Intelligent industrial manipulator

Abstract

The invention discloses an intelligent industrial manipulator, which belongs to the technical field of manipulators and comprises a manipulator body, a small arm is mounted on the inner side of the tail end of the manipulator body, an end effector for clamping a heavy object is mounted at the other end of the small arm, and a compensation assembly is connected to the small arm. According to the mechanical arm, the multiple steel wire ropes generate stable pulling force on the small arm, large-amplitude downward rotation of the small arm when the small arm is out of control is effectively limited, the multiple steel wire ropes generate the stable pulling force on the small arm, large-amplitude rotation of the small arm is effectively limited, and the mechanical arm is stable in tension. The mechanical arm main body is prevented from being impacted by a small arm, an end effector and a heavy object due to inertia, the risk of equipment damage is greatly reduced, the safety of operators and equipment on an operation site is guaranteed, deterioration of the out-of-control condition is stopped in time through the protection mechanism, accident hazards are controlled within the minimum range, and potential economic losses and safety risks are reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of manipulators, and in particular relates to an intelligent industrial manipulator. Background Art

[0002] With the continuous development of my country's robotics industry, technology and research fields have reached a certain level, and the technical level of industrial robots has also developed rapidly. Traditional industrial robots generally include a base, a rotating arm, an upper arm, and a lower arm. At present, in the fields of industrial automation and intelligent manufacturing, the requirements for the robot's load capacity and precision are getting higher and higher. Due to the limitations of their structure, traditional industrial robots have limitations in load capacity and workspace.

[0003] The prior art discloses some invention patents in the field of manipulator technology, among which the invention patent with publication number CN118990592B discloses an anti-slip mechanical claw for industrial manipulators, which relates to the field of mechanical claw technology. Due to the inertia of the object's own weight, the object and the mechanical claw tend to slide down, causing the object to fall off when it is clamped and lifted. The anti-slip mechanical claw for industrial manipulators, through the cooperation of the inclined block and the outer inclined plate, makes the clamping plate lift the object after clamping it. Through the friction between the clamping plate and the object, when the object tends to slide down, the clamping plate transmits the tendency to the inclined block and the connecting plate at the same time. The connecting rod makes the connecting rod and the inclined plane block show a downward trend at the same time, and the sliding adaptation of the inclined plane of the outer inclined plate and the inclined plane block is used. After the downward trend appears, the clamping force of the clamping plate toward the inside is increased to limit the sliding of the object and prevent it from slipping during the process of clamping and moving the object. This technical solution still has some shortcomings in the process of application. Since the forearm is more slender than the main structure of the robot arm and directly carries the end effector and the heavy object it grasps, the forearm is subjected to greater stress and wear than the main body of the robot arm, and its wear rate is also faster. When the forearm grasps heavy objects through the end effector, mechanical loss of control is likely to occur.

[0004] Based on this, the present invention designs an intelligent industrial robot to solve the above problems. Summary of the Invention

[0005] The purpose of the present invention is to solve the problem that the forearm of the existing intelligent industrial robot is more slender than the main structure of the robot arm, and directly carries the end effector and the heavy object it grasps, which makes the forearm bear greater stress and wear than the main body of the robot arm, and thus its wear rate is also faster. When the forearm grasps the heavy object through the end effector, mechanical loss of control is likely to occur. An intelligent industrial robot is proposed.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions: An intelligent industrial manipulator comprises a manipulator body, a small arm is mounted on the inner side of the rear end of the manipulator body, an end effector for clamping a heavy object is mounted on the other end of the small arm, a compensation component is connected to the small arm, a reel component is connected to the manipulator body corresponding to the compensation component, a link component is provided between the reel component and the compensation component, and when the small arm is rapidly tilted downward, the reel component pulls the compensation component through the link component to perform a suction action; A plurality of safety components are mounted on the axis of the winding component, and a plurality of limit components are connected to the inner bottom of the winding component corresponding to the plurality of safety components.

[0007] As a further description of the above technical solution: The winding assembly includes a combination seat connected to the main body of the manipulator, a winding box is connected to the combination seat, both ends of the winding box are connected to end covers, the same winding shaft is rotatably connected between the two end covers, a plurality of winding wheels are mounted on the winding shaft corresponding to the inner side of the winding box, and both ends of the winding shaft are equipped with winding springs, and the winding shaft is elastically connected to the opposite surfaces of the two end covers through two winding springs.

