Adjustable industrial robot manipulator structure

Abstract

The invention belongs to the field of robot manipulators, and provides an adjustable industrial robot manipulator structure which comprises a base, a clamping assembly and a reinforcing assembly, a six-axis mechanical arm is movably arranged on the base, a mounting shaft is arranged at the tail end of the six-axis mechanical arm, and a chuck is arranged at one end of the mounting shaft; the clamping assembly comprises a first clamping piece, a second clamping piece, a driving mechanism and an adjusting mechanism, the first clamping piece and the second clamping piece are movably arranged on one side of the chuck in a cross symmetry mode, and the adjusting mechanism used for adjusting the position of the second clamping piece is arranged on one side of the second clamping piece; the first clamping piece and the second clamping piece are arranged on the clamping end face of the chuck through the driving mechanism and the adjusting mechanism, the driving mechanism can drive the first clamping piece and the second clamping piece to be matched to clamp a square or round workpiece, and the second clamping piece can be retracted through the adjusting mechanism; and therefore, the rectangular workpiece can be clamped through the first clamping piece, and the overall applicability and adjustability are improved.

Description

Technical Field

[0001] The invention belongs to the field of robot manipulators, in particular to an adjustable industrial robot manipulator structure. Background Art

[0002] An industrial robot arm is a highly automated mechanical device widely used in industrial production to perform repetitive, high-precision, or high-intensity tasks. It mimics the structure and function of the human arm and, combined with advanced control systems, is capable of performing various operations such as grasping, handling, assembly, welding, and spraying. It is typically composed of multiple rotating or mobile joints, providing a flexible range of motion and enabling precise positioning in three-dimensional space.

[0003] The end of an existing industrial robot manipulator is usually equipped with a positioning tool to position and clamp the workpiece. However, conventional positioning tooling either uses two sets of clamping plates to adapt to rectangular workpieces or four sets of clamping plates to cope with square or round workpieces. It cannot be adjusted to take into account both rectangular and cylindrical workpieces according to needs, has poor adjustability, and only performs rigid clamping on the workpiece, which has poor stability.

[0004] Therefore, those skilled in the art have proposed an adjustable industrial robot manipulator structure to solve the problems raised in the background art. Summary of the Invention

[0005] In order to solve the above technical problems, the present invention provides an adjustable industrial robot manipulator structure to solve the problems of insufficient adaptability and stability of the tooling at the end of the industrial robot manipulator in the prior art in clamping the workpiece.

[0006] An adjustable industrial robot manipulator structure, comprising:

[0007] A base, on which a six-axis robotic arm is movably arranged, a mounting shaft is arranged at the end of the six-axis robotic arm, and a chuck is arranged at one end of the mounting shaft;

[0008] A clamping assembly comprising a first clamping member, a second clamping member, a driving mechanism, and an adjusting mechanism, wherein the first clamping member and the second clamping member are movably arranged in a cross-symmetrical manner on one side of a chuck, an adjusting mechanism for adjusting the position of the second clamping member is provided on one side of the chuck, and a driving mechanism for driving the first clamping member and the second clamping member to synchronously fix the workpiece is provided inside the chuck; and

[0009] The reinforcement component is arranged in the middle of the chuck and is used for synchronously reinforcing and adsorbing the workpiece when the first clamping member and the second clamping member clamp the workpiece. The reinforcement component has a linkage input member that cooperates with the driving mechanism.

[0010] Preferably, the first clamping member includes a moving block, a first clamping rod and a first connecting shaft. The clamping end surface of the chuck is symmetrically provided with four groups of cross-distributed through grooves. Two groups of moving blocks are provided, and the two groups of moving blocks are respectively slidably connected in the corresponding two groups of through grooves. The outer sides of the two groups of moving blocks are connected to the first clamping rod, and the inner sides of the two groups of moving blocks are connected to the first connecting shaft.

