Electronic control manipulator for industrial intelligent manufacturing

Abstract

The invention discloses an electric control manipulator for industrial intelligent manufacturing, and belongs to the technical field of industrial automation equipment. Comprising a supporting unit and a working unit, the clamping mechanism can adapt to objects of different shapes, and stable clamping can be achieved whether the objects are round, square or irregular. Through cooperation of the arc-shaped groove and the bottom protruding piece of the clamping contact face, the contact area is increased, the clamping stability is improved, and the linkage mechanism can automatically adjust the clamping force according to the shape and the size of an object. For a smaller object, the protruding part of the contact soft ball firstly contacts with the object, and proper clamping force is applied; for a large object, a thrust transmission mechanism in contact with the soft ball can further enhance the clamping force, the clamping stability is ensured, a storage lantern ring, a storage sleeve and a hanging piece of the auxiliary mechanism can temporarily store round, square and bent strip-shaped objects correspondingly, a dynamic cache region is formed, and the dynamic cache region is used for temporary storage of the round, square and bent strip-shaped objects. And the beat difference between different working procedures can be effectively balanced on a production line.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial automation equipment, and in particular to an electric-controlled manipulator for industrial intelligent manufacturing. Background Art

[0002] With the rapid development of industrial automation and intelligent manufacturing technologies, electronically controlled manipulators, as key execution units in intelligent manufacturing systems, are widely used in handling, assembly, sorting, and inspection. Existing manipulators often use a single clamping structure with fixed functions, making them difficult to adapt to the complex and ever-changing needs of industrial production. This is especially true when handling workpieces of varying sizes, shapes, and materials. These manipulators suffer from poor clamping stability, poor compatibility, and low adjustment efficiency, impacting overall production efficiency and automation levels.

[0003] At present, some manipulators on the market have relatively simple structures, usually using rigid structures or fixed-size clamps, which make it difficult to achieve stable clamping of various irregular-shaped workpieces; at the same time, their clamping control mostly relies on a single drive mechanism, lacking fine control of clamping force and displacement, which can easily cause workpieces to slip, fall, or even be damaged during operation. This is especially evident in processes that require high-precision positioning and clamping. In industrial production, different workpieces often have different geometric features, such as round, square, irregular shapes, etc., which put higher requirements on the adaptability of the clamping structure; for this reason, an electric-controlled manipulator for industrial intelligent manufacturing is proposed. Summary of the Invention

[0004] The purpose of the present invention is to solve the shortcomings of the prior art and to propose an electric-controlled manipulator for industrial intelligent manufacturing.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions: An electric-controlled manipulator for industrial intelligent manufacturing, comprising a support unit and a working unit, characterized in that the working unit is horizontally arranged at the top position of the support unit, the working unit comprises a mechanical arm and a reinforcement member installed at one end of the mechanical arm, a second drive motor is vertically penetrated through the middle position of the reinforcement member, a driving disk is installed at the bottom of the second drive motor, and clamping mechanisms are installed on both sides of the bottom edge of the driving disk, and a thrust is applied to the output shaft through the arm body, so that the output shaft can be reciprocated and laterally adjusted with the upper end surface of the first drive motor as the support point, thereby realizing a telescopic action to adjust the posture of the reinforcement member during work; A second drive motor is vertically installed at the center of the reinforcement. The second drive motor is connected to the transmission mechanism inside the reinforcement and can transmit power to the clamping mechanism to realize the grabbing and releasing actions. A driving disk is installed at the bottom of the second drive motor, and clamping mechanisms are symmetrically installed on both sides of the bottom edge of the driving disk. The clamping mechanism can be opened and closed under the drive of the second drive motor and is used to clamp industrial manufacturing components of different sizes and shapes.

[0006] Furthermore, the clamping mechanism includes a claw seat and a clamping claw annularly opened around its outer ring, and a linkage mechanism is installed at both ends of the claw seat, and the linkage mechanism connects two opposite groups of clamping claws, and the clamping claw includes a claw body and a connecting nut arranged and interspersed on the side end face of the claw body, and a contact claw is installed at the bottom position of the outer end face of the claw body, and a clamping contact surface is annularly arranged at the bottom position of the inner end face of the contact claw, and a bottom protrusion is protrudingly installed at the middle bottom position of the clamping contact surface. The connecting rod linkage mechanism can enhance the overall structural strength of the device and is used to install pressure sensors or displacement sensors, etc., so as to monitor the clamping force and object position information in real time.

