of the inner cavity of the vertical limiting frame 83 by a spring 21.

[0062] The vertical limiting frame 83 is provided with limiting grooves 84 on both sides. The slider 22 on the side of the slide block 20 slides into the corresponding limiting groove 84. In this way, when the lifting frame assembly moves up and down, it can be ensured that the lifting frame assembly moves vertically up and down along the vertical limiting frame 83.

[0063] The first servo motor 7 on the outer ring seat 14 is used to drive the rotating drum 8 to rotate through the outer gear ring 6, so that the clamping arm 9 adjusts the direction of the clamped parts; the first servo motor 7 is fixed on the outside of the outer ring seat 14, and the top output end of the first servo motor 7 is connected to a gear 71, which meshes with the outside of the outer gear ring 6.

[0064] The first servo motor 7 is started and stopped by a PLC controller. The first servo motor 7 drives the gear 71 to rotate. Since the gear 71 meshes with the outer side of the external gear ring 6, the external gear ring 6 drives the rotating drum 8, cylinder 15, lifting frame assembly and clamping arm 9 to rotate together. After the clamping arm 9 clamps and fixes the parts, the direction of the parts can be adjusted.

[0065] The bottom of the lifting frame assembly is provided with an air jet hole 181. The air jet hole 181 is connected to the air jet pipeline system between the outer ring seat 14, the rotating cylinder 8 and the lifting frame assembly. The air ejected through the air jet hole 181 cleans the clamped parts.

[0066] Air jet 181 is located at the bottom of the bottom contact plate 18 and the connecting plate 19;

[0067] The jet duct system includes an annular protrusion 141 centrally located on the inner wall of the outer ring seat 14, a first annular groove 142 centrally located on the inner wall of the annular protrusion 141, an air inlet pipe 10 connected to the first annular groove 142 on the outer wall of the outer ring seat 14, a second annular groove 81 on the upper part of the outer wall of the rotating cylinder 8, and a connecting hose 85 connected to the second annular groove 81 on the upper part of the inner wall of the rotating cylinder 8. The other end of the connecting hose 85 extends into the inner cavity of the vertical limiting frame 83 and is connected to the upper end of the slide seat 20. The spring 21 is located on the outer side of the lower part of the connecting hose 85.

[0068] The bottom contact plate 18 and the connecting plate 19 are provided with an air jet channel that communicates with the air jet hole 181. The other end of the air jet channel is connected to the bottom of the connecting hose 85.

[0069] A high-pressure air tank 3 is fixed on the top plate 12. The top of the air inlet pipe 10 is connected to the high-pressure air tank 3. The air pump works under the control of the PLC to fill the high-pressure air tank 3 with high-pressure air. The high-pressure air enters the first annular inner groove 142 through the air inlet pipe 10, and then enters the second annular inner groove 81 through the first annular inner groove 142. The high-pressure air in the second annular inner groove 81 then enters the connecting hose 85, enters the jet channel through the connecting hose 85, and finally sprays downward through the jet hole 181.

[0070] At this time, after the clamping arm 9 clamps and fixes the parts, high-pressure air is blown downward through the jet hole 181 and blown onto the parts to perform high-pressure jet cleaning.

[0071] The second annular inner groove 81 matches the first annular inner groove 142, and the second annular inner groove 81 is located inside the first annular inner groove 142. The vertical height of the first annular inner groove 142 is higher than that of the second annular inner groove 81. This allows high-pressure air to enter the air storage space formed between the first annular inner groove 142 and the second annular inner groove 81 through the air inlet pipe 10. When the rotating drum 8, the lifting frame assembly, and the clamping arm 9 rotate together to adjust the direction of the parts, the high-pressure air in the air storage space can still be sprayed downward through the connecting hose 85, the jet channel, and the jet hole 181 in sequence to achieve high-pressure jet cleaning of the parts.

