Industrial robot manipulator

Abstract

The invention relates to the field of manipulators, in particular to an industrial robot manipulator. The industrial robot manipulator comprises clamping frames, the two clamping frames are arranged left and right, a bearing plate is arranged on the lower side of each clamping frame, a first rotating shaft is fixed to the upper portion of each bearing plate, and the first rotating shafts are rotationally connected to the lower portions of the clamping frames. A rubber block is bonded to the bearing plate, and a plurality of hollow holes are evenly distributed in the rubber block from front to back. A plurality of arc grooves are evenly distributed in the side face of the rubber block from front to back. A groove rod is fixed to the front portion of the first rotating shaft, the first rotating shaft is fixed to the lower portion of the clamping frame, a first air cylinder is fixed to the first rotating shaft, and a cylindrical pin is fixed to the end of the first air cylinder and inserted into a groove in the groove rod. After the manipulator clamps an object, the object can be prevented from falling off.

Description

Technical Field

[0001] The present invention relates to the field of manipulators, and more particularly to an industrial robot manipulator. Background Art

[0002] In the field of modern industrial automation, industrial robot manipulators are core components for material grasping, handling, assembly and other operations. Their performance directly affects production efficiency, product quality and operational safety. As the manufacturing industry develops towards high precision, high flexibility and high automation, increasingly stringent requirements are placed on the gripping stability of manipulators. Currently, industrial robot manipulators on the market mainly use a drive device to drive the movement of the gripping claws, and use the friction between the gripping claws and the object to grasp the object. However, in actual operation, due to the different materials and shapes of the clamped objects, and the possible presence of vibrations, impacts or external forces in the operating environment, it is often difficult for manipulators with existing technology to ensure absolute stability of gripping. For example, when clamping metal parts with smooth surfaces or easily deformed plastic components, the friction generated by the initial gripping force alone can easily cause the object to slip due to slight displacements or external force fluctuations. Summary of the Invention

[0003] In order to overcome the deficiencies of the prior art, the present invention provides an industrial robot manipulator, which has the beneficial effect of preventing objects from falling off after the manipulator clamps the objects.

[0004] An industrial robot manipulator includes a clamping frame, two clamping frames are arranged on the left and right, and a load-bearing plate is provided on the lower side of each clamping frame. A rotating shaft is fixed on the upper part of the load-bearing plate, and the rotating shaft is rotatably connected to the lower part of the clamping frame.

[0005] A rubber block is bonded to the load-bearing plate, and a plurality of hollow holes are evenly distributed on the rubber block from front to back.

[0006] The side surface of the rubber block is evenly distributed with a plurality of arc grooves from front to back.

[0007] A slot rod is fixed to the front of the rotating shaft 1, the lower part of the clamping frame is fixed to the rotating shaft 1, the cylinder 1 is fixed on the rotating shaft 1, and a cylindrical pin is fixed to the end of the cylinder 1, which is inserted into the slot on the slot rod.

[0008] A plurality of vertical frames are fixed on the clamping frame, and each vertical frame is connected to a plurality of cylinders in a sliding manner in the left and right directions. The plurality of cylinders are evenly distributed on the vertical frames from top to bottom, and a ring is fixed on the cylinder. A compression spring is sleeved on the cylinder, and the compression spring is located between the vertical frame and the ring. A blocking piece is fixed to the outer end of the cylinder.

[0009] A convex piece is fixed on the vertical frame, a square column is slidably connected to the convex piece, a compression strip is fixed on the square column, a plurality of semicircular grooves are provided on the compression strip, and the plurality of semicircular grooves respectively correspond to the plurality of cylinders; a second cylinder is fixed on the convex piece, and the end of the second cylinder is fixed on the compression strip.

[0010] A connecting piece is fixed on the front side of the clamping frame, a second rotating shaft is fixed on the connecting piece, the second rotating shaft is rotatably connected to the portal frame, and a retaining ring is fixed on the second rotating shaft.

[0011] A T-shaped frame is fixed on one side of the connecting piece, and arc-shaped elastic rods are fixed on the upper and lower ends of the T-shaped frame, and the other ends of the two arc-shaped elastic rods are fixed on the door-shaped frame.

[0012] A disc is fixed on the front of the rotating shaft 2, a cylinder seat is fixed on the inner side of the gantry, a cylinder 3 is fixed on the cylinder seat, a pressure plate is fixed on the end of the cylinder 3, and the pressure plate can be pressed on the disc.