[0011] Preferably, the second clamping member includes a movable frame, a second clamping rod, an anti-slip plate and a second connecting shaft. Two groups of movable frames are provided. The two groups of movable frames are slidably connected to the inner sides of the corresponding two groups of through grooves. The second clamping rod slides through the middle of the two groups of movable frames. One end of the two groups of second clamping rods is connected to the anti-slip plate, and a second connecting shaft is provided on one side of the two groups of anti-slip plates.

[0012] Preferably, two groups of notches are symmetrically provided on the back of the chuck, and one end of the two groups of second connecting shafts passes through the chuck through the notches.

[0013] Preferably, the driving mechanism includes a motor, a rotating shaft, a gear and a toothed disc. The motor is installed at the eccentric position on the back of the chuck. The output end of the motor is connected to the rotating shaft through the chuck. The rotating shaft is connected to a gear located on the inside of the chuck. One side of the gear is meshed with a toothed disc. The toothed disc is rotatably connected to the inside of the chuck through a bearing. Four groups of variable diameter arc openings are circumferentially opened on the toothed disc for two groups of first connecting shafts and two groups of second connecting shafts to pass through.

[0014] Preferably, the adjustment mechanism includes a nut sleeve, a movable plate and a slider. A movable plate is movably provided on the outer side of the mounting shaft. Two groups of sliders are symmetrically and slidingly connected to the side of the movable plate. The two groups of sliders are respectively connected to one end of the two groups of second connecting shafts. The side of the movable plate facing away from the slider is rotatably connected to the nut sleeve.

[0015] Preferably, the outer wall of the mounting shaft is provided with an external thread adapted to the thread of the nut sleeve, and a handle is connected to the outer side of the nut sleeve.

[0016] Preferably, the reinforcement assembly includes a sleeve, a flexible tube, a suction cup and a piston. The inner wall of the chuck is installed with a sleeve, a piston is movably arranged in the sleeve, one end of the sleeve passes through the chuck and is connected to the flexible tube, and one end of the flexible tube is connected to the suction cup.

[0017] Preferably, the piston member includes a threaded rod, a connecting sleeve and a piston plate. One end of the sleeve is rotatably penetrated by a threaded rod, the threaded rod is threadedly connected to a connecting sleeve that is slidably arranged with the sleeve, and one end of the connecting sleeve is connected to the piston plate.

[0018] Preferably, the linkage input member includes a pulley and a belt, the rotating shaft and the threaded rod are both connected with pulleys, and a belt is provided between the two sets of pulleys for transmission.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. The present invention provides a first clamping member and a second clamping member on the clamping end surface of the chuck through a driving mechanism and an adjusting mechanism. The driving mechanism can drive the first clamping member and the second clamping member to cooperate in clamping a square or circular workpiece. The second clamping member can be retracted through the adjusting mechanism, so that the first clamping member can be used to clamp a rectangular workpiece, thereby improving the overall applicability and adjustability.

[0021] 2. The present invention is provided with a reinforcement component through a linkage input member. When the driving mechanism drives the first clamping member and the second clamping member to clamp the workpiece, with the cooperation of the sleeve, the flexible tube, the suction cup and the piston member, the threaded rod is driven to rotate through the linkage input member, so that the connecting sleeve drives the piston plate to move in the sleeve. During the movement, the suction cup will generate suction on the workpiece, thereby further improving the stability during the clamping process. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a main structural diagram of the present invention;

[0023] Figure 2 It is a side structural diagram of the present invention;

[0024] Figure 3 This is a structural diagram of the second clamping rod of the present invention in an extended state;

[0025] Figure 4 For the present invention Figure 3 Rear view structure diagram;

[0026] Figure 5 It is a partial cross-sectional structural diagram of the chuck of the present invention;

[0027] Figure 6 For the present invention Figure 5 Side view of the structure;

[0028] Figure 7 For the present invention Figure 5 The side cross-sectional structure diagram of the sleeve;

[0029] Figure 8 This is a structural diagram of the reinforcement component of the present invention.