[0007] In addition, it should be noted that when clamping objects of different shapes, the setting of the clamping contact surface can maintain a stable clamping state; When a round object needs to be clamped, the contact claws close toward the middle, and the arc-shaped grooves on both sides of the clamping contact surface can closely fit the outer surface of the round object, increasing the contact area, improving the clamping stability, and effectively preventing the object from rolling or slipping during the clamping process; When a rectangular object needs to be clamped, the groove in the middle of the clamping contact surface can fully fit with the side of the square object, ensuring that the clamping force is evenly distributed on the surface of the object, thereby achieving stable and reliable clamping; Furthermore, when the rectangular object being clamped does not enter the clamping state at a conventional angle, the corners of the square object can be snapped into contact with the contact position between the groove in the middle of the clamping contact surface and the arc-shaped groove, thereby achieving the goal of clamping the square object that enters the device at an unconventional angle; When clamping irregularly shaped objects, the bottom protrusions at the bottom of the clamping contact surface interact with the central grooves and the arc-shaped grooves to stably restrain and clamp the irregularly shaped object between the four sets of clamping claws. This allows for effective clamping even for complex objects while minimizing the risk of surface damage.

[0008] Furthermore, the linkage mechanism includes a transverse lifting plate and connecting pieces installed at both ends of the transverse lifting plate, an inner fastener is installed at the other end of the connecting piece, a guide rod is vertically inserted at the bottom position of the inner fastener, a transmission piece is horizontally installed at the top of the guide rod, a vertical transmission rod is vertically installed at the bottom of the transverse lifting plate, a contact ball is installed at the bottom position of the vertical transmission rod, one side of the transmission piece is fitted to the outer end face of the claw body from the outside to the inside, the vertical transmission rod and the contact ball are vertically inserted into the inner cavity annular wall opened in the middle position of the claw seat to ensure the stability of the clamping process, and one side of the transmission piece is fitted to the outer end face of the claw body from the outside to the inside to ensure the tightness of the connection. The vertical transmission rod and the contact ball are vertically inserted into the inner cavity annular wall opened in the middle position of the claw seat; In the quasi-working state, the bottom end surface of the contact soft ball protrudes from the lower end surface of the claw seat. When the top of the clamped object presses against the bottom of the contact soft ball, it can give a certain thrust to the vertical transmission rod, so that the height of the horizontal lifting plate will be raised upward. When the horizontal lifting plate is lifted, the connecting parts at both ends can buckle the inner fastener inward through the transmission force, causing the inner fastener to slightly flip inward. At this time, due to the linkage between the inner fastener, the guide rod and the transmission part, the claw body is pushed to shrink towards the outer surface of the claw seat with the connecting nut as the fulcrum, thereby increasing the clamping force of the clamping claw body on the clamped object. When the shape or size of the object changes, the protruding design and linkage mechanism of the contact ball can automatically adjust the clamping force; for smaller objects, the protruding part of the contact ball first contacts the object and applies appropriate clamping force; for larger objects, the thrust transmission mechanism of the contact ball will further enhance the clamping force to ensure the stability of the clamping.

[0009] Furthermore, the robotic arm is composed of an arm tube and an arm body and a first drive motor installed on the side end surface of the arm tube. A screw transmission mechanism is provided inside the arm tube, one end of which passes horizontally through the inner cavity of the first drive motor and is connected in series with the output shaft. The other end of the output shaft is horizontally connected to the side end surface of the clamper reinforcement. When the first drive motor is running, the clamper reinforcement is driven to move axially along the arm tube through the screw transmission, thereby realizing the telescopic action of the entire device.

[0010] Furthermore, the support unit includes a base frame and a positioning mechanism slidably mounted on the upper end surface of the base frame, wherein the inner cavity of the positioning mechanism is vertically sleeved with an auxiliary mechanism. Simultaneously, the base frame is composed of a frame body and sliding inner grooves mounted on both sides of the bottom edge of the frame body. Balancing baffles are provided on both ends of the frame body. The sliding inner grooves cooperate with sliders provided on the upper end surface of the frame body, allowing the frame body to slide horizontally on the base frame. This design enables the frame body to slide horizontally on the base frame, and the cooperation between the sliding inner grooves and the sliders provides flexible adjustment capabilities for the entire device.