[0013] A sliding seat is fixed to the front of the two door-shaped frames, and the two sliding seats are respectively slidably connected to the left and right ends of the cross bar. The left and right ends of the cross bar are fixed with blocking columns, and the middle part of the cross bar is fixed with a convex seat. Cylinder four is fixed on the two sliding seats, and the movable ends of the two cylinder fours are fixed on the convex seat. Four L-shaped rods are fixed to the middle part of the cross bar, and each L-shaped rod is provided with multiple screw holes.

[0014] The beneficial effects of the industrial robot manipulator of the present invention are:

[0015] The robot can prevent objects from falling after clamping them. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0017] Figure 1 A schematic diagram of the structure of an industrial robot manipulator Figure 1 ;

[0018] Figure 2 A schematic diagram of the structure of an industrial robot manipulator Figure 2 ;

[0019] Figure 3 A schematic diagram of the structure of an industrial robot manipulator Figure 3 ;

[0020] Figure 4 Schematic diagram of the clamping frame Figure 1 ;

[0021] Figure 5 Schematic diagram of the clamping frame Figure 2 ;

[0022] Figure 6Schematic diagram of the vertical frame structure Figure 1 ;

[0023] Figure 7 Schematic diagram of the vertical frame structure Figure 2 ;

[0024] Figure 8 Schematic diagram of the portal frame structure Figure 1 ;

[0025] Figure 9 Schematic diagram of the portal frame structure Figure 2 ;

[0026] Figure 10 Schematic diagram of the crossbar structure Figure 1 ;

[0027] Figure 11 Schematic diagram of the crossbar structure Figure 2 ;

[0028] In the figure: clamping frame 101; bracket 102; rotating shaft 103; cylinder 104; cylindrical pin 105; slot rod 106; bearing plate 107; rubber block 108; arc groove 109; hollow hole 110;

[0029] Vertical frame 201; cylinder 202; ring 203; baffle 204; pressing strip 205; semicircular groove 206; square column 207; protrusion 208; cylinder 2 209;

[0030] Door frame 301; T-shaped frame 302; arc-shaped elastic rod 303; connecting piece 304; retaining ring 305; rotating shaft 2 306; disc 307; pressure plate 308; cylinder 3 309; cylinder base 310;

[0031] Crossbar 401; slide 402; stop column 403; cylinder 404; L-shaped rod 405; convex seat 406. DETAILED DESCRIPTION

[0032] like Figure 4-5 As shown;

[0033] Since the industrial robot manipulator includes a clamping frame 101, two clamping frames 101 are arranged on the left and right, and a load-bearing plate 107 is arranged on the lower side of each clamping frame 101. A rotating shaft 103 is fixed to the upper part of the load-bearing plate 107, and the rotating shaft 103 is rotatably connected to the lower part of the clamping frame 101. The object can be clamped by the two clamping frames 101 approaching each other, realizing the function of the manipulator to pick up the object. After the two clamping frames 101 clamp the object, the two load-bearing plates 107 are driven to rotate toward each other through the corresponding rotating shaft 103, thereby rotating the two load-bearing plates 107 to the lower side of the object, blocking the lower side of the object to prevent the two clamping frames 101 from slipping when clamping the object. If the object slips, it will be blocked by the two load-bearing plates 107 and will not fall, realizing that the object can be prevented from falling after the manipulator clamps the object.

[0034] Furthermore, because the two clamping frames 101 of the industrial robot manipulator are arranged on the left and right sides, and the bearing plates 107 on the lower side of each clamping frame 101 are rotatably connected via shaft 103, in addition to preventing objects from falling, the rotation angles of the two bearing plates 107 can be adjusted to accommodate objects of varying thicknesses. When the object is thicker, the bearing plates 107 can rotate at a smaller angle to avoid excessive squeezing; when the object is thinner, the bearing plates 107 can rotate at a larger angle to ensure stable support, thereby improving the manipulator's adaptability to objects of varying thicknesses.

[0035] like Figure 4-5 As shown;

[0036] Since the load-bearing plate 107 is bonded with a rubber block 108 and a plurality of hollow holes 110 are evenly distributed on the rubber block 108 from front to back, when the two load-bearing plates 107 rotate close to each other, they can contact objects through the rubber block 108 to prevent damage to the objects. In addition, the plurality of hollow holes 110 can make the rubber block 108 softer as a whole to avoid damage to objects.