[0072] The outer side of the rotating cylinder 8 is fitted with bearings 82 located on the upper and lower sides of the second annular inner groove 81. The two sets of bearings 82 are embedded in the inner wall of the outer ring seat 14, and the two sets of bearings 82 are located on the upper and lower sides of the annular protrusion 141. This arrangement can seal the air storage space formed at the connection between the rotating cylinder 8 and the outer ring seat 14, so that when the rotating cylinder 8 rotates relative to the outer ring seat 14, the high-pressure air will not leak out from the air storage space.

[0073] The inner wall of the rotating drum 8 is fitted with an L-shaped frame 13, in which a cylinder 15 is fixed. A piston cylinder 4 is installed on the top of the moving assembly. The piston cylinder 4 is an electric telescopic cylinder or a hydraulic cylinder. The piston rod 16 at the bottom output end of the piston cylinder 4 extends through the cylinder 15 and is connected to a conical frustum 162. The compression disc 161 fixed on the piston rod 16 is located inside the cylinder 15.

[0074] A sealing cylinder 151 is provided at the center of the top of the cylinder body 15. A sealing ring 154 is embedded in the inner wall of the sealing cylinder 151. The piston rod 16 extends through the sealing ring 154. The sealing ring 154 can seal the piston rod 16 and the sealing cylinder 151. When the piston rod 16 extends or retracts relative to the sealing cylinder 151, it can prevent air in the cylinder body 15 from leaking out through the sealing cylinder 151. It can also prevent air in the cylinder body 15 from leaking out through the sealing cylinder 151 when the cylinder body 15 rotates relative to the piston rod 16.

[0075] A buffer spring 163 is connected to the bottom of the compression disc 161 and is sleeved on the outside of the piston rod 16. When the piston rod 16 extends, the buffer spring 163 plays a buffering role to prevent the cone-shaped frustum 162 at the bottom of the piston rod 16 from causing a serious impact on the bottom contact disc 18.

[0076] The drive rod assembly at the upper end of the clamping arm 9 is in close contact with the surface of the conical frustum 162. When the piston rod 16 extends, it causes the lifting frame assembly to drive the clamping arm 9 to descend in height, and the clamping arm 9 opens. Then the piston rod 16 retracts, causing the lifting frame assembly to drive the clamping arm 9 to rise in height and return to its original position. At the same time, after the clamping arms 9 close, they move closer to each other, and the compression disc 161 pressurizes the air in the cylinder 15 through the pipe assembly into the airbag 91 at the lower part of the inner wall of the clamping arm 9, so that the airbag 91 expands and clamps the parts.

[0077] The bottom of the connecting plate 19 is provided with a connecting protrusion 191. The connecting plate 19 passes through the slot 94 on the upper part of the clamping arm 9. Connecting ear plates 95 are provided on both sides of the slot 94. The connecting ear plates 95 are movably connected to the outside of the connecting protrusion 191 by a pin 92.

[0078] The drive rod assembly includes an L-shaped drive rod 93 fixed to the upper end of the clamping arm 9, a contact ball 96 fixed to the inner side of the upper end of the L-shaped drive rod 93, and elastic tension rings 17 sleeved between several sets of L-shaped drive rods 93.

[0079] The outer side of the L-shaped drive rod 93 is provided with a U-shaped retainer 97 for engaging the elastic tension ring 17;

[0080] The contact ball 96 is closely attached to the outer wall of the conical frustum 162, which is narrower at the top and wider at the bottom.

[0081] When the piston rod 16 is extended by the piston cylinder 4, the slide 20 is moved down to the lowest position by the elastic force of the spring 21 on the slide 20, so that the lifting frame assembly and the clamping arm 9 move down synchronously. When the conical frustum 162 contacts the upper end of the bottom contact plate 18, the clamping arm 9 is lowered to the lowest position, which facilitates the subsequent clamping of the parts after the clamping arm 9 is lowered.

[0082] At this time, under the elastic force of the elastic tension ring 17 on the L-shaped drive rod 93, the contact ball 96 on the L-shaped drive rod 93 is pressed tightly against the top of the outer wall of the conical frustum 162 (as shown in the image). Figure 10 and 12 (As shown).

