Multifunctional industrial robot

Abstract

The invention relates to the field of robots, in particular to a multifunctional industrial robot which comprises a robot body and a detection module, the robot body comprises a main body structure and a moving mechanism arranged below the main body structure, a power source and a mechanical arm used for clamping are arranged on the main body structure, and the detection module is used for quality detection. The mechanical arm is arranged on the side edge of the main body structure and provided with a lifting mechanism, a telescopic mechanism, a clamping mechanism and a rotating mechanism. The clamping mechanism of the mechanical arm can clamp the round pipe, the lifting mechanism can lift the round pipe, the telescopic mechanism can enable the mechanical arm to extend, the rotating mechanism can rotate, the round pipe is in a vertical state, and therefore the transportation stability is guaranteed. According to the multifunctional industrial robot, the side wall of a circular pipe can be detected in an all-around mode, an instruction is sent to the robot body, the robot body is made to carry the circular pipe to a designated place, manual assistance is not needed between detection and carrying, efficiency is improved, and labor force is saved.

Description

Technical Field

[0001] The present invention relates to the field of robots, and more specifically, to a multi-functional industrial robot. Background Art

[0002] Industrial robots, as the core tools of modern manufacturing, are widely used in multiple fields such as automobile manufacturing, electronic device production, and logistics warehousing. In recent years, with the rapid development of emerging technologies such as artificial intelligence, the Internet of Things, and big data, industrial robots have gradually evolved towards intelligence, flexibility, and collaboration. For example, the Helix robot of Figure Company has achieved efficient and precise perception and operation capabilities through deep learning and multi-modal understanding technologies, significantly improving the automation level of industrial production.

[0003] Currently, the number of patent applications in the field of industrial robots in China continues to grow, especially in key technology fields such as control systems, robotic arms, and drivers, remarkable progress has been made. However, although the number of high-value patents for industrial robots in China ranks first globally, there are still many challenges in industrial application and global market competitiveness. For example, most of the existing industrial robots have a single function and require different robots to complete different processes, unable to meet market demands. Summary of the Invention

[0004] The present invention aims to overcome at least one defect (shortcoming) of the above-mentioned prior art, and provides a multi-functional industrial robot, which is used to solve the problem that most of the existing industrial robots have a single function and require different robots to complete different processes, unable to meet market demands.

[0005] The technical solution adopted by the present invention is that a multi-functional industrial robot includes a robot body and a detection module. The robot body includes a main structure and a moving mechanism arranged below the main structure. A power supply and a robotic arm for clamping are arranged on the main structure. The detection module is used for quality detection and is arranged on the side of the main structure. The robotic arm has a lifting mechanism, a telescopic mechanism, a clamping mechanism, and a rotating mechanism.

[0006] The power supply supplies energy to the industrial robot. The moving mechanism is arranged below the robot body, enabling the robot body to move. A robotic arm is arranged on the robot body, which can be used to clamp a round tube. The detection module can perform quality detection on the round tube to determine whether there are cracks. The clamping mechanism of the robotic arm can be used to clamp the round tube, and the rotating mechanism can rotate the clamping arm, so that the clamped round tube is always in a vertical state. The lifting mechanism can rotate the robotic arm relative to the robot body, so that the clamping mechanism rises or falls. The telescopic mechanism can extend or shorten the robotic arm.

[0007] Further, the telescopic mechanism includes a first telescopic mechanism and a second telescopic mechanism. The first telescopic mechanism includes a first slide bar, a second slide bar, and a second motor. The second motor is fixedly connected to the first slide bar, and a driving gear is provided on the output shaft of the second motor. The second slide bar is slidably connected to the first slide bar, a rack is fixed on the second slide bar, and the rack meshes with the driving gear.

[0008] When the second motor operates, the driving gear rotates, driving the rack to perform a linear motion. Since the rack is fixedly connected to the second slide bar, the second slide bar slides relative to the first slide bar, realizing the telescopic function of the first telescopic mechanism.

[0009] Further, the second telescopic mechanism includes a short cylinder, a third slide bar, a fourth slide bar, and a first fixing block. The short cylinder and the third slide bar are both arranged on the second slide bar. The fourth slide bar is slidably connected to the third slide bar and fixedly connected to the first fixing block. The first fixing block is fixed on the shaft of the short cylinder.