[0030] In the picture:

[0031] 1. Base; 2. Six-axis robot arm; 3. Mounting shaft; 31. External thread; 4. Chuck; 41. Through slot; 42. Notch; 5. Clamping assembly; 51. First clamping member; 511. Moving block; 512. First clamping rod; 513. First connecting shaft; 52. Second clamping member; 521. Moving frame; 522. Second clamping rod; 523. Anti-slip plate; 524. Second connecting shaft; 53. Driving mechanism; 531. Motor; 5 32. Rotating shaft; 533. Gear; 534. Toothed disc; 5341. Variable diameter arc-shaped opening; 54. Adjusting mechanism; 541. Nut sleeve; 5411. Handle; 542. Moving plate; 543. Slider; 6. Reinforcement assembly; 61. Sleeve; 62. Flexible tube; 63. Suction cup; 64. Piston member; 641. Threaded rod; 642. Connecting sleeve; 643. Piston plate; 7. Linkage input member; 71. Pulley; 72. Belt. DETAILED DESCRIPTION

[0032] The following embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples. The following examples are used to illustrate the present invention but are not intended to limit the scope of the present invention.

[0033] As attached Figure 1 To the attached Figure 8 As shown:

[0034] The present invention provides an adjustable industrial robot manipulator structure, including a base 1, a clamping assembly 5 and a reinforcement assembly 6. A six-axis robotic arm 2 is movably arranged on the base 1, a mounting shaft 3 is provided at the end of the six-axis robotic arm 2, and a chuck 4 is provided at one end of the mounting shaft 3. The clamping assembly 5 includes a first clamping member 51, a second clamping member 52, a driving mechanism 53 and an adjusting mechanism 54. The first clamping member 51 and the second clamping member 52 are movably arranged on one side of the chuck 4 in a cross-symmetrical manner. An adjusting mechanism 54 for adjusting the position of the second clamping member 52 is provided on one side. A driving mechanism 53 for driving the first clamping member 51 and the second clamping member 52 to synchronously fix a workpiece is provided inside the chuck 4. A reinforcement assembly 6 is provided in the middle of the chuck 4. The reinforcement assembly 6 is used to synchronously reinforce and adsorb the workpiece when the first clamping member 51 and the second clamping member 52 clamp the workpiece, and the reinforcement assembly 6 has a linkage input member 7 that cooperates with the driving mechanism 53.

[0035] refer to Figure 2 and Figure 4 The first clamping member 51 includes a moving block 511, a first clamping rod 512 and a first connecting shaft 513. The clamping end surface of the chuck 4 is symmetrically provided with four groups of cross-distributed through grooves 41. There are two groups of moving blocks 511, and the two groups of moving blocks 511 are respectively slidably connected in the corresponding two groups of through grooves 41. The outer sides of the two groups of moving blocks 511 are connected to the first clamping rod 512, and the inner sides of the two groups of moving blocks 511 are connected to the first connecting shaft 513.

[0036] The driving mechanism 53 drives the two groups of first connecting shafts 513 to drive the two groups of moving blocks 511 to move toward each other in the through slot 41 , and during the movement, drives the two groups of first clamping rods 512 to clamp the workpiece.

[0037] refer to Figure 3 and Figure 5 The second clamping member 52 includes a movable frame 521, a second clamping rod 522, an anti-slip plate 523 and a second connecting shaft 524. The movable frame 521 is provided with two groups. The two groups of movable frames 521 are slidably connected to the inner sides of the corresponding two groups of through grooves 41. The middle part of the two groups of movable frames 521 is slidably penetrated by the second clamping rod 522. One end of the two groups of second clamping rods 522 is connected to the anti-slip plate 523, and one side of the two groups of anti-slip plates 523 is provided with a second connecting shaft 524.

[0038] The driving mechanism 53 drives the two sets of second connecting shafts 524 to drive the two sets of moving frames 521 to move toward each other in the through slot 41 . During the movement, the two sets of second clamping rods 522 clamp the workpiece.

[0039] refer to Figure 1 and Figure 7 Two groups of notches 42 are symmetrically opened on the back of the chuck 4 , and one end of the two groups of second connecting shafts 524 passes through the chuck 4 through the notch 42 .