[0083] When the clamping arm 9 descends and the component is positioned between several sets of clamping arms 9, the PLC controls the piston cylinder 4 to work, causing the piston cylinder 4 to control the piston rod 16 to retract. At this time, only under the gravity of the component, there is no force to overcome the elastic tension ring 17 to cause the clamping arm 9 to rotate and close around the pin 92. That is, the contact ball 96 is still in close contact with the top of the outer wall of the conical frustum 162. However, as the conical frustum 162 moves upward, the conical frustum 162 will drive the lifting frame assembly to move upward along the vertical limit frame 83 through the L-shaped drive rod 93 and the clamping arm 9. At this time, the spring 21 gradually retracts.

[0084] At the same time, the compression plate 161 moves upward within the cylinder 15, causing the compression plate 161 to compress the air in the cylinder 15 into the airbag 91, until the airbag 91 is fully inflated and the parts are initially clamped.

[0085] After the lifting frame assembly moves to its highest position, the piston rod 16 continues to drive the conical truncated cone 162 upward. At this time, the contact ball 96 slides down the outer wall of the conical truncated cone 162 until it is pressed against the lower part of the outer wall. Then, the L-shaped drive rod 93 overcomes the elastic force of the elastic tension ring 17 (which gradually stretches), causing the clamping arm 9 to rotate and close around the pin 92 until it completely clamps the component (e.g., ...). Figure 13 (As shown).

[0086] The piping assembly includes an L-shaped pipe 152 connected to the upper side of the cylinder block 15 and an intake hose 153 symmetrically connected to the bottom of the L-shaped pipe 152;

[0087] The top of the clamping arm 9 is symmetrically provided with two sets of connection holes 98. The connection holes 98 are connected to the airbag 91 through the air guide channel inside the clamping arm 9, and the bottom of the air intake hose 153 is connected to the corresponding connection hole 98.

[0088] As the piston rod 16 moves upward, it drives the compression disc 161 to move upward within the cylinder 15 (the diameter of the compression disc 161 is the same as the inner diameter of the cylinder 15). This causes the compression disc 161 to compress the air inside the cylinder 15 into the L-shaped pipe 152 and the intake hose 153, ultimately allowing the air to enter the airbag 91 through the air guide channel. The airbag 91 then fully inflates, clamping the components (such as...). Figure 13 As shown in the figure, the airbag 91 is used to softly clamp the parts, which can effectively prevent the parts from being damaged.

[0089] When the piston rod 16 moves downward, it drives the compression disc 161 to move downward within the cylinder 15, creating a negative pressure within the cylinder 15. At this time, the air in the airbag 91 flows back into the cylinder 15 through the air guide channel, intake hose 153, and L-shaped pipe 152, causing the airbag 91 to collapse and release the components (such as...). Figure 12 (As shown).

[0090] Specifically, in use, the second servo motor 5 drives the top roller 201 to roll on the moving frame 1, and through the socket frame 2, the entire device slides along the moving frame to directly above the components.

[0091] The piston cylinder 4 drives the piston rod 16 to extend, which in turn causes the conical frustum 162 to descend, compressing the buffer spring 163 and causing the lifting frame assembly (bottom contact plate 18, connecting plate 19, slide 20) to move down along the vertical limit frame 83. After the clamping arms 9 open, the parts are located between the clamping arms 9.

[0092] When the piston rod 16 retracts, the compression disc 161 forces the air inside the cylinder 15 into the air bladder 91, and the air bladder 91 inflates to complete the soft clamping of the components.

[0093] The piston rod 16 drives the lifting frame assembly and the clamping arm 9 to move upward synchronously. After the lifting frame assembly moves to the highest position, the piston rod 16 continues to drive the conical truncated cone 162 to move upward. At this time, the contact ball 96 slides down the outer wall of the conical truncated cone 162 until the contact ball 96 is close to the lower part of the outer wall of the conical truncated cone 162. At this time, the L-shaped drive rod 93 will overcome the elastic force of the elastic tension ring 17 (the elastic tension ring 17 is gradually in a stretched state), so that the clamping arm 9 rotates and closes around the pin 92 until the clamping arm 9 closes and completely clamps the parts.