[0010] The short cylinder and the third slide bar are arranged on the second slide bar, and the first fixing block is fixed on the shaft of the short cylinder. When the short cylinder operates, its shaft extends or contracts, thereby driving the first fixing block to move. Since the first fixing block is fixedly connected to the fourth slide bar, the fourth slide bar slides relative to the third slide bar, realizing the telescopic function of the second telescopic mechanism.

[0011] Further, the lifting mechanism includes a linear guide rail, a linear bearing, a connecting member, and a sliding seat. The linear bearing is fixedly connected to the sliding seat and sleeved on the linear guide rail. One end of the connecting member is rotatably connected to the sliding seat, and the other end is connected to the first slide bar.

[0012] The linear bearing can move along the linear guide rail, thereby driving the sliding seat to move along the linear guide rail, and then causing the first slide bar to rotate relative to the main body structure through the connecting member, realizing the lifting of the clamping mechanism.

[0013] Further, the clamping mechanism includes a first micro cylinder, a connecting frame, and clamping arms. There are two connecting frames, which are respectively arranged at both ends of the first micro cylinder. One end of each connecting frame is connected to the first micro cylinder, and the other end is connected to the clamping arm. A rotating shaft is provided in the middle.

[0014] One end of the two connecting frames is connected to the first micro cylinder, and the other end is connected to the clamping arm. A rotating shaft is provided in the middle. When the first micro cylinder extends or contracts, the two connecting frames can rotate around the rotating shaft, thereby realizing the closing or opening of the two clamping arms at the other end of the connecting frame.

[0015] Further, the rotating mechanism includes a servo motor and a connecting rod. The servo motor is arranged on the connecting frame. The servo arm of the servo motor is rotatably connected to one end of the connecting rod, and the other end of the connecting rod is rotatably connected to the clamping arm.

[0016] The clamping arm is rotatably connected to the connecting frame. When the servo motor works, the clamping arm can be pulled by the connecting rod, so that the clamping arm rotates relative to the connecting frame. The rotation mechanism is set to enable the robotic arm to keep the round tube in a vertical state all the time when clamping the round tube, so as to increase the stability of transportation.

[0017] Furthermore, the moving mechanism includes a plurality of first motors and universal wheels. The shaft of the first motor is connected to the universal wheel. The plurality of universal wheels are respectively arranged at the diagonals of the robot body and form a 45-degree angle with the central axis of the robot body.

[0018] Setting the universal wheels to form a 45-degree angle with the central axis of the robot body can enable the wheels to not only provide the force for forward and backward movement, but also generate lateral component forces to achieve omnidirectional movement. In addition, this layout design makes the mechanical contributions of the four wheels equal, and the control algorithm is more unified. Different movement modes can be achieved only by adjusting the wheel speed ratio. At the same time, it can also achieve in-situ rotation and is well applicable in narrow spaces.

[0019] Furthermore, a plurality of rolling omnidirectional encoders are also arranged below the main body structure. A rolling omnidirectional wheel is arranged on the shaft of each rolling omnidirectional encoder. The plurality of rolling omnidirectional wheels are respectively parallel and perpendicular to the central axis of the robot body.

[0020] The first motor provides power for the universal wheels, enabling the robot body to achieve autonomous movement and complete the transportation of the round tube. The rolling omnidirectional encoder can calculate the moving distance and position of the robot body by accurately measuring the rotation angle and number of turns of the rolling omnidirectional wheel, so that it can accurately reach the destination and place the goods at the designated position.

[0021] Furthermore, the detection module includes a vertical frame, a driving device, a lifting device and a scanning head. The vertical frame is fixed on the robot body. The driving device is arranged at the top of the vertical frame. The lifting device is arranged on the vertical frame. The scanning head is connected to the lifting device, and the lifting device can move the scanning head up and down along the vertical frame.

[0022] When the detection module is in use, the driving device clamps the side wall of the round tube and drives the round tube to rotate. The lifting device can move the scanning head up and down. Cooperating with the driving device, it can perform omnidirectional detection on the side wall of the round tube.