[0040] refer to Figure 5 and Figure 6 The driving mechanism 53 includes a motor 531, a rotating shaft 532, a gear 533 and a toothed disc 534. The motor 531 is installed at an eccentric position on the back of the chuck 4. The output end of the motor 531 passes through the chuck 4 and is connected to the rotating shaft 532. The rotating shaft 532 is connected to a gear 533 located on the inner side of the chuck 4. One side of the gear 533 is meshed with a toothed disc 534. The toothed disc 534 is rotatably connected to the inner side of the chuck 4 through a bearing. Four groups of variable-diameter arc-shaped openings 5341 are circumferentially opened on the toothed disc 534 for the two groups of first connecting shafts 513 and the two groups of second connecting shafts 524 to pass through.

[0041] Among them, the rotating shaft 532 is driven to rotate by the motor 531. During the rotation of the rotating shaft 532, the gear 533 engages with the toothed disc 534, and the toothed disc 534 is driven to rotate under the meshing force. During the rotation of the toothed disc 534, the variable diameter arc-shaped opening 5341 generates a thrust to the first connecting shaft 513 and the second connecting shaft 524, thereby driving the first clamping rod 512 and the second clamping rod 522 to move synchronously in alignment to clamp the workpiece.

[0042] refer to Figure 4 and Figure 7The adjusting mechanism 54 includes a nut sleeve 541, a movable plate 542 and a slider 543. A movable plate 542 is movably provided on the outside of the mounting shaft 3. Two groups of sliders 543 are symmetrically slidably connected to the side of the movable plate. The two groups of sliders 543 are respectively connected to one end of the two groups of second connecting shafts 524. The side of the movable plate 542 facing away from the slider 543 is rotatably connected to the nut sleeve 541.

[0043] refer to Figure 3 and Figure 4 The outer wall of the mounting shaft 3 is provided with an external thread 31 that is threadably matched with the nut sleeve 541 , and a handle 5411 is connected to the outer side of the nut sleeve 541 .

[0044] Among them, the nut sleeve 541 can be rotated by the handle 5411, so that the nut sleeve 541 drives the movable plate 542 to move. During the movement of the movable plate 542, the slider 543 will drive the anti-slip plate 523 and the second clamping rod 522 to move through the second connecting shaft 524, so that the second clamping rod 522 retreats to the inside of the chuck 4 during the movement, so that it is hidden and its clamping state on the workpiece is released.

[0045] refer to Figure 2 、 Figure 5 and Figure 7 The reinforcement component 6 includes a sleeve 61, a flexible tube 62, a suction cup 63 and a piston 64. The sleeve 61 is installed on the inner wall of the chuck 4, and the piston 64 is movably arranged in the sleeve 61. One end of the sleeve 61 passes through the chuck 4 and is connected to the flexible tube 62, and one end of the flexible tube 62 is connected to the suction cup 63.

[0046] The piston 64 is driven to move in the sleeve 61 by the linkage input member 7 , and the suction cup 63 generates suction force on the workpiece during the movement.

[0047] refer to Figure 8 The piston member 64 includes a threaded rod 641, a connecting sleeve 642 and a piston plate 643. One end of the sleeve 61 is rotatably penetrated by the threaded rod 641. The threaded rod 641 is threadedly connected to the connecting sleeve 642 which is slidably arranged with the sleeve 61. One end of the connecting sleeve 642 is connected to the piston plate 643.

[0048] It should be further explained that two sets of sliding grooves are symmetrically and slidingly connected on both sides of the inner wall of the sleeve 61, and connecting rods slidingly connected to the sliding grooves are connected on both sides of the connecting sleeve 642. The moving trajectory of the connecting sleeve 642 is limited by the cooperation of the connecting rods and the sliding grooves.

[0049] refer to Figure 6 The linkage input member 7 includes a pulley 71 and a belt 72 . The rotating shaft 532 and the threaded rod 641 are both connected with pulleys 71 , and a belt 72 is provided between the two sets of pulleys 71 for transmission.