[0008] As a further description of the above technical solution: The safety component comprises a combination sleeve which is sleeved on the winding shaft near the winding wheel. A ratchet gear and a sleeve are sleeved on the combination sleeve respectively. A safety piece is connected to the circumferential surface of the sleeve.

[0009] As a further description of the above technical solution: The safety member includes two safety plates connected to the circumferential surface of the sleeve, a safety shaft is rotatably connected between the two safety plates, the other end of the safety shaft is rotatably connected to a fixed plate, the fixed plate is connected to the circumferential surface of the sleeve, and a transfer spring is sleeved on the other end of the safety shaft, and the safety shaft is elastically transferred to the end surface of the fixed plate through the transfer spring; Active claws are sleeved on the safety shaft at positions corresponding to the positions between the two safety plates, and a limit plate for limiting the rotation angle of the active claws is connected between the two safety plates.

[0010] As a further description of the above technical solution: The limiting assembly includes a limiting base connected to the inner bottom of the winding box, an arc-shaped slide groove is provided on the inner arc surface of the limiting base, an arc-shaped slider is slidably connected in the arc-shaped slide groove, an end of the arc-shaped slider is connected to an arc spring, the arc-shaped slider is elastically supported and connected to the inner end surface of the arc-shaped slide groove through the arc spring, and an arc-shaped slide plate connected to the arc-shaped slider is slidably connected on the inner arc surface of the limiting base; The end of the arc-shaped slide is connected with a passive claw corresponding to the active claw, and a limiting member is provided between the arc-shaped slide and the ratchet gear.

[0011] As a further description of the above technical solution: The limiting member includes a limiting seat connected to the inner arc surface of the arc-shaped slide, the inner side of the limiting seat is rotatably connected to the limiting shaft, the side end surface of the arc-shaped slide corresponds to the ratchet gear and is rotatably connected to the rotating shaft, the other end of the rotating shaft is rotatably connected to a latch tooth, the end surface of the latch tooth is provided with a push-up hole, and the other end of the limiting shaft is located in the push-up hole.

[0012] As a further description of the above technical solution: The compensation assembly includes a compensation tank connected to the forearm, the end of the compensation tank is connected to a suction pipe, the suction pipe is installed with a solenoid valve, the other end of the compensation tank is connected to a tank cover, the inner side of the tank cover is slidably sleeved with a compensation shaft, the end of the compensation shaft is connected to a piston disk sleeved in the compensation tank, the other end face of the piston disk is connected to a compensation spring, the piston disk is elastically supported and connected to the inner bottom of the compensation tank through the compensation spring, and a limiting ring is clamped between the corresponding piston disk in the compensation tank and the tank cover.

[0013] As a further description of the above technical solution: The link assembly includes multiple adapters connected to the other end of the compensation shaft. The inner side of the adapter is rotatably connected to the steering shaft, and the steering shaft is connected to a wire rope. The other end of the wire rope passes through the winding port and is wound around the corresponding winding wheel.

[0014] As a further description of the above technical solution: The multiple execution claws of the end actuator are all connected to an anti-slip pad, which is a hollow joint body. The multiple anti-slip pads located on one side are connected by a combination pipe. One anti-slip pad located on one side is connected to a vacuum tube, and the other end of the vacuum tube is connected to the compensation tank.

[0015] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: 1. In the present invention, multiple steel wire ropes generate stable pulling force on the forearm, effectively limiting the large-scale downward rotation of the forearm when the forearm is out of control, and avoiding the forearm, the end effector and heavy objects from hitting the main body of the robotic arm due to inertia, greatly reducing the risk of equipment damage and ensuring the safety of personnel and equipment on the operating site. This protection mechanism promptly stops the deterioration of the out-of-control situation, controls the accident hazards to the minimum range, and reduces potential economic losses and safety risks.

[0016] 2. In the present invention, dynamic adjustment of the suction force at the suction hole is achieved through the high-frequency on-off operation of the solenoid valve. The suction force is weakened when the solenoid valve is opened, and the suction force is strengthened when it is closed. This cyclic adjustment can flexibly adjust the force between the anti-slip pad and the heavy object according to the actual situation of the heavy object and the different stages of the transportation process, making the grasping more adaptable to various complex working conditions and further enhancing the stability of the grasping.