[0023] Furthermore, an auxiliary robotic arm is also arranged on the robot body. The auxiliary robotic arm includes a second micro cylinder and a clamping plate. There are two clamping plates, which are respectively provided with rotating shafts, and the clamping plates can rotate around the rotating shafts. A second fixing block is arranged on the shaft of the second micro cylinder. Hinges are arranged on both sides of the second fixing block, and the hinges are respectively connected to the two clamping plates.

[0024] When the second micro-cylinder works, it can move the second fixed block, thereby controlling the rotation of the two clamping plates around the rotating shaft through the hinge, realizing the opening and closing of the two clamping plates. The auxiliary robotic arm can be used to clamp plate-shaped objects.

[0025] Compared with the prior art, the beneficial effects of the present invention are as follows: By setting a detection module on the robot body, this multi-functional industrial robot can not only detect the quality of the round tube but also transport the round tube. The robotic arm on the robot body is provided with a telescopic mechanism, a lifting mechanism, a clamping mechanism, and a rotating mechanism. The clamping mechanism can clamp the round tube, the lifting mechanism can lift the round tube, the telescopic mechanism can extend the robotic arm, and the rotating mechanism can rotate to make the round tube in a vertical state, thus ensuring the stability of transportation. The driving device of the detection module can clamp the side wall of the round tube and drive the round tube to rotate. The lifting device can drive the scanning head to rise and fall. The two cooperate to enable the scanning head to perform a comprehensive detection of the side wall of the round tube, generate a quality report, and send an instruction to the robot body according to the quality report. The robot body is provided with a path planning system. When the robot body receives the instruction sent by the detection module, it moves the robot body through the moving mechanism. The setting of the first rolling omnidirectional encoder enables it to accurately measure the rotation angle and number of turns of the rolling omnidirectional wheel, calculate the moving distance and position of the robot body, and enable the robot body to accurately reach the destination and place the round tube at the designated position. This multi-functional industrial robot integrates the functions of transportation and detection, enabling the robot to perform quality detection on the round tube and then transport the round tube to the designated location according to the detection results without manual assistance between detection and transportation, saving labor. Description of the Drawings

[0026] Figure 1 It is a structural diagram of the present invention.

[0027] Figure 2 It is a structural diagram of the bottom of the robot body.

[0028] Figure 3 It is a structural diagram of the robot body.

[0029] Figure 4 It is a structural diagram of the robotic arm.

[0030] Figure 5 It is another structural diagram of the robotic arm.

[0031] Figure 6 It is an installation diagram on the right side of the robotic arm.

[0032] Figure 7 It is a structural diagram of the auxiliary robotic arm.

[0033] Figure 8 It is a structural diagram of the auxiliary robotic arm from another angle.

[0034] Figure 9 It is the structural diagram of the detection module.

[0035] Figure 10 It is the structural diagram of the detection module from another angle.

[0036] Figure 11 It is the structural diagram of the driving device of the detection module.

[0037] Figure 12 It is the structural diagram of the storage module.

[0038] Figure 13 It is the structural diagram of the recyclable elevator.

[0039] Figure 14 It is the structural diagram of the clamping device.

[0040] Figure 15 It is the exploded view of the clamping device.

[0041] Figure 16 It is the sectional view of the clamping device. Specific implementation manners

[0042] The attached drawings of the present invention are only for illustrative purposes and should not be construed as a limitation to the present invention. For better illustration of the following embodiments, some components in the attached drawings will be omitted, enlarged or reduced, which do not represent the dimensions of the actual products; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the attached drawings may be omitted.

[0043] As Figure 1 、 Figure 2 shown, a multifunctional industrial robot includes a robot body 1, a detection module 2 and a storage module 3. The robot body 1 includes a main body structure 11 and a moving mechanism 12 arranged below the main body structure 11. A power supply 13 and a robotic arm 14 for clamping a round tube are arranged on the main body structure 11. The detection module 2 is used to detect whether the quality of the round tube is qualified and is arranged on the side of the main body structure 11.