[0011] Furthermore, the positioning mechanism consists of a table plate and a connecting seat installed on the upper end surface of the table plate. The mounting interface of the working unit is installed at the top position of the connecting seat. The table plate provides support for the overall structure. The connecting seat installed on the upper end surface of the table plate plays a connecting and supporting role. The mounting interface is installed at the top position of the connecting seat and is used to connect the working unit. The mounting interface is fixed to the working unit by tightening bolts, which ensures the firmness of the installation of the working unit. It not only improves the stability of the overall device, but also increases the operating height of the overall device, so that it can adapt to the operating requirements of higher positions.

[0012] Furthermore, the auxiliary mechanism is composed of a supporting vertical shaft and a storage collar installed on the outer ring of the supporting vertical shaft. The lower position of the storage collar is connected in sequence from top to bottom by a storage sleeve and a hanging piece. The outer ring of the storage collar is provided with an arc-shaped groove, and its inner ring is tightly matched with the supporting vertical shaft and can slide up and down along the column supporting vertical shaft. When a round object needs to be temporarily stored, the arc-shaped groove of the storage collar can closely fit the outer surface of the round object, and the storage collar can be adjusted to a suitable height by lifting and lowering to achieve stable temporary storage of the round object. The storage sleeve adopts a spacer-like structure, which is composed of multiple parallel rod-shaped components to form a grid-like structure. Square objects are placed on the spacer-like structure of the upper support plate storage sleeve. The friction and support between the rod-shaped components are used to clamp and temporarily store the square objects to prevent them from tipping over or sliding. There are multiple hanging points on the top of the hanging piece. These hanging points can be hooks with elastic elements to accommodate curved strip objects of different sizes and weights. When in use, the curved strip objects are hung on the hanging points above them for storage. This not only saves space, but also prevents the objects from being deformed or damaged during storage.

[0013] Compared with the prior art, the present invention has the following beneficial effects: 1. The clamping mechanism can adapt to objects of different shapes, whether round, square or irregular, and can achieve stable clamping. The arc-shaped groove on the clamping contact surface and the bottom protrusion cooperate to increase the contact area and improve the clamping stability, effectively preventing the object from rolling, slipping or being damaged during the clamping process.

[0014] 2. The linkage mechanism automatically adjusts the clamping force based on the object's shape and size. For smaller objects, the protruding portion of the contact ball first contacts the object, applying appropriate clamping force. For larger objects, the contact ball's thrust transmission mechanism further enhances the clamping force, ensuring stable clamping.

[0015] 3. The robotic arm achieves telescopic movement through a screw drive mechanism, which can adjust the posture of the reinforcement during operation. At the same time, the entire robot can move flexibly in three-dimensional space, expanding its working range and adapting to operational requirements at different heights and positions.

[0016] 4. The auxiliary mechanism's storage rings, storage sleeves, and hanging parts can temporarily store round, square, and curved strip objects, respectively, forming a dynamic buffer zone. This effectively balances the takt time differences between different processes on the production line, preventing delays in any one process from causing the entire line to stall. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the three-dimensional structure of an electric-controlled manipulator for industrial intelligent manufacturing proposed by the present invention; Figure 2 This is a schematic diagram of the base structure of an electric-controlled manipulator for industrial intelligent manufacturing proposed by the present invention; Figure 3 This is a schematic diagram of the positioning mechanism structure of an electric-controlled manipulator for industrial intelligent manufacturing proposed by the present invention; Figure 4 This is a schematic diagram of the auxiliary mechanism structure of an electric-controlled manipulator for industrial intelligent manufacturing proposed by the present invention; Figure 5 This is a schematic diagram of the mechanical arm structure of an electric-controlled manipulator for industrial intelligent manufacturing proposed by the present invention; Figure 6 This is a schematic diagram of the combined structure of a reinforcement member, a second drive motor, a driving plate and a clamping mechanism of an electric-controlled manipulator for industrial intelligent manufacturing proposed by the present invention; Figure 7 This is a schematic diagram of the structure of a clamping mechanism of an electric-controlled manipulator for industrial intelligent manufacturing proposed by the present invention; Figure 8 This is a cross-sectional view of the clamping mechanism structure of an electric-controlled manipulator for industrial intelligent manufacturing proposed by the present invention; Figure 9 This is a schematic diagram of the gripping claw structure of an electric-controlled manipulator for industrial intelligent manufacturing proposed by the present invention; Figure 10 This is a schematic diagram of the linkage mechanism structure of an electric-controlled manipulator for industrial intelligent manufacturing proposed by the present invention.

