Industrial robot and protection structure thereof

Abstract

The invention discloses an industrial robot and a protection structure thereof, relates to the technical field of robots, and solves the problems that the flexibility and precision of the industrial robot are poor, the industrial robot is difficult to quickly and flexibly adjust according to different assembly positions of elements, and the assembled electrical elements are easy to damage due to errors. The industrial robot comprises a mechanical rack. The upper rack is welded at the top of the mechanical rack; the automatic grabbing mechanical claw is installed on the upper rack and extends into the mechanical rack, and the automatic grabbing mechanical claw is electrically connected with a control module in the upper rack. According to the invention, through the mechanical arm arranged in a spider hand structure shape, electrical elements such as wafers can be freely and automatically adsorbed and fixed, and the flexibility, the precision and the degree of freedom during adsorption and assembly of the electrical elements such as the wafers are improved in cooperation with a five-axis mechanical arm assembly mode; and the grabbing, adsorbing and assembling requirements of electrical elements such as wafers at different positions are met.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, in particular to an industrial robot and a protective structure thereof. Background Art

[0002] Industrial robots are multi-jointed manipulators or multi-degree-of-freedom machines in the industrial field. They possess a certain degree of autonomy and can perform various industrial processing and manufacturing functions through their own power and control capabilities. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemicals.

[0003] The existing Chinese patent application with application publication number CN117901145A discloses a truss robot for wafer transfer, which is mainly composed of an XYZ linear module 4 and a robot device 3. The XYZ linear module 4 is responsible for driving the robot device 3 to perform precise position adjustment along the X, Y or / and Z axis directions in three-dimensional space. This adjustment mechanism ensures that the robot can accurately reach any specified position in the workspace. An ESC suction cup 3 is installed under the robot device 3 to adsorb and fix the wafer. The ESC suction cup 3 is surrounded by multiple groups of buffer arm modules 202 and connecting arm modules 203, which are arranged in parallel to form multiple closed motion chains. With this invention, the wafer can always maintain a stable position and posture during the transfer process, effectively avoiding the occurrence of slippage. The design of the XYZ linear module further enhances the movement stability and accuracy of the robot, allowing the wafer to move smoothly and accurately in three-dimensional space.

[0004] However, this industrial robot has the following defects when used:

[0005] 1. Existing industrial robots have poor flexibility and accuracy when grasping, adsorbing, and assembling electrical components such as wafers. They are unable to quickly and flexibly adjust to the different assembly positions of components (there are slight errors in the transportation of components). As a result, the assembled electrical components are easily damaged due to errors during assembly.

[0006] 2. When existing industrial robots use suction cups to grasp, adsorb and assemble electrical components such as wafers and need to be maintained or shut down for cleaning, the suction cups are directly exposed to the factory's working environment. Maintenance or shutdown cleaning operations can easily cause some dust and impurities in the working environment to adhere to the surface of the suction cups, affecting the stability and firmness of the subsequent robot suction cups in grasping and adsorbing electrical components. Summary of the Invention

[0007] The object of the present invention is to provide an industrial robot and a protective structure thereof to solve the problems raised in the above background technology.

[0008] In order to achieve the above-mentioned object of the invention, the present invention adopts the following technical solutions:

[0009] The present invention provides an industrial robot, comprising a mechanical frame; an upper frame welded on the top of the mechanical frame; an automated grasping mechanical claw mounted on the upper frame and extending into the interior of the mechanical frame, wherein the automated grasping mechanical claw is electrically connected to a control module inside the upper frame.

[0010] The automated grasping mechanical claw comprises: a transfer connecting arm assembly installed on the upper frame and extending to the inside of the mechanical frame; a lifting slider slidably connected to the outside of the transfer connecting arm assembly; a plurality of connecting blocks installed on the outside of the lifting slider; a first stable arm rotatably connected to the middle of the connecting block; a second stable arm rotatably connected to the left and right sides of the connecting block; an edge connecting arm assembly movably connected to the side surfaces of the first stable arm and the second stable arm, and four edge connecting arm assemblies are provided, and the edge connecting arm assemblies are installed at the eccentric position of the top of the mechanical frame by screws and are all located on the outside of the transfer connecting arm assembly.