[0044] Specifically, the main body structure 11 is generally in a quadrilateral structure, having a front side, a left side, a rear side and a right side. Among them, the robotic arm 14 is arranged on the rear side of the main body structure 11 and extends forward. The detection module 2 is arranged on the left side of the main body structure 11, and the storage module 3 is arranged on the right side of the main body structure 11.

[0045] As Figure 2As shown, a moving mechanism 12 is provided below the main body structure 11. The moving mechanism 12 includes four universal wheels 121, which are evenly distributed at the four corners of the main body structure 11 and form a 45-degree angle with the central axis of the main body structure 11. A first motor 122 is provided on each universal wheel 121, and the universal wheel 121 is connected to the output shaft of the first motor 122. Two omnidirectional rolling wheels 124 are also provided below the main body structure 11. The two omnidirectional rolling wheels 124 are arranged in different directions. One of the omnidirectional rolling wheels 124 is parallel to the central axis of the main body structure 11, and the other omnidirectional rolling wheel 124 is perpendicular to the central axis of the main body structure 11. An omnidirectional rolling encoder 123 is provided on each omnidirectional rolling wheel 124, and the omnidirectional rolling encoder 123 is connected to the two omnidirectional rolling wheels 124 through a coupling 125.

[0046] As Figure 4 , Figure 5As shown in the figure, the robotic arm 14 is arranged at the rear side of the main body structure 11 and includes a telescopic mechanism, a clamping mechanism 142, a lifting mechanism 143 and a rotating mechanism 144. The telescopic mechanism includes a first telescopic mechanism 141 and a second telescopic mechanism 145. The first telescopic mechanism 141 includes two first slide bars 1411 and two second slide bars 1412. One ends of the two first slide bars 1411 are respectively connected to the rear side of the main body structure 11 through rotating shafts, and the other ends are slidably connected to one ends of the second slide bars 1412. Among them, a fixing member 1413 is arranged on the first slide bar 1411 on the right side. A second motor 1414 and an encoder 1415 are arranged on the fixing member 1413. A driving gear 1416 is arranged on the output shaft of the second motor 1414, and a first gear 1417 is arranged on the shaft of the encoder 1415. A fixing plate 1418 is arranged on the second slide bar 1412 on the right side. The fixing plate 1418 is fixedly connected to the second slide bar 1412. A rack 1419 is arranged at the lower part of the fixing plate 1418. The rack 1419 is fixedly connected to the fixing plate 1418 and meshes with the driving gear 1416 and the first gear 1417 respectively. The second telescopic mechanism 145 includes a short cylinder 1451, a third slide bar 1452, a fourth slide bar 1453 and a first fixing block 1454. The short cylinder 1451 and the third slide bar 1452 are both fixed on the fixing plate 1418. The fourth slide bar 1453 is slidably connected to the third slide bar 1452. The first fixing block 1454 is arranged on the shaft of the short cylinder 1451. A bracket 1455 is arranged on the first fixing block 1454, and the bracket 1455 is fixedly connected to the fourth slide bar 1453. When the short cylinder 1451 works, it can push the first fixing block 1454 to move. Since the first fixing block 1454 is connected to the fourth slide bar 1453 through the bracket 1455, the fourth slide bar 1453 can be made to slide relative to the third slide bar 1452, realizing the telescopic function of the second telescopic mechanism 145. A plurality of solenoid valves 1456 are also arranged on the first slide bar 1411. The solenoid valves 1456 are connected to the short cylinder 1451 to control the movement of the short cylinder 1451.

[0047] The lifting mechanism 143 is arranged below the first telescopic mechanism 141 and includes a linear guide rail 1431, a linear bearing 1432, a first connecting member 1433, a second connecting member 1434 and a sliding seat 1435. The linear guide rail 1431 is arranged on the main body structure 11. The linear bearing 1432 is connected to the sliding seat 1435 and sleeved on the linear guide rail 1431. The linear bearing 1432 and the sliding seat 1435 can move along the linear guide rail 1431. One end of the first connecting member 1433 is connected to the sliding seat 1435 through a rotating shaft, and the other end is connected to one end of the second connecting member 1433 through a rotating shaft. The other end of the second connecting member 1433 is fixedly connected to the first slide bar 1411.