[0018] In the figure: 1. Support unit; 11. Base frame; 111. Frame body; 112. Sliding inner groove; 113. Balancing baffle; 114. Protective baffle; 115. Base frame; 12. Positioning mechanism; 121. Table; 122. Connecting seat; 123. Mounting interface; 13. Auxiliary mechanism; 131. Support vertical axis; 132. Storage ring; 133. Storage sleeve; 134. Hanging piece; 2. Working unit; 21. Robotic arm; 211. Arm body; 212. First drive motor; 213. Output shaft; 22. Reinforcement member; 23. Second drive motor; 24. Driving disk; 25. Clamping mechanism; 251. Claw seat; 252. Clamping claw; 2521. Claw body; 2522. Connecting nut; 2523. Contact claw; 2524. Clamping contact surface; 2525. Bottom protrusion; 253. Linkage mechanism; 2531. Horizontal lifting plate; 2532. Connecting member; 2533. Internal fastener; 2534. Guide rod; 2535. Transmission member; 2536. Vertical transmission rod; 2537. Contact soft ball. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0020] Reference Figures 1-10 , Example 1, an electric-controlled manipulator for industrial intelligent manufacturing, comprising a support unit 1 and a working unit 2, the working unit 2 being laterally arranged at the top position of the support unit 1, the working unit 2 comprising a robotic arm 21 and a reinforcement member 22 mounted at one end of the robotic arm 21, a second drive motor 23 being vertically penetrated through the middle position of the reinforcement member 22, a driving disk 24 being mounted at the bottom of the second drive motor 23, a clamping mechanism 25 being mounted on both sides of the bottom edge of the driving disk 24, a thrust being applied to an output shaft 213 through an arm body 211, so that the output shaft 213 can be reciprocated and laterally adjusted with the upper end surface of the first drive motor 212 as a support point, thereby realizing a telescopic action to adjust the posture of the reinforcement member 22 during operation; A second drive motor 23 is vertically provided at the center of the reinforcement 22. The second drive motor 23 is connected to the transmission mechanism inside the reinforcement 22, and can transmit power to the clamping mechanism 25 to realize the grabbing and releasing actions. A driving disk 24 is installed at the bottom of the second drive motor 23, and the clamping mechanisms 25 are symmetrically installed on both sides of the bottom edge of the driving disk 24. The clamping mechanism 25 can be opened and closed under the drive of the second drive motor 23, and is used to clamp industrial manufacturing components of different sizes and shapes.

[0021] In embodiment 2, the clamping mechanism 25 includes a claw seat 251 and a clamping claw 252 annularly provided around its outer ring. Linkage mechanisms 253 are installed at both ends of the claw seat 251. The linkage mechanism 253 connects the two opposite groups of clamping claws 252. The clamping claw 252 includes a claw body 2521 and a connecting nut 2522 arranged and interlaced on the side end surface of the claw body 2521. A contact claw 2523 is installed at the bottom position of the outer end surface of the claw body 2521. A clamping contact surface 2524 is annularly provided at the bottom position of the inner end surface of the contact claw 2523. A bottom protrusion 2525 is protrudingly installed at the middle bottom position of the clamping contact surface 2524. The connecting rod linkage mechanism 253 can enhance the overall structural strength of the device and is used to install pressure sensors or displacement sensors, etc., so as to monitor the clamping force and object position information in real time.

[0022] In addition, it should be noted that when clamping objects of different shapes, the configuration of the clamping contact surface 2524 can maintain a stable clamping state; When a round object needs to be clamped, the contact claws 2523 close toward the middle, and the arc-shaped grooves provided on both sides of the clamping contact surface 2524 can closely fit the outer surface of the round object, thereby increasing the contact area, improving the clamping stability, and effectively preventing the object from rolling or slipping during the clamping process. When a rectangular object needs to be clamped, the groove in the middle of the clamping contact surface 2524 can fully fit the side of the square object, ensuring that the clamping force is evenly distributed on the surface of the object, thereby achieving stable and reliable clamping; Furthermore, when the rectangular object being clamped does not enter the clamping state at a conventional angle, the corners of the square object can be engaged with the contact position between the groove provided in the middle of the clamping contact surface 2524 and the arc-shaped groove, thereby achieving the goal of clamping the square object entering the device at an unconventional angle; When it is necessary to clamp an irregularly shaped object, the bottom protrusion 2525 provided at the bottom of the clamping contact surface 2524 can cooperate with the groove and the arc-shaped groove provided in the middle to stably restrain and clamp the irregularly shaped object between the four sets of clamping claws 252. In this way, even when facing objects with complex shapes, effective clamping can be achieved while reducing the risk of damaging the object surface.