[0011] Adsorption grabbing units are installed on the inner side of the edge connecting arm assembly and the bottom of the transfer connecting arm assembly.

[0012] As a preferred solution of the present invention, the transfer connecting arm assembly includes: a first driving source installed at the center of the upper frame; a main shaft connected to the output end of the first driving source and extending to the inside of the mechanical frame; an upper connecting seat rotatably connected to the outside of the bottom of the main shaft; a vertical metal cylinder fixed to the bottom of the upper connecting seat by screws; a vertical shaft rod slidably connected to the inside of the vertical metal cylinder and extending to the outside; and a lower connecting seat rotatably connected to the outside of the vertical shaft rod.

[0013] Wherein, an adsorption and grabbing unit is installed on the bottom of the lower connecting seat through screws.

[0014] As a preferred solution of the present invention, a vertical groove is provided on the inner wall of the vertical metal cylinder, and the vertical groove is slidably connected to the protruding portion at the top of the vertical shaft.

[0015] Wherein, a guide portion located on the side of the vertical groove is opened on the outer side of the vertical metal cylinder, and the vertical metal cylinder is slidably connected to a lifting slider through the guide portion, and the vertical groove and the guide portion are staggered.

[0016] As a preferred solution of the present invention, the first stabilizing arm and the second stabilizing arm are both obliquely arranged, the first side protrusions are installed on the left and right sides of the bottom of the first stabilizing arm, and the second side protrusion is installed on one side of the top of the second stabilizing arm, and the first side protrusion and the second side protrusion are both movably arranged inside the edge connecting arm assembly.

[0017] As a preferred embodiment of the present invention, the edge connecting arm assembly includes: a mounting bracket installed at the top edge of the mechanical frame by screws; a second driving source installed inside the mounting bracket; a driving shaft connected to the output end of the second driving source and rotatably connected to the mounting bracket; a cam installed on the outside of the driving shaft and rotatably connected to one side of the mounting bracket; and a movable arm rotatably connected to the outside of the left and right sides of the cam.

[0018] As a preferred embodiment of the present invention, the movable arm has two oblique grooves formed therein, one of the oblique grooves being movably connected to the first side protrusion, and the other oblique groove being movably connected to the second side protrusion.

[0019] Wherein, a first stabilizing arm and a second stabilizing arm are provided between the two movable arms.

[0020] As a preferred solution of the present invention, the bottom of the movable arm is rotatably connected to a side positioning seat, and four side positioning seats are arranged in a ring at equal intervals. Assembly brackets are installed on the inner sides of the four side positioning seats, and the inner side of the assembly bracket is rotatably connected to an adsorption grabbing unit.

[0021] The present invention also provides a protective structure for an industrial robot, comprising: a lifting drive source installed at the top of the adsorption and grasping unit; a vacuum adsorption suction cup connected to the output end of the lifting drive source; a lifting protection mechanism installed on the top of the vacuum adsorption suction cup and extending to the bottom of the adsorption and grasping unit,

[0022] The lifting protection mechanism includes: a screw rotating assembly installed on the top of the vacuum adsorption suction cup and movably arranged inside the adsorption grasping unit; a transmission belt installed on the outside of the screw rotating assembly and connected via a synchronous wheel; a lower rotating shaft connected to the inner side of the transmission belt via a synchronous wheel; a transmission gear installed at the bottom of the lower rotating shaft; a tooth sealing assembly meshingly connected to the side of the transmission gear; and a sealing triangle plate installed at the bottom of the tooth sealing assembly via screws.