[0094] This allows for both clamping of components and lifting of the clamped components upwards for subsequent repositioning and orientation adjustment.

[0095] The first servo motor 7 meshes with the external gear ring 6 through the gear 71, driving the rotating drum 8 to rotate, which in turn drives the clamping arm 9 to adjust the direction of the parts.

[0096] The high-pressure air tank 3 supplies air to the first annular inner groove 142 and the second annular inner groove 81 through the air inlet pipe 10. The high-pressure air in the air storage space enters the jet channel through the connecting hose 85 and is finally sprayed downward through the jet hole 181 to clean the clamped parts.

[0097] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An industrial robot device for clamping and transferring parts, comprising a mobile frame (1), characterized in that: The movable frame (1) is connected to an outer ring seat (14) by a movable component. A rotating cylinder (8) is rotatably connected to the inner side of the outer ring seat (14). An outer toothed ring (6) is provided on the outer side of the upper end of the rotating cylinder (8) and sits on the top of the outer ring seat (14). The inner wall of the rotating drum (8) is slidably connected to a lifting frame assembly using a limiting sliding connection assembly, and clamping arms (9) are movably connected at equal intervals on the lifting frame assembly; The first servo motor (7) on the outer ring seat (14) is used to drive the rotating drum (8) to rotate through the outer toothed ring (6), so that the clamping arm (9) adjusts the direction of the clamped parts; The bottom of the lifting frame assembly is provided with an air jet hole (181). The air jet hole (181) is connected to the air jet pipeline system between the lifting frame assembly and the outer ring seat (14), the rotating cylinder (8), and the air jetting out through the air jet hole (181) cleans the clamped parts. The inner wall of the rotating drum (8) is fixed with a cylinder (15) in the center by an L-shaped frame (13). A piston cylinder (4) is installed on the top of the moving assembly. The piston rod (16) at the bottom output end of the piston cylinder (4) extends through the cylinder (15) and is connected to a conical frustum (162). The compression disc (161) fixed on the piston rod (16) is located inside the cylinder (15). The drive rod assembly at the upper end of the clamping arm (9) is close to the surface of the conical frustum (162). When the piston rod (16) extends, the lifting frame assembly drives the clamping arm (9) to descend in height, and the clamping arm (9) opens. Then the piston rod (16) retracts, causing the lifting frame assembly to drive the clamping arm (9) to rise in height and reset. At the same time, after the clamping arms (9) close, they move closer to each other, and the compression disc (161) presses the air in the cylinder (15) into the airbag (91) at the lower part of the inner wall of the clamping arm (9) through the pipe assembly, so that the airbag (91) expands and clamps the parts.

2. The industrial robot equipment for clamping and transferring parts according to claim 1, characterized in that: The moving component includes a socket frame (2) fitted onto the moving frame (1), a top plate (12) fixed to the bottom of the socket frame (2), and a fixing frame (11) connecting the top plate (12) to the outer wall of the outer ring seat (14).

3. The industrial robot equipment for clamping and transferring parts according to claim 2, characterized in that: The socket frame (2) is provided with two rows of top rollers (201) and bottom rollers (202) distributed vertically inside. The top rollers (201) and bottom rollers (202) roll on the upper and lower surfaces of the movable frame (1), respectively. The side of the socket frame (2) is fixed with a second servo motor (5), and the output end of the second servo motor (5) is connected to the corresponding top roller (201).