[0023] In embodiment 3, the linkage mechanism 253 includes a horizontal lifting plate 2531 and connecting members 2532 installed at both ends of the horizontal lifting plate 2531, and an inner fastener 2533 is installed at the other end of the connecting member 2532. A guide rod 2534 is vertically inserted at the bottom position of the inner fastener 2533, and a transmission member 2535 is horizontally installed on the top of the guide rod 2534. A vertical transmission rod 2536 is vertically installed at the bottom of the horizontal lifting plate 2531, and a contact soft ball 2537 is installed at the bottom position of the vertical transmission rod 2536. One side of the transmission member 2535 is in contact with the outer end surface of the claw body 2521 from the outside to the inside, and the vertical transmission rod 2536 and the contact soft ball 2537 are vertically inserted into the inner cavity ring wall opened in the middle position of the claw seat 251 to ensure the stability of the clamping process. One side of the transmission member 2535 is in contact with the outer end surface of the claw body 2521 from the outside to the inside to ensure the tightness of the connection. The vertical transmission rod 2536 and the contact soft ball 2537 are vertically inserted into the inner cavity ring wall opened in the middle position of the claw seat 251; In the quasi-working state, the bottom end surface of the contact ball 2537 protrudes from the lower end surface of the claw seat 251. When the top of the clamped object abuts the bottom of the contact ball 2537, it can apply a certain upward thrust to the vertical transmission rod 2536, thereby raising the height of the horizontal lifting plate 2531. When the horizontal lifting plate 2531 is lifted, the connecting pieces 2532 at both ends of the horizontal lifting plate 2531 can be used to buckle the inner fasteners 2533 by the transmission force, causing the inner fasteners 2533 to slightly flip inward. At this time, due to the linkage between the inner fasteners 2533, the guide rod 2534 and the transmission piece 2535, the claw body 2521 is pushed to move closer to the outer surface of the claw seat 251 with the connecting nut 2522 as the fulcrum, thereby increasing the clamping force of the clamping claw 252 body on the clamped object. When the shape or size of the object changes, the protruding design and linkage mechanism of the contact soft ball 2537 can automatically adjust the clamping force; for smaller objects, the protruding part of the contact soft ball 2537 first contacts the object and applies appropriate clamping force; for larger objects, the thrust transmission mechanism of the contact soft ball 2537 will further enhance the clamping force to ensure the stability of the clamping.

[0024] The robotic arm 21 consists of an arm tube body 211 and a first drive motor 212 installed on the side end surface of the arm tube body 211. A screw transmission mechanism is provided inside the arm tube body 211, one end of which passes horizontally through the inner cavity of the first drive motor 212 and is connected in series with the output shaft 213. The other end of the output shaft 213 is horizontally connected to the side end surface of the clamper reinforcement 22. When the first drive motor 212 is running, the clamper reinforcement 22 is driven to move axially along the arm tube body 211 through the screw transmission, thereby realizing the telescopic action of the entire device.

[0025] In Example 4, the support unit 1 includes a base frame 11 and a positioning mechanism 12 slidably mounted on the upper end surface of the base frame 11, wherein the inner cavity of the positioning mechanism 12 is vertically sleeved with an auxiliary mechanism 13. Furthermore, the base frame 11 is composed of a frame body 111 and sliding inner grooves 112 mounted on both sides of the bottom edge of the frame body 111. Balancing baffles 113 are provided on both sides of the end surface of the frame body 111. The sliding inner grooves 112 cooperate with sliders provided on the upper end surface of the frame body 111, allowing the frame body 111 to slide laterally on the base frame 115. This design enables the frame body 111 to slide laterally on the base frame 115. The cooperation between the sliding inner grooves 112 and the sliders provides flexible adjustment capabilities for the entire device.