[0017] Multiple steel cables provide stable tension for the arm, limiting its large rotation in the event of a loss of control. This prevents the arm, end effector, and heavy objects from impacting the main arm due to inertia, reducing the risk of equipment damage and ensuring the safety of personnel and equipment. This protection mechanism can promptly curb the escalation of a loss of control, minimize the damage caused by accidents, and reduce economic losses and safety risks. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the overall structure of an intelligent industrial robot proposed by the present invention; Figure 2 This is a structural diagram of an intelligent industrial robot proposed by the present invention from another perspective; Figure 3 This is a schematic diagram of the structure inside the winding box of an intelligent industrial robot proposed by the present invention; Figure 4 The present invention proposes an intelligent industrial robot Figure 3 A schematic diagram of the enlarged structure of the winding component; Figure 5 This is a structural diagram of the intelligent industrial robot proposed by the present invention with the winding component and the safety component separated; Figure 6 This is a structural diagram of the winding component of the intelligent industrial robot proposed by the present invention after being disassembled from another perspective; Figure 7 This is a schematic diagram of the structure of a disassembled compensation component in an intelligent industrial robot proposed by the present invention; Figure 8 This is a structural diagram of a limit assembly in an intelligent industrial robot proposed by the present invention; Figure 9 An intelligent industrial robot proposed by the present invention Figure 8 A schematic diagram of the structure enlarged in the middle; Figure 10 This is a structural schematic diagram of a transfer axis in an intelligent industrial robot proposed by the present invention.

[0019] Legend: 1. Robot body; 2. Forearm; 3. End effector; 4. Rewinding assembly; 401. Rewinding box; 402. End cover; 403. Rewinding shaft; 404. Rewinding wheel; 405. Rewinding spring; 406. Rewinding mouth; 407. Assembly seat; 5. Compensation assembly; 501. Compensation tank; 502. Suction pipe; 503. Solenoid valve; 504. Tank cover; 505. Compensation shaft; 506. Piston disc; 507. Compensation spring; 508. Limiting ring; 6. Safety assembly; 601. Assembly sleeve; 602. Ratchet gear; 603. Sleeve; 604. Safety piece; 6041. Safety plate; 6042. 042. Safety shaft; 6043. Fixed plate; 6044. Adapter spring; 6045. Limit plate; 6046. Active claw; 7. Limit assembly; 701. Limit base; 702. Arc slide; 703. Arc spring; 704. Arc slide; 705. Passive claw; 706. Limit piece; 7061. Limit seat; 7062. Limit shaft; 7063. Gear; 7064. Push hole; 7065. Turning shaft; 8. Link assembly; 801. Adapter; 802. Steering shaft; 803. Wire rope; 9. Anti-slip pad; 10. Vacuum tube; 11. Combination tube. DETAILED DESCRIPTION

[0020] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0021] Please see the attached Figure 1 -Attached Figure 10 The present invention provides a technical solution: an intelligent industrial robot, comprising a robot body 1, a small arm 2 is installed on the inner side of the tail end of the robot body 1, an end effector 3 for clamping heavy objects is installed on the other end of the small arm 2, a compensation component 5 is connected to the small arm 2, and a winding component 4 is connected to the corresponding compensation component 5 on the robot body 1, and a link component 8 is provided between the winding component 4 and the compensation component 5. When the small arm 2 is quickly tilted down, the winding component 4 pulls the compensation component 5 through the link component 8 to perform a suction action; A plurality of safety components 6 are mounted on the axis of the winding component 4 , and a plurality of limit components 7 are connected to the inner bottom of the winding component 4 corresponding to the plurality of safety components 6 .