[0050] Among them, when the motor 531 drives the rotating shaft 532 to rotate, the rotating shaft 532 drives the threaded rod 641 to rotate through the pulley 71 and the belt 72. During the rotation of the threaded rod 641, the connecting sleeve 642 is driven to drive the piston plate 643 to move in the sleeve 61. During the movement, the sleeve 61 will generate an adsorption force, and the adsorption force drives the suction cup 63 to adsorb and fix the workpiece through the flexible tube 62.

[0051] Working principle: When in use, first adjust the extension state of the second clamping rod 522 according to the shape of the workpiece to be fixed. That is, when the workpiece to be clamped is square or round, adjust the second clamping rod 522 to extend from the chuck 4, and use the first clamping rod 512 and the second clamping rod 522 to clamp it circumferentially. When the workpiece to be clamped is rectangular, adjust the second clamping rod 522 to retract into the chuck 4. When adjusting the extension state of the second clamping rod 522, the nut sleeve 541 can be rotated by the handle 5411, so that the nut sleeve 541 drives the movable plate 5 42 moves, and during the movement of the moving plate 542, the slider 543 drives the anti-slip plate 523 and the second clamping rod 522 to move through the second connecting shaft 524. During the movement, the position of the second clamping rod 522 can be adjusted. After the position of the second clamping rod 522 is adjusted, the motor 531 is started, and the motor 531 drives the rotating shaft 532 to rotate. During the rotation of the rotating shaft 532, the gear 533 engages with the toothed disc 534, and the toothed disc 534 is driven to rotate under the meshing force. During the rotation of the toothed disc 534, the diameter-changing arc opening 53 is passed through the rotating shaft 532. 41 generates thrust on the first connecting shaft 513 and the second connecting shaft 524, thereby driving the first clamping rod 512 and the second clamping rod 522 to move synchronously in the center to clamp the workpiece, and during the clamping process, the rotating shaft 532 drives the threaded rod 641 to rotate through the pulley 71 and the belt 72. During the rotation of the threaded rod 641, the connecting sleeve 642 drives the piston plate 643 to move in the sleeve 61. During the movement, the sleeve 61 generates an adsorption force, which drives the suction cup 63 to adsorb and fix the workpiece through the flexible tube 62, thereby improving the workpiece quality. The stability of workpiece clamping is improved, and when the workpiece needs to be put down, the motor 531 drives the rotating shaft 532 to reverse. On the one hand, the rotating shaft 532 drives the threaded rod 641 to reverse through the pulley 71 and the belt 72. During the reversal of the threaded rod 641, the piston plate 643 is driven to move in the opposite direction through the connecting sleeve 642, thereby releasing the adsorption effect on the workpiece. On the other hand, the rotating shaft 532 drives the toothed disc 534 to rotate in the opposite direction through the gear 533, so that the first clamping rod 512 and the second clamping rod 522 are synchronously moved away, and the workpiece can be put down.

[0052] The embodiments of the present invention are provided for the purpose of illustration and description. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present invention. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An adjustable industrial robot manipulator structure, characterized in that: include: A base (1) is provided with a six-axis robotic arm (2) movably disposed thereon, a mounting shaft (3) is provided at the end of the six-axis robotic arm (2), and a chuck (4) is provided at one end of the mounting shaft (3); A clamping assembly (5), comprising a first clamping member (51), a second clamping member (52), a driving mechanism (53) and an adjusting mechanism (54); the first clamping member (51) and the second clamping member (52) are arranged on one side of a chuck (4) in a cross-symmetrical manner; an adjusting mechanism (54) for adjusting the position of the second clamping member (52) is provided on one side of the chuck (4); and a driving mechanism (53) for driving the first clamping member (51) and the second clamping member (52) to synchronously fix a workpiece is provided inside the chuck (4); and A reinforcement component (6) is arranged in the middle of the chuck (4) and is used for synchronously reinforcing and adsorbing the workpiece when the first clamping member (51) and the second clamping member (52) clamp the workpiece. The reinforcement component has a linkage input member (7) that cooperates with the driving mechanism (53).