[0026] The positioning mechanism 12 consists of a table 121 and a connecting seat 122 installed on the upper end surface of the table 121. The mounting interface 123 of the working unit 2 is installed at the top position of the connecting seat 122. The table 121 provides support for the overall structure. The connecting seat 122 installed on the upper end surface of the table 121 plays a role of connection and support, and the mounting interface 123 is installed at the top position of the connecting seat 122 for connecting the working unit 2. The mounting interface 123 is fixed to the working unit 2 by tightening bolts, which ensures the firmness of the installation of the working unit 2, which not only improves the stability of the overall device, but also increases the operating height of the overall device, so that it can adapt to the operation requirements of higher positions.

[0027] In embodiment 5, the auxiliary mechanism 13 is composed of a supporting vertical shaft 131 and a storage ring 132 installed on the outer ring of the supporting vertical shaft 131. The lower position of the storage ring 132 is sequentially connected from top to bottom by a storage sleeve 133 and a hanging piece 134. The outer ring of the storage ring 132 is provided with an arc-shaped groove, and its inner ring is tightly matched with the supporting vertical shaft 131 and can slide up and down along the column supporting vertical shaft 131. When a round object needs to be temporarily stored, the arc-shaped groove of the storage ring 132 can fit closely to the outer surface of the round object. By raising and lowering the storage ring 132 to adjust to a suitable height, stable temporary storage of the round object is achieved. The storage sleeve 133 adopts a spacer-like structure, which is composed of multiple parallel rod-shaped components, forming a grid-like structure. Square objects are placed on the spacer-like structure of the upper support plate storage sleeve 133. The friction and support between the rod-shaped components are used to clamp and temporarily store the square objects to prevent them from falling or sliding. There are multiple hanging points on the top of the hanging member 134. These hanging points can be hooks with elastic elements to accommodate curved strip objects of different sizes and weights. When in use, the curved strip objects are hung on the hanging points above them for storage. This not only saves space, but also prevents the objects from being deformed or damaged during storage.

[0028] To sum up: an electric-controlled manipulator for industrial intelligent manufacturing, comprising a support unit 1 and a working unit 2, the working unit 2 is horizontally arranged at the top position of the support unit 1, the working unit 2 comprises a manipulator arm 21 and a reinforcement 22 installed at one end of the manipulator arm 21, a second drive motor 23 is vertically penetrated through the middle position of the reinforcement 22, a driving disk 24 is installed at the bottom of the second drive motor 23, a clamping mechanism 25 is installed on both sides of the bottom edge of the driving disk 24, and a thrust is given to the output shaft 213 through the arm body 211, so that the output shaft 213 can be reciprocated and laterally adjusted with the upper end surface of the first drive motor 212 as the support point, and a telescopic action can be realized to adjust the posture of the reinforcement 22 during work. The clamping mechanism 25 can be opened and closed under the drive of the second drive motor 23, and is used to clamp industrial manufacturing components of different sizes and shapes.

[0029] When clamping objects of different shapes, the configuration of the clamping contact surface 2524 can maintain a stable clamping state. When clamping a round object, the contact claws 2523 close toward the middle, and the arc-shaped grooves provided on both sides of the clamping contact surface 2524 can closely fit the outer surface of the round object, thereby increasing the contact area, improving the clamping stability, and effectively preventing the object from rolling or slipping during the clamping process. When a rectangular object needs to be clamped, the groove in the middle of the clamping contact surface 2524 can fully fit the side of the square object, ensuring that the clamping force is evenly distributed on the surface of the object, thereby achieving stable and reliable clamping; Furthermore, when the rectangular object being clamped does not enter the clamping state at a conventional angle, the corners of the square object can be engaged with the contact position between the groove provided in the middle of the clamping contact surface 2524 and the arc-shaped groove, thereby achieving the goal of clamping the square object entering the device at an unconventional angle; When it is necessary to clamp an irregularly shaped object, the bottom protrusion 2525 arranged at the bottom of the clamping contact surface 2524 can cooperate with the groove and the arc-shaped groove opened in the middle to stably restrict and clamp the irregularly shaped object between the four groups of clamping claws 252. Even when facing objects with complex shapes, effective clamping can be achieved while reducing the risk of damage to the surface of the object.

[0030] In the quasi-working state, the bottom end surface of the contact ball 2537 protrudes from the lower end surface of the claw seat 251. When the top of the clamped object presses against the bottom of the contact ball 2537, it can give a certain thrust upward to the vertical transmission rod 2536, so that the height of the horizontal lifting plate 2531 will be raised upward. When the horizontal lifting plate 2531 is lifted, the connecting parts 2532 at both ends can buckle the inner fastener 2533 inward through the transmission force, causing the inner fastener 2533 to flip slightly inward. At this time, due to the linkage between the inner fastener 2533, the guide rod 2534 and the transmission part 2535, the claw body 2521 is pushed to shrink towards the outer surface of the claw seat 251 with the connecting nut 2522 as the fulcrum, thereby increasing the clamping force of the clamping claw 252 body on the clamped object.