[0022] Specifically, the winding assembly 4 includes a combination seat 407 connected to the manipulator body 1, a winding box 401 is connected to the combination seat 407, both ends of the winding box 401 are connected to end covers 402, and the same winding shaft 403 is rotatably connected between the two end covers 402. A plurality of winding wheels 404 are sleeved on the winding shaft 403 corresponding to the inner side of the winding box 401, and winding springs 405 are sleeved on both ends of the winding shaft 403. The winding shaft 403 is elastically connected to the opposite surfaces of the two end covers 402 through two winding springs 405. The safety assembly 6 includes a combination sleeve 6 sleeved on the winding shaft 403 near the winding wheel 404. 01, the combination sleeve 601 is respectively provided with a ratchet gear 602 and a sleeve 603, and the circumferential surface of the sleeve 603 is connected to a safety member 604, which includes two safety plates 6041 connected to the circumferential surface of the sleeve 603, and a same safety shaft 6042 is rotatably connected between the two safety plates 6041, and the other end of the safety shaft 6042 is rotatably connected to a fixed plate 6043, and the fixed plate 6043 is connected to the circumferential surface of the sleeve 603, and the other end of the safety shaft 6042 is provided with a transfer spring 6044, and the safety shaft 6042 is elastically transferred to the end surface of the fixed plate 6043 through the transfer spring 6044; An active claw 6046 is mounted on the safety shaft 6042 at a position corresponding to the position between the two safety plates 6041. A limit plate 6045 is connected between the two safety plates 6041 to limit the rotation angle of the active claw 6046. The limit assembly 7 includes a limit base 701 connected to the inner bottom of the winding box 401. An arc-shaped slide 702 is provided on the inner curved surface of the limit base 701. An arc-shaped slider is slidably connected in the arc-shaped slide 702. An arc spring 703 is connected to the end of the arc-shaped slider. The arc-shaped slider is elastically supported and connected to the inner end surface of the arc-shaped slide 702 by the arc spring 703. An arc-shaped slide 704 connected to the arc-shaped slider is slidably connected on the inner curved surface of the limit base 701. The end of the arc-shaped slide 704 is connected to the passive claw 705 corresponding to the active claw 6046, and a limit member 706 is provided between the arc-shaped slide 704 and the ratchet gear 602. The limit member 706 includes a limit seat 7061 connected to the inner arc surface of the arc-shaped slide 704, and the inner side of the limit seat 7061 is rotatably connected to the limit shaft 7062. The side end surface of the arc-shaped slide 704 is rotatably connected to the ratchet gear 602, and the other end of the rotatable shaft 7065 is rotatably connected to the latch tooth 7063. The end surface of the latch tooth 7063 is provided with a push-out hole 7064, and the other end of the limit shaft 7062 is located in the push-out hole 7064. The compensation component 5 includes a compensation tank 501 connected to the forearm 2, and the end of the compensation tank 501 is connected to the suction pipe 502, and the suction pipe 502 is equipped with an electromagnetic valve. 503, the other end of the compensation tank 501 is connected to the tank cover 504, and the inner side of the tank cover 504 is slidably sleeved with a compensation shaft 505, and the end of the compensation shaft 505 is connected to a piston disk 506 sleeved in the compensation tank 501, and the other end face of the piston disk 506 is connected to a compensation spring 507, and the piston disk 506 is elastically supported and connected to the inner bottom of the compensation tank 501 through the compensation spring 507, and a limiting ring 508 is clamped between the corresponding piston disk 506 in the compensation tank 501 and the tank cover 504, and the link assembly 8 includes a plurality of adapters 801 connected to the other end of the compensation shaft 505, and the inner side of the adapter 801 is rotatably connected to the steering shaft 802, and the steering shaft 802 is connected to the wire rope 803, and the other end of the wire rope 803 passes through the winding port 406 and is wound around the corresponding winding wheel 404.