2. The adjustable industrial robot manipulator structure according to claim 1, characterized in that: The first clamping member (51) comprises a moving block (511), a first clamping rod (512) and a first connecting shaft (513); the clamping end surface of the chuck (4) is symmetrically provided with four groups of through grooves (41) distributed in a cross shape; two groups of moving blocks (511) are provided; the two groups of moving blocks (511) are respectively slidably connected in the corresponding two groups of through grooves (41); the outer sides of the two groups of moving blocks (511) are connected to the first clamping rod (512); and the inner sides of the two groups of moving blocks (511) are connected to the first connecting shaft (513).

3. The adjustable industrial robot manipulator structure according to claim 2, characterized in that: The second clamping member (52) includes a movable frame (521), a second clamping rod (522), an anti-slip plate (523) and a second connecting shaft (524). The movable frame (521) is provided with two groups. The two groups of movable frames (521) are slidably connected to the inner sides of the corresponding two groups of through grooves (41). The middle part of the two groups of movable frames (521) is slidably penetrated by the second clamping rod (522). One end of the two groups of second clamping rods (522) is connected to the anti-slip plate (523). One side of the two groups of anti-slip plates (523) is provided with a second connecting shaft (524).

4. The adjustable industrial robot manipulator structure according to claim 3, characterized in that: Two groups of notches (42) are symmetrically provided on the back of the chuck (4), and one end of the two groups of second connecting shafts (524) passes through the chuck (4) through the notches (42).

5. The adjustable industrial robot manipulator structure according to claim 3, characterized in that: The driving mechanism (53) comprises a motor (531), a rotating shaft (532), a gear (533) and a toothed disc (534). The motor (531) is installed at an eccentric position on the back of the chuck (4). The output end of the motor (531) passes through the chuck (4) and is connected to the rotating shaft (532). The rotating shaft (532) is connected to a gear (533) located inside the chuck (4). One side of the gear (533) is meshedly connected to the toothed disc (534). The toothed disc (534) is rotatably connected to the inside of the chuck (4) through a bearing. Four groups of variable diameter arc-shaped openings (5341) are circumferentially opened on the toothed disc (534) for allowing two groups of first connecting shafts (513) and two groups of second connecting shafts (524) to pass through.

6. The adjustable industrial robot manipulator structure according to claim 3, characterized in that: The adjusting mechanism (54) comprises a nut sleeve (541), a movable plate (542) and a slider (543). The movable plate (542) is movably provided on the outer side of the mounting shaft (3). Two groups of sliders (543) are symmetrically slidably connected to the side of the movable plate. The two groups of sliders (543) are respectively connected to one end of the two groups of second connecting shafts (524). The side of the movable plate (542) facing away from the slider (543) is rotatably connected to the nut sleeve (541).

7. The adjustable industrial robot manipulator structure according to claim 6, characterized in that: The outer wall of the mounting shaft (3) is provided with an external thread (31) adapted to the thread of the nut sleeve (541), and the outer side of the nut sleeve (541) is connected to a handle (5411).

8. The adjustable industrial robot manipulator structure according to claim 5, characterized in that: The reinforcement assembly (6) comprises a sleeve (61), a flexible tube (62), a suction cup (63) and a piston member (64). The sleeve (61) is installed on the inner wall of the chuck (4). The piston member (64) is movably arranged in the sleeve (61). One end of the sleeve (61) passes through the chuck (4) and is connected to the flexible tube (62). One end of the flexible tube (62) is connected to the suction cup (63).

9. The adjustable industrial robot manipulator structure according to claim 8, characterized in that: The piston member (64) includes a threaded rod (641), a connecting sleeve (642) and a piston plate (643). One end of the sleeve (61) is rotatably penetrated by the threaded rod (641). The threaded rod (641) is threadedly connected to the connecting sleeve (642) which is slidably arranged with the sleeve (61). One end of the connecting sleeve (642) is connected to the piston plate (643).

10. The adjustable industrial robot manipulator structure according to claim 9, characterized in that: The linkage input member (7) comprises a pulley (71) and a belt (72); the rotating shaft (532) and the threaded rod (641) are both connected with pulleys (71); and a belt (72) is provided between the two sets of pulleys (71) for transmission.

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