[0031] When the shape or size of the object changes, the protruding design and linkage mechanism of the contact soft ball 2537 can automatically adjust the clamping force; for smaller objects, the protruding part of the contact soft ball 2537 first contacts the object and applies appropriate clamping force; for larger objects, the thrust transmission mechanism of the contact soft ball 2537 will further enhance the clamping force to ensure the stability of the clamping.

[0032] The robotic arm 21 consists of an arm tube body 211 and a first drive motor 212 installed on the side end surface of the arm tube body 211. A screw transmission mechanism is provided inside the arm tube body 211, one end of which passes horizontally through the inner cavity of the first drive motor 212 and is connected in series with the output shaft 213. The other end of the output shaft 213 is horizontally connected to the side end surface of the clamper reinforcement 22. When the first drive motor 212 is running, the clamper reinforcement 22 is driven to move axially along the arm tube body 211 through the screw transmission, thereby realizing the telescopic action of the entire device.

[0033] The base frame 11 consists of a frame body 111 and inner sliding grooves 112 mounted on either side of the bottom edge of the frame body 111. Balancing baffles 113 are provided on both end surfaces of the frame body 111. The inner sliding grooves 112 cooperate with sliders provided on the upper end surface of the frame body 111, allowing the frame body 111 to slide laterally on the base frame 115. This design enables the frame body 111 to slide laterally on the base frame 115. The cooperation between the inner sliding grooves 112 and the sliders provides flexible adjustment capabilities for the entire device.

[0034] The positioning mechanism 12 consists of a table 121 and a connecting seat 122 installed on the upper end surface of the table 121. The mounting interface 123 of the working unit 2 is installed at the top position of the connecting seat 122. The table 121 provides support for the overall structure. The connecting seat 122 installed on the upper end surface of the table 121 plays a role of connection and support, and the mounting interface 123 is installed at the top position of the connecting seat 122 for connecting the working unit 2. The mounting interface 123 is fixed to the working unit 2 by tightening bolts, which ensures the firmness of the installation of the working unit 2, which not only improves the stability of the overall device, but also increases the operating height of the overall device, so that it can adapt to the operation requirements of higher positions.

[0035] The outer ring of the storage ring 132 is provided with an arc-shaped groove, and the inner ring thereof is tightly matched with the supporting vertical shaft 131 and can slide up and down along the column supporting vertical shaft 131. When a round object needs to be temporarily stored, the arc-shaped groove of the storage ring 132 can closely fit the outer surface of the round object. By raising and lowering the storage ring 132 to adjust to a suitable height, the round object can be stably temporarily stored. The storage sleeve 133 adopts a spacer-like structure, which is composed of multiple parallel rod-shaped components, forming a grid-like structure. Square objects are placed on the spacer-like structure of the upper support plate storage sleeve 133. The friction and support between the rod-shaped components are used to clamp and temporarily store the square objects to prevent them from falling or sliding. There are multiple hanging points on the top of the hanging member 134. These hanging points can be hooks with elastic elements to accommodate curved strip objects of different sizes and weights. When in use, the curved strip objects are hung on the hanging points above them for storage. This not only saves space, but also prevents the objects from being deformed or damaged during storage.

[0036] The above is the entire working principle of the present invention.

[0037] In the present invention, the installation method, connection method or setting method of all the components mentioned above are common mechanical methods, and the specific structures, models and coefficient indicators of all its components are its own technology. As long as it can achieve its beneficial effects, it can be implemented, so it will not be elaborated on.

[0038] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be considered as equivalent replacement methods and are included in the scope of protection of the present invention.

[0039] In the present invention, unless otherwise specified, directional words contained in terms such as "up, down, left, right, front, back, inside, outside, and vertical, horizontal" only represent the orientation of the term in normal use, or are common names understood by those skilled in the art, and should not be regarded as limitations on the term. At the same time, number series nouns such as "first", "second" and "third" do not represent specific quantities and orders, but are merely used to distinguish names. Moreover, the terms "include", "comprise" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or apparatus that includes a series of elements includes not only those elements, but also other elements that are not explicitly listed, or also includes elements inherent to such process, method, article or apparatus.