[0023] As a preferred embodiment of the present invention, the screw rotating assembly includes: a lower protective bracket installed at the bottom of the adsorption and grabbing unit; a one-way screw arranged on the outside of the lower protective bracket and rotatably connected to the inside of the adsorption and grabbing unit; a one-way slider connected to the outside of the one-way screw through a ball bearing; and a lifting plate installed on the outside of the one-way slider.

[0024] Among them, the lifting plate is installed and fixed on the top of the vacuum adsorption cup, the lifting plate and the lower protective bracket are slidably connected and extend to the inner wall of the adsorption and grasping unit, and the outer side of the bottom of the one-way screw is connected to the transmission belt through a synchronous wheel.

[0025] As a preferred embodiment of the present invention, the tooth seal assembly includes: a lower ring disk installed on the outer side of the bottom of the adsorption and grabbing unit; an intermediate tooth movably arranged inside the lower ring disk and meshingly connected to the side of the transmission gear; an internal gear meshingly connected to the inner side of the intermediate tooth and rotatably connected to the inside of the lower ring disk; a lower gear coaxially connected to the internal gear; a tooth rod meshingly connected to the side of the lower gear and slidably connected to the lower ring disk; and a mounting support installed on the side of the tooth rod.

[0026] The lower ring and the middle teeth are provided with vacuum suction cups, the inner wall and outer side of the middle teeth are provided with teeth, and the inner gear, tooth rod and mounting support are provided with multiple teeth.

[0027] Wherein, a sealing triangular plate is installed on the bottom of the tooth rod and the mounting support through screws, and the sealing triangular plate is movably arranged on the bottom of the lower ring plate.

[0028] Compared with the existing technology, one or more of the above technical solutions have the following beneficial effects:

[0029] 1. In industrial robots and their protective structures, the vertical metal cylinder, vertical shaft, and movable arms at multiple angles, which are arranged in the shape of a spider-hand structure, can freely and automatically adsorb, fix, and assemble electrical components such as wafers at the bottom of the adsorption and grasping unit. In this case, a five-axis robotic arm assembly method is adopted to improve the flexibility, accuracy, and freedom of adsorption and assembly of electrical components such as wafers, meeting the requirements of grasping, adsorption, and assembly of electrical components such as wafers at different positions. At the same time, during actual assembly, multiple robotic arms (vertical metal cylinders, vertical shafts, and movable arms at multiple angles) can be easily operated and moved, making it less likely that electrical components will be damaged due to errors during assembly, and ensuring high safety when assembling electrical components such as wafers.

[0030] 2. In industrial robots and their protective structures, when a vertical metal cylinder and movable arms in multiple positions and directions are used to grab, adsorb, and assemble electrical components such as wafers, the vertical metal cylinder and movable arms in a freely movable state can be connected by means of a lifting slider, a first stabilizing arm, and a second stabilizing arm that are slidable, rotating, and movably connected to the cylinder and movable arms, so that the two form a whole, ensuring stability when grabbing, adsorbing, and assembling electrical components such as wafers. At the same time, the first stabilizing arm and the second stabilizing arm form a triangle with the movable arm. At this time, the design of the movable arm structure ensures that the movable arm can support the forces acting in the oblique, horizontal, and tangential directions when adjusting the position of adsorption and assembly of electrical components, thereby improving the accuracy of assembling electrical components such as wafers;

[0031] 3. In the industrial robot and its protective structure, when the wafer and other electrical components are adsorbed by the vacuum adsorption chuck, the lifting driving source can be started to operate, on the one hand, the vacuum adsorption chuck is lifted and moved, and the wafer and other electrical components are adsorbed by moving the vacuum adsorption chuck to the bottom of the adsorption grabbing unit, on the other hand, the lifting slider drives the screw to rotate, the transmission gear is driven to rotate, and the multiple sealing triangular plates connected with the transmission gear are synchronously moved outward or inward, the space in the middle part of the lower ring disc is automatically opened or closed. Ensure that the vacuum adsorption chuck is in the sealed adsorption grabbing unit during maintenance or cleaning of the working environment, the dust generated will adhere to the surface of the vacuum adsorption chuck, the vacuum adsorption chuck will not be damaged during maintenance, and the service life of the vacuum adsorption chuck is improved. BRIEF DESCRIPTION OF DRAWINGS

[0032] The accompanying drawings, which form a part of the specification, are included to provide a further understanding of the application and are incorporated herein by reference. The embodiments illustrated in the drawings are provided to explain the present application and are not meant to limit the present application.