[0037] Furthermore, the rubber block 108 and multiple hollow holes 110 on the load-bearing plate 107 not only prevent damage to the object, but the hollow holes 110 can also utilize the compressibility of air when the rubber block 108 contacts the object, allowing the rubber block 108 to better fit the fine lines on the bottom of the object, increase the contact area, further enhance the friction, and make the support more stable. Even if there are tiny protrusions on the bottom of the object, they can adapt through the deformation of the hollow holes 110.

[0038] like Figure 4-5 As shown;

[0039] Since the side of the rubber block 108 is evenly distributed with multiple arc grooves 109 from front to back, the rubber block 108 can be pressed on the object through the multiple arc grooves 109, making it less likely for the object and the rubber block 108 to slip, supporting the bottom of the object and making the clamped object more stable, making the object more stable when the robot moves the object.

[0040] Furthermore, when the robot encounters slight vibrations while handling an object, the arc groove 109 can act as a buffer. When the vibration is transmitted to the rubber block 108, the rubber in the arc groove 109 can undergo a slight deformation, absorbing some of the vibration energy, reducing the displacement of the object caused by the vibration, and ensuring a more stable object during handling.

[0041] like Figure 4-5 As shown;

[0042] Since the front part of the rotating shaft 103 is fixed with a slot rod 106, the lower part of the clamping frame 101 is fixed with the rotating shaft 103, the rotating shaft 103 is fixed with a cylinder 104, and the end of the cylinder 104 is fixed with a cylindrical pin 105, and the cylindrical pin 105 is inserted into the slot on the slot rod 106. When the cylinder 104 is extended and retracted, it can drive the cylindrical pin 105 to move left and right. When the cylindrical pin 105 moves left and right, it can drive the slot rod 106 to rotate left and right, and then drive the rotating shaft 103 and the load-bearing plate 107 to rotate, and finally drive the load-bearing plate 107 to rotate close to the bottom of the object to support the object.

[0043] like Figure 4-7 As shown;

[0044] Since multiple vertical frames 201 are fixed on the clamping frame 101, each vertical frame 201 is connected to multiple cylinders 202 in a sliding manner in the left and right directions. The multiple cylinders 202 are evenly distributed on the vertical frames 201 from top to bottom. A ring 203 is fixed on the cylinder 202, and a compression spring is sleeved on the cylinder 202. The compression spring is located between the vertical frame 201 and the ring 203, and a blocking piece 204 is fixed to the outer end of the cylinder 202. Multiple cylinders 202 can be set within the range of the clamping frame 101 through multiple vertical frames 201. Since the left and right surfaces of an object are not necessarily flat when clamping an object, the multiple cylinders 202 are subjected to the force of the compression springs thereon, so that the multiple cylinders 202 tend to approach the object, and then each cylinder 202 is pressed against the side of the object. The multiple cylinders 202 adapt to the uneven side of the object. After the multiple cylinders 202 are pressed against the side of the object, the positions of the multiple cylinders 202 are locked, and then the two clamping frames 101 are driven to continue to approach each other. The object is clamped by the multiple cylinders 202, so that the robot can clamp objects with uneven sides.

[0045] Furthermore, the multiple cylinders 202 are pressed against the side of the object under the action of the compression spring, and can also disperse the clamping force like multiple small fulcrums to prevent the object from being damaged due to excessive local force. It is particularly suitable for clamping fragile or thin-walled parts.

[0046] like Figure 6-7 As shown;

[0047] Since a protruding piece 208 is fixed on the vertical frame 201, a square column 207 is slidably connected to the protruding piece 208, a pressing bar 205 is fixed on the square column 207, and a plurality of semicircular grooves 206 are provided on the pressing bar 205, and the plurality of semicircular grooves 206 correspond to the plurality of cylinders 202 respectively. A second cylinder 209 is fixed on the protruding piece 208, and the end of the second cylinder 209 is fixed on the pressing bar 205. When the second cylinder 209 is extended or retracted, it can drive the square column 207 to slide on the protruding piece 208, and then drive the pressing bar 205 to approach the plurality of cylinders 202. The pressing bar 205 is pressed on the plurality of cylinders 202 through the plurality of semicircular grooves 206, and then locks the plurality of cylinders 202, and then drives the two clamping frames 101 to continue to approach each other, and clamps the object through the plurality of cylinders 202, so that the robot can clamp objects with uneven sides.