[0048] The clamping mechanism 142 includes a first micro cylinder 1421, a connecting frame 1422 and clamping arms 1423. There are two clamping arms 1423, both of which are arranged in an arc shape so as to increase the contact area when clamping a round tube. The two clamping arms 1423 are respectively connected to the two ends of the first micro cylinder 1421 through the connecting frame 1422. One end of the connecting frame 1422 is rotatably connected to the first micro cylinder 1421, and the other end is rotatably connected to the clamping arm 1423. And the middle part of the connecting frame 1422 is connected to the bracket 1455 in the second telescopic mechanism 145 through a rotating shaft. When the first micro cylinder 1421 extends or contracts, the connecting frame 1422 can be rotated around the rotating shaft, so that the clamping arms 1423 at the other end are closed or opened.

[0049] A rotating mechanism 144 is arranged on the clamping mechanism 142. The rotating mechanism 144 includes a servo motor 1441 and a connecting rod 1442. The servo motor 1441 is arranged on the connecting frame 1422. The servo arm of the servo motor 1441 is rotatably connected to one end of the connecting rod 1442, and the other end of the connecting rod 1442 is rotatably connected to the upper side of the clamping arm 1423. When the servo motor 1441 works, the servo arm drives the connecting rod 1442 to move, so that the clamping arm 1423 rotates relative to the connecting frame 1422.

[0050] A pushing and pulling device 16 is further arranged below the robotic arm 14. The pushing and pulling device 16 includes a third motor 161 and a push-pull rod 162. The push-pull rod 162 includes a long rod 1621 and a short rod 1622, and the long rod 1621 and the short rod 1622 are connected to form an L shape. A push-pull rack 1623 is arranged below the long rod 1621. A second gear 163 is arranged on the motor shaft of the third motor 161, and the second gear 163 meshes with the push-pull rack 1623. The pushing and pulling device 16 can play a role in adjusting the round tube. When the round tube is picked up by the robotic arm and is not in a vertical state, it can be adjusted by the pushing and pulling device 16.

[0051] Such as Figure 6 、 Figure 7As shown in the figure, an auxiliary robotic arm 15 is further provided at the rear side of the robotic body 1. The auxiliary robotic arm 15 includes a bracket 151 and an auxiliary clamping mechanism 152. The bracket 151 is vertically fixed on the main body structure 11, and a cross plate 153 is provided at its top. A fourth stepping motor 154 is fixed on the cross plate 153. A fixed seat 155 is connected to the output shaft of the fourth stepping motor 154. The auxiliary clamping mechanism 152 is arranged on the fixed seat 155. When the fourth stepping motor 154 works, it can drive the fixed seat 155 to rotate, so that the auxiliary clamping mechanism 152 arranged on the fixed seat 155 rotates. The auxiliary clamping mechanism 152 includes a second micro cylinder 1521 and two clamping plates 1522. The second micro cylinder 1521 is fixed on the fixed seat 155, and a second fixing block 156 is fixed on its shaft. The two clamping plates 1522 are respectively connected to the second fixing block 156 through hinges 157. When the shaft of the second micro cylinder 1521 expands and contracts, it can drive the second fixing block 156 to move, so that the two clamping plates 1522 open or close. The auxiliary robotic arm 15 can be used to clamp plate-shaped objects.

[0052] Further, the robotic body 1 is further provided with a path planning system, including: a first path acquisition unit, configured to receive a first planned path from a mobile robot, where the first planned path is the shortest path planned by the mobile robot from its current position to a target position for a circular tube within a predetermined area; a second path acquisition unit, configured to plan a second planned path different from the first planned path for the mobile robot; a path determination unit, configured to determine a first path cost value and a second circular tube path cost value respectively corresponding to the first planned path and the second planned path based on pre-stored standard path segments and static path circular tube cost values corresponding to the standard path segments, where there is a positive correlation between the path cost value and the expected time consumed by the mobile robot to execute the path; a path control unit, configured to compare the first path cost value and the second path cost value, and send corresponding control instructions to the mobile robot according to the comparison result, where the mobile robot can identify the control instructions and move according to the first planned path or the second planned path.