[0023] The specific implementation method is as follows: by controlling the robot arm main body, the forearm 2 and the end effector 3 to grab the heavy object and complete the transportation of the heavy object. During the transportation of the heavy object, since the forearm 2 is relatively thinner than the robot arm main body, and directly bears the end effector 3 and the heavy object grabbed by the end effector 3, the forearm 2 wears faster than the robot arm main body. When the forearm 2 grabs the heavy object through the end effector 3 and mechanical loss of control occurs, the end effector 3 and the heavy object will drive the other end of the forearm 2 to rotate downward rapidly on the inner side of the end of the robot arm main body. In the initial stage, the compensation shaft 505 pulls the multiple steel cables 803 through the multiple adapters 801 installed on the inner side of the multiple adapters 801. Under the action of the tension, the other end of the steel cable 803 gradually separates from the winding wheel 40. 4, and pulls the winding wheel 404 to drive the winding shaft 403 to rotate inside the winding box 401. During this process, on the one hand, the winding shaft 403 twists the winding spring 405 to cause elastic deformation. On the other hand, the winding shaft 403 drives multiple ratchet gears 602 to rotate synchronously through multiple combination sleeves 601. During the rapid rotation of the ratchet gear 602, the active claw 6046 performs a large-scale centrifugal movement. The active claw 6046 rotates inside the two safety plates 6041 through the safety shaft 6042 and twists the transfer spring 6044 to cause elastic deformation. After the active claw 6046 rotates a certain angle, it is blocked by the limit plate 6045. At this time, the active claw 6046 stops rotating. After the active claw 6046 and the passive claw 70 When docking occurs, the active claw 6046 pushes the arc-shaped slide plate 704 through the passive claw 705. The arc-shaped slide plate 704 slides in the arc-shaped slide groove 702 through the arc-shaped slider and applies pressure to the arc spring 703 to cause elastic deformation. During the sliding process, the arc-shaped slide plate 704 drives the limiting shaft 7062 to slide in the push-up hole 7064 through the limiting seat 7061. Under the push of the limiting shaft 7062, the latching tooth 7063 rotates through the rotating shaft 7065 until the latching tooth 7063 and the ratchet gear 602 are fully engaged. At this time, the multiple ratchet gears 602 stop rotating under the action of the multiple latching teeth 7063. Since the multiple ratchet gears 602 are fixedly connected to the reeling shaft 403 through the multiple combination sleeves 601, the reeling shaft 403 also stops rotating. Stop rotating, and at the same time, the part of the wire rope 803 wrapped around the winding wheel 404 cannot be released. At this time, the multiple wire ropes 803 pull the compensation shaft 505 through multiple adapters 801, and the compensation shaft 505 pulls the piston disc 506 to slide in the compensation tank 501, and pulls the compensation spring 507 to make it elastically deformed. When the piston disc 506 is connected to the limit ring 508, the piston disc 506 will not be able to slide in the compensation tank 501, and the multiple wire ropes 803 are used to generate tension on the forearm 2, so that it can rotate downward significantly when the forearm 2 loses control mechanically, avoiding the forearm 2, the end effector 3 and the heavy object from hitting the main body of the robotic arm due to inertia, causing the forearm 2, the end effector 3 and the heavy object to hit the main body of the robotic arm due to inertia and damage.

[0024] Specifically, the multiple execution claws of the end actuator 3 are connected to the anti-slip pad 9, which is a hollow joint body. The multiple anti-slip pads 9 located on one side are connected through a combination pipe 11. One anti-slip pad 9 located on one side is connected to a vacuum tube 10, and the other end of the vacuum tube 10 is connected to the compensation tank 501.

[0025] The specific implementation method is as follows: during the process of the piston disc 506 being pulled by the compensation shaft 505, the suction pipe 502 is switched on and off at a high frequency by controlling the solenoid valve 503. When the solenoid valve 503 is in a closed state, the compensation tank 501 cannot suck air through the suction pipe 502. The compensation tank 501 uses the suction hole opened on the surface of the anti-slip pad 9 through the vacuum tube 10 to suck air. Since the anti-slip pad 9 is connected to the heavy object, the suction hole is in a blocked state, thereby generating suction on the heavy object. When the solenoid valve 503 is in an open state, the suction pipe 502 is in a conducting state, and the compensation tank 501 sucks air through the suction pipe 502. The suction force at the suction hole gradually weakens. This pattern is continuously circulated, which can effectively increase the resistance of the anti-slip pad 9 to the heavy object, thereby preventing the heavy object from falling off to a certain extent.