[0048] like Figure 8-9 As shown;

[0049] Since a connecting piece 304 is fixed to the front side of the clamping frame 101, a second rotating shaft 306 is fixed on the connecting piece 304, and the second rotating shaft 306 is rotatably connected to the gantry 301, and a retaining ring 305 is fixed on the second rotating shaft 306, the connecting piece 304 can be rotated on the gantry 301 through the second rotating shaft 306, so that the clamping frame 101 and the multiple cylinders 202 thereon can be rotated and tilted to a certain angle through the second rotating shaft 306, so that the manipulator can adapt to the clamping situation of objects with inclined surfaces; the retaining ring 305 can prevent the second rotating shaft 306 from separating from the gantry 301, so that the second rotating shaft 306 can be more stable when rotating on the gantry 301.

[0050] like Figure 8-9 As shown;

[0051] Since a T-shaped frame 302 is fixed to one side of the connecting piece 304, arc-shaped elastic rods 303 are fixed to the upper and lower ends of the T-shaped frame 302, and the other ends of the two arc-shaped elastic rods 303 are fixed to the portal frame 301, the two arc-shaped elastic rods 303 respectively provide elastic force to the upper and lower ends of the portal frame 301, so that the connecting piece 304 can be easily restored to its original position after rotating on the portal frame 301 through the second rotating shaft 306, thereby making it convenient for the clamping frame 101 and the multiple cylinders 202 thereon to be restored to their original position after rotating through the second rotating shaft 306, so that the clamping frame 101 can be conveniently restored to its original position after clamping an object with an inclined surface.

[0052] Furthermore, the elastic force of the arc-shaped elastic rod 303 can also play a damping role during the rotation of the clamping frame 101, preventing the clamping frame 101 from colliding with objects or other components due to rapid rotation due to inertia, thereby playing a buffering and protective role and extending the service life of the manipulator.

[0053] like Figure 8-9 As shown;

[0054] Since a disc 307 is fixed to the front of the second rotating shaft 306, a cylinder seat 310 is fixed to the inner side of the gantry 301, and a cylinder three 309 is fixed on the cylinder seat 310. A pressure plate 308 is fixed to the end of the cylinder three 309, and the pressure plate 308 can be pressed on the disc 307. When the connecting piece 304 is rotated on the gantry 301 through the second rotating shaft 306, if the position of the connecting piece 304 needs to be locked, the third cylinder 309 is driven to extend so that the pressure plate 308 is pressed on the disc 307, thereby fixing the position of the second rotating shaft 306 and the connecting piece 304, and then fixing the position of the clamping frame 101 and the multiple cylinders 202, and then locking the clamping frame 101 and the multiple cylinders 202 in the inclined position, so as to facilitate locking the clamping frame 101 in the inclined position to clamp objects with inclined surfaces.

[0055] Furthermore, the friction force generated by the pressure plate 308 pressing on the disc 307 can also resist certain external force interference during the robot's handling process, preventing the clamping frame 101 from angularly shifting under non-human control, and ensuring that the object is always in a preset inclined clamping state.

[0056] like Figure 10-11 As shown;

[0057] Since the front of the two door frames 301 are fixed with a slide 402, the two slides 402 are respectively slidably connected to the left and right ends of the cross bar 401, the left and right ends of the cross bar 401 are fixed with a stop column 403, the middle of the cross bar 401 is fixed with a convex seat 406, the two slides 402 are fixed with a cylinder four 404, the movable ends of the two cylinder four 404 are fixed on the convex seat 406, the middle of the cross bar 401 is fixed with four L-shaped rods 405, each L-shaped rod 405 is provided with a plurality of screw holes, the two stop columns 403 are fixed with a stop column 403, the middle of the cross bar 401 is fixed with a convex seat 406, and the two slides 402 are fixed with a cylinder four 404. The movable ends of the two cylinder four 404 are fixed on the convex seat 406. 3 can prevent the two slides 402 from slipping off the cross bar 401. When the two cylinders 404 are extended or retracted, they can drive the two slides 402 to slide closer or farther away on the cross bar 401, thereby driving the two portal frames 301 closer or farther away, and further driving the two clamping frames 101 closer or farther away, so that the two clamping frames 101 move closer to clamp the object, or move farther away to release the object; the four L-shaped rods 405 can be connected to a robot arm in the prior art, and the robot arm drives the robot to move to a required position to pick up the object.