[0053] The detection module 2 is arranged on the left side of the main body structure 11 and includes a vertical frame 21, a driving device 22, a lifting device 23 and a scanning head 24. The vertical frame 21 is fixed on the main body structure 11, and the driving device 22 is located at the top of the vertical frame 21. The lifting device 23 includes a third stepping motor 231, a first lead screw 232, a first slider 233 and a first linear guide 234. The third stepping motor 231 is arranged at the top of the vertical frame 21, and its output shaft is arranged vertically downward. The first lead screw 232 is connected to the output shaft. The first slider 233 is sleeved on the first lead screw 232, and an internal thread matching the first lead screw 232 is arranged inside it. There are two first linear guides 234, which are respectively located on both sides of the vertical frame and are clamped with the first slider 233. The scanning head 24 is arranged on the first slider 233. When the third stepping motor 231 works, the first lead screw 232 rotates, thereby driving the first slider 233 and the scanning head 24 to lift. The scanning head 24 is equipped with a multimodal detection unit, including an industrial camera with 50 million pixels, a hyperspectral imaging component and an X-ray CT / ultrasonic flaw detection integrated device. Combining deep learning algorithms with three-dimensional point cloud reconstruction technology, it realizes defect recognition at the 0.01 mm level and sub-millimeter size measurement. The detection data generates a visual quality report in real time through an embedded processing unit. A horizontal bracket 25 is arranged at the top of the vertical frame 21, and the driving device 22 is arranged on the horizontal bracket 25 and includes a first stepping motor 221, a driven wheel 222, a second stepping motor 223 and a driving wheel 224. The first stepping motor 221 is arranged horizontally, and a second lead screw 225 is connected to its output shaft. The second lead screw 225 is arranged horizontally and is perpendicular to the first lead screw 232. A second slider 226 is sleeved on the second lead screw 225, and an internal thread matching the second lead screw 225 is arranged inside the second slider 226. The driven wheel 222 is arranged below the second slider 226. Second linear guides 227 are respectively arranged on both sides of the horizontal bracket 25, and the second linear guides 227 are clamped with the second slider 226. When the first stepping motor 221 works, the second lead screw 225 can rotate, thereby driving the second slider 226 and the driven wheel 222 to move along the second linear guide 227. The second stepping motor 223 is arranged at the connection end of the horizontal bracket 25 and the vertical frame 21, and its output shaft is arranged vertically downward. The driving wheel 224 is connected to the output shaft of the second stepping motor 223 through a coupling. When the second stepping motor 223 works, it can drive the driving wheel 224 to rotate.

[0054] When the detection module 2 is working, place the side wall of the circular tube between the driving wheel 224 and the driven wheel 222. Move the driven wheel 222 along the second linear guide 227 through the first stepping motor 221 to adjust the distance between the driven wheel 222 and the driving wheel 224, and clamp the side wall of the circular tube. Rotate the driving wheel 224 through the second stepping motor 223 to rotate the circular tube. Cooperating with the lifting device 23, the scanning head 24 can be lifted and lowered, so that the scanning head 24 can perform an all-round scan of the side wall of the circular tube to detect the quality of the circular tube.

[0055] Specifically, the scanning head 24 extracts the edge lines of each defect area of the circular tube image. According to the gray gradient change curves corresponding to the edge lines of each defect area, classify the edge lines of each defect area to obtain the suspected circular tube crack area and the circular tube scratch area corresponding to the circular tube image; The present invention judges whether the row numbers and column numbers of the pixel points in the suspected circular tube crack area and the circular tube scratch area corresponding to the circular tube image overlap. If they overlap, replace the pixel values corresponding to the pixel points in the circular tube scratch area with the pixel values corresponding to the pixel points in the normal area of the circular tube to obtain the downsampled circular tube image. If they do not overlap, delete the corresponding target area in the circular tube scratch area in the circular tube image to obtain the downsampled circular tube image. On the basis of retaining the suspected circular tube crack area, as much as possible to exclude the interference of the circular tube scratch area, which can make the final judgment result more accurate; The scanning head replaces the pixel values corresponding to the pixel points in the scratch area of the circular tube image with the pixel values corresponding to the pixel points in the normal area of the circular tube to obtain a new restored image of the circular tube; Use the target network to judge whether the area corresponding to the suspected circular tube crack area in the downsampled circular tube image is a circular tube crack area, and use the target network to judge whether the area corresponding to the suspected circular tube crack area in the new restored image of the circular tube is a circular tube crack area; If the judgment results are all that it is a circular tube crack area, it is determined that there is a crack in the circular tube image.