[0026] Working principle, when using: When the robot arm is controlled to perform heavy object grabbing and carrying tasks, the robot arm main body, forearm 2 and end effector 3 work together. However, during the heavy object carrying process, since the forearm 2 is more slender than the robot arm main body structure and directly carries the end effector 3 and the heavy object it grabs, the forearm 2 is subjected to greater stress and wear than the robot arm main body, and its wear rate is also faster. When the forearm 2 grabs the heavy object through the end effector 3, if mechanical loss of control occurs, the end effector 3 and the heavy object grabbed will drive the other end of the forearm 2 to rotate rapidly downward on the inner side of the end of the robot arm main body. At this time, the compensation shaft 505 activates the emergency protection mechanism: In the initial stage, the compensation shaft 505 pulls the multiple steel ropes 803 with the help of the linkage components installed inside the multiple adapters 801. Under the action of the pulling force, the other end of the steel rope 803 gradually detaches from the winding wheel 404, and pulls the winding wheel 404 to drive the winding shaft 403 to rotate in the winding box 401. In this process, on the one hand, the torsional force of the winding shaft 403 causes the winding spring 405 to undergo elastic deformation and store elastic potential energy. On the other hand, the winding shaft 403 drives the multiple ratchet gears 602 to rotate synchronously through the multiple combination sleeves 601. When the ratchet gears 602 rotate rapidly, the gears on them The active claw 6046 generates a large centrifugal motion due to the centrifugal force. The active claw 6046 rotates inside the two safety plates 6041 through the safety shaft 6042, and twists the transfer spring 6044 to cause it to undergo elastic deformation. When the active claw 6046 rotates to a certain angle, it is blocked by the limit plate 6045 and stops rotating. Subsequently, when the active claw 6046 docks with the passive claw 705, the active claw 6046 pushes the arc slide 704 through the passive claw 705. The arc slide 704 is moved in the arc slide groove 702 with the help of the arc slider. The arc slide 704 slides and applies pressure to the arc spring 703, causing it to deform elastically. During the sliding process of the arc slide plate 704, it drives the limiting shaft 7062 to slide in the push-up hole 7064 through the limiting seat 7061. Under the push of the limiting shaft 7062, the latching tooth 7063 rotates through the rotating shaft 7065 until it is engaged with the ratchet gear 602. At this time, the multiple ratchet gears 602 stop rotating under the constraints of the multiple latching teeth 7063. Since the multiple ratchet gears 602 are fixedly connected to the winding shaft 403 through the multiple combination sleeves 601, the winding shaft 403 also stops rotating. When the cam 506 is in the process of being wound, the portion of the steel wire rope 803 wound on the winding wheel 404 can no longer be released. At this time, the multiple steel wire ropes 803 apply tension to the compensation shaft 505 through the multiple adapters 801. The compensation shaft 505 pulls the piston disc 506 to slide in the compensation tank 501 and stretches the compensation spring 507 to cause it to undergo elastic deformation. When the piston disc 506 slides to contact the limiting ring 508, the piston disc 506 will no longer be able to slide in the compensation tank 501. At this time, the multiple steel wire ropes 803 generate a stable tension on the forearm 2, effectively limiting the forearm 2 from rotating downward significantly when the forearm 2 is out of control. In the process of the piston disc 506 being pulled by the compensation shaft 505, the high-frequency on-off operation of the suction pipe 502 is realized by precisely controlling the electromagnetic valve 503. When the electromagnetic valve 503 is in the closed state, the air circulation channel between the compensation tank 501 and the suction pipe 502 is cut off. At this time, the compensation tank 501 cannot suck the outside air through the suction pipe 502. The compensation tank 501 instead uses the vacuum tube 10 to suck air through the suction holes pre-opened on the surface of the anti-slip pad 9. Since the anti-slip pad 9 is tightly connected to the weight, the suction holes are blocked by the weight. The electromagnetic valve 503 is effectively blocked, thereby forming a negative pressure at the suction hole, generating a stable suction force on the heavy object. When the electromagnetic valve 503 is switched to the open state, the suction pipe 502 is in a conducting state, and the compensation tank 501 can quickly suck the outside air through the suction pipe 502, so that the air pressure in the compensation tank 501 gradually increases, the negative pressure at the suction hole decreases, and the suction force gradually weakens. The electromagnetic valve 503 is closed and opened in a continuous cycle, which can continuously and dynamically adjust the suction force at the suction hole, and effectively increase the friction resistance between the anti-slip pad 9 and the heavy object.

[0027] The above are only preferred specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with this technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solutions and inventive concepts of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. An intelligent industrial manipulator, comprising a manipulator body (1), a small arm (2) mounted on the inner side of the tail end of the manipulator body (1), and an end effector (3) for clamping a heavy object mounted on the other end of the small arm (2), characterized in that: The small arm (2) is connected to a compensation component (5), and the manipulator body (1) is connected to a reeling component (4) corresponding to the compensation component (5). A link component (8) is provided between the reeling component (4) and the compensation component (5). When the small arm (2) is tilted downward quickly, the reeling component (4) pulls the compensation component (5) through the link component (8) to perform a suction action. A plurality of safety components (6) are mounted on the axis of the winding component (4), and a plurality of limit components (7) are connected to the inner bottom of the winding component (4) corresponding to the plurality of safety components (6).

2. The intelligent industrial robot according to claim 1, characterized in that: The winding assembly (4) includes a combination seat (407) connected to the robot body (1), a winding box (401) is connected to the combination seat (407), both ends of the winding box (401) are connected to end covers (402), and the same winding shaft (403) is rotatably connected between the two end covers (402), and a plurality of winding wheels (404) are sleeved on the inner side of the corresponding winding box (401) on the winding shaft (403), and both ends of the winding shaft (403) are sleeved with winding springs (405), and the winding shaft (403) is elastically connected to the opposite surfaces of the two end covers (402) through the two winding springs (405).