Claims

1. An electric-controlled manipulator for industrial intelligent manufacturing, comprising a support unit (1) and a working unit (2), characterized in that: A working unit (2) is horizontally arranged at the top end of the support unit (1), and the working unit (2) includes a mechanical arm (21) and a reinforcement member (22) installed at one end of the mechanical arm (21). A second driving motor (23) is vertically penetrated through the middle position of the reinforcement member (22). A driving disk (24) is installed at the bottom of the second driving motor (23), and clamping mechanisms (25) are installed on both sides of the bottom edge of the driving disk (24).

2. The electric-controlled manipulator for industrial intelligent manufacturing according to claim 1, characterized in that: The clamping mechanism (25) comprises a claw seat (251) and a clamping claw (252) annularly arranged around the outer ring of the claw seat. Linkage mechanisms (253) are installed at both ends of the claw seat (251). The linkage mechanism (253) connects two opposite groups of clamping claws (252).

3. The electric-controlled manipulator for industrial intelligent manufacturing according to claim 2, characterized in that: The clamping claw (252) includes a claw body (2521) and a connecting nut (2522) arranged and interlaced on the side end surface of the claw body (2521); a contact claw (2523) is installed at the bottom position of the outer end surface of the claw body (2521); a clamping contact surface (2524) is annularly arranged at the bottom position of the inner end surface of the contact claw (2523); and a bottom protrusion (2525) is protruded and installed at the middle bottom position of the clamping contact surface (2524).

4. The electric-controlled manipulator for industrial intelligent manufacturing according to claim 2, characterized in that: The linkage mechanism (253) comprises a transverse lifting plate (2531) and connecting members (2532) mounted at both ends of the transverse lifting plate (2531); an inner fastener (2533) is mounted at the other end of the connecting member (2532); a guide rod (2534) is vertically inserted through the bottom of the inner fastener (2533); a transmission member (2535) is horizontally mounted on the top of the guide rod (2534); a vertical transmission rod (2536) is vertically mounted on the bottom of the transverse lifting plate (2531); and a contact soft ball (2537) is mounted at the bottom of the vertical transmission rod (2536).

5. The electric-controlled manipulator for industrial intelligent manufacturing according to claim 4, characterized in that: One side of the transmission member (2535) is fitted to the outer end surface of the claw body (2521) from the outside to the inside, and the vertical transmission rod (2536) and the contact soft ball (2537) are vertically inserted into the inner cavity ring wall opened in the middle position of the claw seat (251).

6. The electric-controlled manipulator for industrial intelligent manufacturing according to claim 1, characterized in that: The robotic arm (21) comprises an arm body (211) and a first drive motor (212) mounted on a side end surface of the arm body (211); one end of the arm body (211) transversely passes through an inner cavity of the first drive motor (212) and is connected in series with an output shaft (213); and the other end of the output shaft (213) is transversely connected to a side end surface of the reinforcement member (22).

7. The electric-controlled manipulator for industrial intelligent manufacturing according to claim 1, characterized in that: The support unit (1) includes a base frame (11) and a positioning mechanism (12) slidably mounted on the upper end surface of the base frame (11); the inner cavity of the positioning mechanism (12) is vertically sleeved with an auxiliary mechanism (13); the base frame (11) includes a frame body (111) and a sliding inner groove (112) mounted on both sides of the bottom edge of the frame body (111); balance baffles (113) are provided on both side end surfaces of the frame body (111); protective baffles (114) are vertically arranged on both sides of the upper end surface of the frame body (111); and the bottom of the frame body (111) is slidably mounted on the upper end surface of the base frame (115).

8. The electric-controlled manipulator for industrial intelligent manufacturing according to claim 7, characterized in that: The positioning mechanism (12) comprises a platform (121) and a connecting seat (122) mounted on the upper end surface of the platform (121), and a mounting interface (123) is mounted on the top of the connecting seat (122).

9. The electric-controlled manipulator for industrial intelligent manufacturing according to claim 7, characterized in that: The auxiliary mechanism (13) comprises a supporting vertical shaft (131) and a storage ring (132) mounted on the outer ring of the supporting vertical shaft (131), wherein the lower portion of the storage ring (132) is sleeved with a storage sleeve (133) and a hanging member (134) in sequence from top to bottom.

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