[0056] After the detection module 2 detects the circular tube, it sends an instruction to the robot body 1 according to the detection result. After receiving the instruction, the robot body 1 transports the circular tube to the designated area according to the path planning system.

[0057] The storage module 3 is arranged on the right side of the robot body 1 and includes a recyclable elevator 31 and a storage box 32. The recyclable elevator 31 includes a bracket 311 and a motor 312. The motor 312 is fixed on the left side of the bracket 311. The motor 312 is connected to a first rolling shaft 313. The first rolling shaft 313 is arranged on the bracket through a bearing. The motor 312 can drive the first rolling shaft 313 to rotate. A first driving gear 315 is fixed at the end of the first rolling shaft 313. A second rolling shaft 314 is arranged on the right side of the bracket 311. The second rolling shaft 314 is arranged on the bracket 311 through a bearing. The second rolling shaft 314 and the first rolling shaft 313 are on the same horizontal plane and are parallel to each other. A first driven gear 316 is arranged on the second rolling shaft 314. The first driving gear 315 and the first driven gear 316 are connected by a first chain 317. When the motor 312 works, the first rolling shaft and the first driving gear can be rotated, so as to drive the first driven gear 316 and the second rolling shaft 314 to rotate through the first chain 317. A third rolling shaft 318 and a fourth rolling shaft 319 are respectively arranged below the first rolling shaft 313 and the second rolling shaft 314. The third rolling shaft 318 and the fourth rolling shaft 319 are respectively arranged on the bracket 311 through bearings and are on the same horizontal plane. The first rolling shaft 313, the second rolling shaft 314, the third rolling shaft 318 and the fourth rolling shaft 319 are all arranged in parallel. Two third gears 330 are respectively arranged at corresponding positions of the first rolling shaft 313, the second rolling shaft 314, the third rolling shaft 318 and the fourth rolling shaft 319. Two third gears 330 on the first rolling shaft 313 and two third gears 330 on the third rolling shaft 318, and two third gears on the second rolling shaft 314 and two third gears 330 on the fourth rolling shaft 319 are all connected by a second chain 331. A plurality of angle irons 332 are arranged on the four second chains 331. Two ends of the angle iron 332 are respectively fixed on the outer circumferences of two second chains 331 on the same side of the bracket 311. The storage box 32 is placed on the corresponding two angle irons 332.

[0058] A plurality of clamping devices 4 are further provided on the robot body 1. The clamping device 4 includes a mounting base 41, a sleeve 42, a fixing sleeve 43 and a clamping block 44. An avoidance hole 47 is provided on the mounting base 41. The sleeve 42 is arranged in the mounting base 41. The fixing sleeve 43 is arranged below the sleeve 42, and a spring 45 is arranged between the fixing sleeve 43 and the sleeve 42. A fixing shaft 46 is provided on the fixing sleeve 43. There are a plurality of clamping blocks 44, and the plurality of clamping blocks 44 surround the outside of the fixing shaft 46. The outer side surface of the clamping block 44 is an inclined surface, and the lower ends of the clamping blocks 44 are all connected to the fixing sleeve 43. Moreover, the fixing shaft 46 and the plurality of clamping blocks 44 are all inserted into the sleeve 42. The clamping device 4 further includes a locking block 48. One end of the locking block 48 is connected to the main body structure 11, and the other end is arranged in the avoidance hole 47. When a force is applied to the fixing sleeve 43, the top of the clamping block 44 can be pushed out of the sleeve 42, so that the clamping block 44 expands outwards. Place an object such as a round tube, a steel bar or a wire at the opening, release the force applied to the fixing sleeve 43, and the fixing sleeve 43 can move downward under the resilience of the spring 45, so that the top of the clamping block 44 retracts into the sleeve 42, thereby clamping the article. A pushing device can be provided, or the fixing sleeve 43 can be manually pushed upward.