[0033] In addition, the terms "mount", "set", "provided with", "connected", "linked", "sleeved" should be broadly understood. For example, it can be fixedly connected, detachably connected, or integrally configured; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediate medium, or it can be internal communication between two devices, elements or components. Those skilled in the art can understand the specific meaning of the above terms in the present application according to the specific circumstances.

[0034] Figure 1 is a schematic view of the overall structure of the present application;

[0035] Figure 2 is a schematic view of the overall structure of the present application;

[0036] Figure 3 is a schematic view of the overall structure of the present application;

[0037] Figure 4 is a schematic view of the overall structure of the present application;

[0038] Figure 5 is a schematic view of the overall structure of the present application;

[0039] Figure 6 is a schematic view of the overall structure of the present application;

[0040] Figure 7 is a schematic view of the overall structure of the present application; Figure 6Schematic diagram of the structure of the enlarged area A in the middle;

[0041] Figure 8 This is an exploded view of the vertical metal cylinder of the present invention connected via the second stabilizing arm and the movable arm;

[0042] Figure 9 is an exploded view of the connection between the edge connecting arm assembly and the adsorption grabbing unit of the present invention;

[0043] Figure 10 This is a schematic structural diagram of the connection between the adsorption grabbing unit and the lower ring disc of the present invention;

[0044] Figure 11 It is a schematic structural diagram of a cross-section of the adsorption and grabbing unit of the present invention;

[0045] Figure 12 This invention Figure 11 Schematic diagram of the structure of the enlarged area B in the middle;

[0046] Figure 13 This is a schematic structural diagram of the cross-section of the connection between the adsorption and grabbing unit and the lifting and protecting mechanism of the present invention;

[0047] Figure 14 This is a schematic structural diagram of the connection between the tooth seal assembly and the sealing triangle plate of the present invention;

[0048] In the picture:

[0049] 10. Mechanical rack; 20. Upper rack;

[0050] 30. Automated grabbing gripper; 301. Transfer connecting arm assembly; 302. Lifting slider; 303. Connecting block; 304. First stabilizing arm; 305. Second stabilizing arm; 306. Edge connecting arm assembly;

[0051] 3011, first driving source; 3012, main shaft; 3013, upper connecting seat; 3014, vertical metal cylinder; 30141, vertical slot; 30142, guide portion; 3015, vertical shaft; 3016, lower connecting seat;

[0052] 3041, first side convex; 3051, second side convex;

[0053] 3061, mounting bracket; 3062, second driving source; 3063, driving shaft; 3064, cam; 3065, movable arm; 30651, oblique groove; 3066, side positioning seat; 3067, assembly bracket;

[0054] 40. Adsorption grabbing unit; 50. Sealing triangle plate;

[0055] 60. Lifting drive source; 601. Vacuum adsorption cup;

[0056] 70. Lifting protection mechanism; 701. Screw rotating assembly; 702. Transmission belt; 703. Lower rotating shaft; 704. Transmission gear; 705. Tooth sealing assembly;

[0057] 7011, lower protective bracket; 7012, one-way screw; 7013, one-way slider; 7014, lifting plate;

[0058] 7051, lower ring plate; 7052, middle teeth; 7053, internal gear; 7054, lower gear; 7055, tooth rod; 7056, mounting bracket. DETAILED DESCRIPTION

[0059] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention 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, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0060] Example 1