[0058] Furthermore, in addition to driving the clamping frame 101 to clamp or release the object, the synchronous extension and contraction of the two cylinders 404 can ensure that the moving distance of the two clamping frames 101 is consistent, ensuring that the object is clamped in the center position, avoiding the object from falling due to unstable center of gravity caused by clamping offset, and also facilitating the subsequent precise placement of the object.

Claims

1. An industrial robot manipulator, comprising a clamping frame (101), characterized in that: The two clamping frames (101) are arranged on the left and right, and a load-bearing plate (107) is arranged on the lower side of each clamping frame (101). A rotating shaft (103) is fixed on the upper part of the load-bearing plate (107), and the rotating shaft (103) is rotatably connected to the lower part of the clamping frame (101).

2. The industrial robot manipulator according to claim 1, characterized in that: A rubber block (108) is bonded to the load-bearing plate (107), and a plurality of hollow holes (110) are evenly distributed on the rubber block (108) from front to back.

3. The industrial robot manipulator according to claim 2, characterized in that: The side surface of the rubber block (108) is evenly distributed with a plurality of arc grooves (109) from front to back.

4. The industrial robot manipulator according to claim 3, characterized in that: A slot rod (106) is fixed to the front of the rotating shaft (103), the lower part of the clamping frame (101) is fixed to the rotating shaft (103), a cylinder (104) is fixed on the rotating shaft (103), a cylindrical pin (105) is fixed to the end of the cylinder (104), and the cylindrical pin (105) is inserted into the slot on the slot rod (106).

5. The industrial robot manipulator according to claim 4, characterized in that: A plurality of vertical frames (201) are fixed on the clamping frame (101), and each vertical frame (201) is slidably connected to a plurality of cylinders (202) in the left-right direction. The plurality of cylinders (202) are evenly distributed on the vertical frame (201) from top to bottom. A ring (203) is fixed on the cylinder (202), and a compression spring is sleeved on the cylinder (202). The compression spring is located between the vertical frame (201) and the ring (203). A blocking piece (204) is fixed to the outer end of the cylinder (202).

6. The industrial robot manipulator according to claim 5, characterized in that: A convex piece (208) is fixed on the vertical frame (201), a square column (207) is slidably connected to the convex piece (208), a pressing strip (205) is fixed on the square column (207), a plurality of semicircular grooves (206) are provided on the pressing strip (205), and the plurality of semicircular grooves (206) respectively correspond to the plurality of cylinders (202), a second cylinder (209) is fixed on the convex piece (208), and the end of the second cylinder (209) is fixed on the pressing strip (205).

7. The industrial robot manipulator according to claim 6, characterized in that: A connecting piece (304) is fixed on the front side of the clamping frame (101), a second rotating shaft (306) is fixed on the connecting piece (304), the second rotating shaft (306) is rotatably connected to the portal frame (301), and a retaining ring (305) is fixed on the second rotating shaft (306).

8. The industrial robot manipulator according to claim 7, characterized in that: A T-shaped frame (302) is fixed on one side of the connecting piece (304), and arc-shaped elastic rods (303) are fixed on the upper and lower ends of the T-shaped frame (302), and the other ends of the two arc-shaped elastic rods (303) are fixed on the door-shaped frame (301).

9. The industrial robot manipulator according to claim 8, characterized in that: A disc (307) is fixed to the front of the second rotating shaft (306), a cylinder seat (310) is fixed to the inner side of the gantry (301), a cylinder three (309) is fixed on the cylinder seat (310), a pressure plate (308) is fixed to the end of the cylinder three (309), and the pressure plate (308) can press on the disc (307).

10. The industrial robot manipulator according to claim 9, characterized in that: The front parts of the two door-shaped frames (301) are both fixed with a slide seat (402), and the two slide seats (402) are respectively slidably connected to the left and right ends of the cross bar (401), and the left and right ends of the cross bar (401) are both fixed with a blocking column (403), and the middle part of the cross bar (401) is fixed with a convex seat (406), and the two slide seats (402) are both fixed with a cylinder four (404), and the movable ends of the two cylinder fours (404) are both fixed on the convex seat (406), and the middle part of the cross bar (401) is fixed with four L-shaped rods (405), and each L-shaped rod (405) is provided with a plurality of screw holes.

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