4. The industrial robot equipment for clamping and transferring parts according to claim 1, characterized in that: The limiting sliding assembly is a vertical limiting frame (83) that is fixed at equal intervals to the inner wall of the rotating cylinder (8); The lifting frame assembly includes a bottom contact plate (18) and a slide (20) connected to the bottom side of the bottom contact plate (18) by a connecting plate (19) fixed at equal intervals; The slide (20) is slidably connected to the inner cavity of the corresponding vertical limiting frame (83), and the upper end of the slide (20) is connected to the top wall of the inner cavity of the vertical limiting frame (83) by a spring (21); The vertical limiting frame (83) is provided with limiting grooves (84) on both sides, and the slider (22) on the side of the slide block (20) slides into the corresponding limiting groove (84).

5. The industrial robot equipment for clamping and transferring parts according to claim 4, characterized in that: The jet hole (181) is located at the bottom of the bottom contact plate (18) and the connecting plate (19); The jet pipeline system includes an annular protrusion (141) centrally located on the inner wall of the outer ring seat (14), a first annular groove (142) centrally located on the inner wall of the annular protrusion (141), an air inlet pipe (10) connected to the first annular groove (142) on the outer wall of the outer ring seat (14), a second annular groove (81) on the upper part of the outer wall of the rotating cylinder (8), and a connecting hose (85) connected to the second annular groove (81) on the upper part of the inner wall of the rotating cylinder (8). The other end of the connecting hose (85) extends into the inner cavity of the vertical limiting frame (83) and is connected to the upper end of the slide (20). The spring (21) is located on the outer side of the lower part of the connecting hose (85). The bottom contact plate (18) and the connecting plate (19) are provided with an air jet channel communicating with the air jet hole (181), and the other end of the air jet channel is connected to the bottom of the connecting hose (85).

6. The industrial robot equipment for clamping and transferring parts according to claim 1, characterized in that: The outer side of the rotating cylinder (8) is fitted with bearings (82) located on the upper and lower sides of the second annular inner groove (81). The upper and lower sets of bearings (82) are embedded in the inner wall of the outer ring seat (14), and the upper and lower sets of bearings (82) are located on the upper and lower sides of the annular protrusion (141).

7. The industrial robot equipment for clamping and transferring parts according to claim 1, characterized in that: The first servo motor (7) is fixed on the outside of the outer ring seat (14), and a gear (71) is connected to the top output end of the first servo motor (7), which meshes with the outside of the outer gear ring (6).

8. The industrial robot equipment for clamping and transferring parts according to claim 4, characterized in that: The conical frustum (162) is narrow at the top and wide at the bottom; The bottom of the connecting plate (19) is provided with a connecting protrusion (191). The connecting plate (19) passes through the slot (94) at the top of the clamping arm (9). Connecting ear plates (95) are provided on both sides of the slot (94). The connecting ear plates (95) are movably connected to the outside of the connecting protrusion (191) by a pin (92). The drive rod assembly includes an L-shaped drive rod (93) fixed at the upper end of the clamping arm (9), a contact ball (96) fixed on the inner side of the upper end of the L-shaped drive rod (93), and elastic tension rings (17) sleeved between several sets of L-shaped drive rods (93). The L-shaped drive rod (93) is provided with a U-shaped retainer (97) on the outside for engaging the elastic tension ring (17); The contact ball (96) is in close contact with the outer wall of the conical frustum (162).

9. The industrial robot equipment for clamping and transferring parts according to claim 1, characterized in that: The piping assembly includes an L-shaped pipe (152) connected to the upper side of the cylinder (15) and an intake hose (153) symmetrically connected to the bottom of the L-shaped pipe (152); The clamping arm (9) is symmetrically provided with two sets of connection holes (98) at the top. The connection holes (98) are connected to the airbag (91) through the air guide channel inside the clamping arm (9). The bottom of the air inlet hose (153) is connected to the corresponding connection hole (98).

10. An industrial robot device for clamping and transferring parts according to claim 1, characterized in that: The cylinder body (15) has a sealing cylinder (151) at the center of the top. A sealing ring (154) is embedded in the inner wall of the sealing cylinder (151). The piston rod (16) extends through the sealing ring (154). A buffer spring (163) is connected to the bottom of the compression disc (161) and sleeved on the outside of the piston rod (16).

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