3. The intelligent industrial robot according to claim 1, characterized in that: The safety component (6) comprises a combination sleeve (601) mounted on the reel (403) near the reel wheel (404), the combination sleeve (601) being mounted with a ratchet gear (602) and a sleeve (603) respectively, and a safety element (604) being connected to the circumferential surface of the sleeve (603).

4. The intelligent industrial robot according to claim 3, characterized in that: The safety member (604) includes two safety plates (6041) connected to the circumferential surface of the sleeve (603), the two safety plates (6041) are rotatably connected to a common safety shaft (6042), the other end of the safety shaft (6042) is rotatably connected to a fixed plate (6043), the fixed plate (6043) is connected to the circumferential surface of the sleeve (603), the other end of the safety shaft (6042) is sleeved with a transfer spring (6044), and the safety shaft (6042) is elastically transferred to the end surface of the fixed plate (6043) via the transfer spring (6044); An active claw (6046) is mounted on the safety shaft (6042) at a position corresponding to the position between the two safety plates (6041), and a limit plate (6045) is connected between the two safety plates (6041) for limiting the rotation angle of the active claw (6046).

5. The intelligent industrial robot according to claim 1, characterized in that: The limiting assembly (7) includes a limiting base (701) connected to the inner bottom of the winding box (401), an arc-shaped slide groove (702) is provided on the inner arc surface of the limiting base (701), an arc-shaped slider is slidably connected in the arc-shaped slide groove (702), an end of the arc-shaped slider is connected to an arc spring (703), the arc-shaped slider is elastically supported and connected to the inner end surface of the arc-shaped slide groove (702) through the arc spring (703), and an arc-shaped slide plate (704) connected to the arc-shaped slider is slidably connected on the inner arc surface of the limiting base (701); The end of the arc-shaped slide (704) is connected to a passive claw tooth (705) corresponding to the active claw tooth (6046), and a limiting member (706) is provided between the arc-shaped slide (704) and the ratchet gear (602).

6. The intelligent industrial robot according to claim 5, characterized in that: The limiting member (706) includes a limiting seat (7061) connected to the inner arc surface of the arc-shaped slide (704); the inner side of the limiting seat (7061) is rotatably connected to a limiting shaft (7062); the side end surface of the arc-shaped slide (704) is rotatably connected to a rotation shaft (7065) corresponding to the ratchet gear (602); the other end of the rotation shaft (7065) is rotatably connected to a latch (7063); the end surface of the latch (7063) is provided with a push-out hole (7064); and the other end of the limiting shaft (7062) is located in the push-out hole (7064).

7. The intelligent industrial robot according to claim 1, characterized in that: The compensation assembly (5) includes a compensation tank (501) connected to the forearm (2), the end of the compensation tank (501) is connected to a suction pipe (502), the suction pipe (502) is installed with a solenoid valve (503), the other end of the compensation tank (501) is connected to a tank cover (504), the inner side of the tank cover (504) is slidably sleeved with a compensation shaft (505), the end of the compensation shaft (505) is connected to a piston disc (506) sleeved in the compensation tank (501), the other end surface of the piston disc (506) is connected to a compensation spring (507), the piston disc (506) is elastically supported and connected to the inner bottom of the compensation tank (501) through the compensation spring (507), and a limiting ring (508) is clamped between the corresponding piston disc (506) in the compensation tank (501) and the tank cover (504).

8. The intelligent industrial robot according to claim 1, characterized in that: The link assembly (8) includes a plurality of adapters (801) connected to the other end of the compensation shaft (505), the inner side of the adapter (801) is rotatably connected to a steering shaft (802), the steering shaft (802) is connected to a steel wire rope (803), and the other end of the steel wire rope (803) passes through a winding port (406) and is wound around and connected to a corresponding winding wheel (404).

9. The intelligent industrial robot according to claim 1, characterized in that: The multiple execution claws of the end effector (3) are all connected to an anti-slip pad (9), and the anti-slip pad (9) is a hollow joint body. The multiple anti-slip pads (9) located on one side are connected through a combination pipe (11), and one anti-slip pad (9) located on one side is connected to a vacuum tube (10), and the other end of the vacuum tube (10) is connected to the compensation tank (501).

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