[0059] Obviously, the above-mentioned embodiments of the present invention are merely examples for clearly explaining the technical solutions of the present invention, rather than limitations on the specific implementation manners of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the claims of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A multi-functional industrial robot, comprising a robot body and a detection module. The robot body includes a main body structure and a moving mechanism arranged below the main body structure. A power supply and a robotic arm for clamping are arranged on the main body structure. The detection module is used for quality detection and is arranged on the side of the main body structure. It is characterized in that, The robotic arm has a lifting mechanism, a telescopic mechanism, a clamping mechanism, and a rotating mechanism.

2. The multifunctional industrial robot according to claim 1, wherein The telescopic mechanism includes a first telescopic mechanism and a second telescopic mechanism. The first telescopic mechanism includes a first slide bar, a second slide bar, and a second motor. The second motor is fixedly connected to the second slide bar, and a driving gear is provided on the output shaft of the second motor; the second slide bar is slidably connected to the first slide bar, a rack is fixed on the second slide bar, and the rack meshes with the driving gear.

3. A multifunctional industrial robot according to claim 2, characterized in that, The second telescopic mechanism includes a short cylinder, a third slide bar, a fourth slide bar, and a first fixing block. The short cylinder and the third slide bar are both arranged on the second slide bar. The fourth slide bar is slidably connected to the third slide bar and fixedly connected to the first fixing block. The first fixing block is fixed on the shaft of the short cylinder.

4. A multifunctional industrial robot according to claim 2, wherein, The lifting mechanism includes a linear guide rail, a linear bearing, a connecting member, and a sliding seat. The linear bearing is fixedly connected to the sliding seat and sleeved on the linear guide rail. One end of the connecting member is rotatably connected to the sliding seat, and the other end is connected to the first slide bar.

5. The multifunctional industrial robot according to claim 2, wherein, The clamping mechanism includes a first micro cylinder, a connecting frame, and clamping arms. There are two connecting frames, which are respectively arranged at both ends of the first micro cylinder. One end is connected to the first micro cylinder, and the other end is connected to the clamping arms. A rotating shaft is arranged in the middle.

6. The multifunctional industrial robot according to claim 5, characterized in that, The rotating mechanism includes a servo motor and a connecting rod. The servo motor is arranged on the connecting frame. The servo arm of the servo motor is rotatably connected to one end of the connecting rod, and the other end of the connecting rod is rotatably connected to the clamping arm.

7. A multifunctional industrial robot according to any one of claims 1 to 6, characterized in that, The moving mechanism includes a plurality of first motors and universal wheels. The shaft of the first motor is connected to the universal wheel. The plurality of universal wheels are respectively arranged at the diagonals of the robot body and form a 45-degree angle with the central axis of the robot body.

8. A multifunctional industrial robot according to claim 7, wherein, A plurality of rolling omnidirectional encoders are further arranged below the main body structure. A rolling omnidirectional wheel is arranged on the shaft of each rolling omnidirectional encoder. The plurality of rolling omnidirectional wheels are respectively parallel and perpendicular to the central axis of the robot body.

9. A multifunctional industrial robot according to claim 7, wherein, The detection module includes a vertical frame, a driving device, a lifting device, and a scanning head. The vertical frame is fixed on the robot body. The driving device is arranged at the top of the vertical frame. The lifting device is arranged on the vertical frame. The scanning head is connected to the lifting device, and the lifting device can move the scanning head up and down along the vertical frame.

10. A multifunctional industrial robot according to claim 7, characterized in that, An auxiliary robotic arm is further arranged on the robot body. The auxiliary robotic arm includes a second micro cylinder and clamping plates. There are two clamping plates, and rotating shafts are respectively arranged. The clamping plates can rotate around the rotating shafts; a second fixing block is arranged on the shaft of the second micro cylinder, hinges are arranged on both sides of the second fixing block, and the hinges are respectively connected to the two clamping plates.

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