[0061] See also Figures 1-9 An industrial robot includes a mechanical frame 10; an upper frame 20 welded to the top of the mechanical frame 10; an automated grasping mechanical claw 30 mounted on the upper frame 20 and extending into the interior of the mechanical frame 10, the automated grasping mechanical claw 30 being electrically connected to a control module within the upper frame 20, and the automated grasping mechanical claw 30 including: a transfer connecting arm assembly 301 mounted on the upper frame 20 and extending into the interior of the mechanical frame 10; a lifting slider 302 slidably connected to the outside of the transfer connecting arm assembly 301; and a plurality of connecting blocks 303 mounted on the outside of the lifting slider 302; A first stabilizing arm 304 is rotatably connected to the middle of the connecting block 303; a second stabilizing arm 305 is rotatably connected to the left and right sides of the connecting block 303; an edge connecting arm assembly 306 is movably connected to the sides of the first stabilizing arm 304 and the second stabilizing arm 305, and four edge connecting arm assemblies 306 are provided. The edge connecting arm assemblies 306 are installed at the eccentric position of the top of the mechanical frame 10 by screws and are all located on the outside of the transfer connecting arm assembly 301. The inner side of the edge connecting arm assembly 306 and the bottom of the transfer connecting arm assembly 301 are installed with an adsorption grabbing unit 40.

[0062] In the present invention, the first stabilizing arm 304 and the second stabilizing arm 305 are both arranged obliquely, and the first side protrusions 3041 are installed on the left and right sides of the bottom of the first stabilizing arm 304, and the second side protrusion 3051 is installed on one side of the top of the second stabilizing arm 305. The first side protrusion 3041 and the second side protrusion 3051 are both movably arranged inside the edge connecting arm assembly 306.

[0063] The above working principle: When grabbing, adsorbing and assembling electrical components such as wafers, the transfer connecting arm assembly 301 can drive the adsorption and grabbing unit 40 to rotate, realizing the movement of the wafer and other electrical components on one axis. The four edge connecting arm assemblies 306 set in four directions can operate separately and synchronously to realize the operation of four axes. At the same time, the four edge connecting arm assemblies 306 and the adsorption and grabbing unit 40 can operate synchronously to realize the five-axis electrical component grabbing, adsorption and assembly operation. It has high flexibility and meets the assembly requirements of electrical components such as wafers at different positions and angles, and is not easy to damage electrical components such as wafers. In addition, when the four edge connecting arm assemblies 306 and the adsorption and grabbing unit 40 are in operation, the lifting slider 302 is set to slide and the first stabilizing arm 304 and the second stabilizing arm 305 rotatably connected to the side of the lifting slider 302 can protect each edge connecting arm assembly 306 in the operating state, thereby improving the accuracy and stability when assembling electrical components such as wafers.

[0064] In the present invention, the first stabilizing arm 304, the second stabilizing arm 305, and the edge connecting arm assembly 306 form a triangular structure. This triangular structure ensures the stability and safety of the edge connecting arm assembly 306 during operation. Multiple visual inspection units (not shown) are installed on the exterior of the suction and gripping unit 40 to detect the position of electrical components.

[0065] Specific reference Figure 5 The transfer connecting arm assembly 301 includes: a first driving source 3011 installed at the center of the upper frame 20; a main shaft 3012 connected to the output end of the first driving source 3011 and extending to the inside of the mechanical frame 10; an upper connecting seat 3013 rotatably connected to the outside of the bottom of the main shaft 3012; a vertical metal cylinder 3014 fixed to the bottom of the upper connecting seat 3013 by screws; a vertical shaft 3015 slidably connected to the inside of the vertical metal cylinder 3014 and extending to the outside; a lower connecting seat 3016 rotatably connected to the outside of the vertical shaft 3015, wherein the bottom of the lower connecting seat 3016 is installed with an adsorption grabbing unit 40 by screws.

[0066] In this solution, a vertical groove 30141 is provided on the inner wall of the vertical metal cylinder 3014, and the vertical groove 30141 is slidably connected to the protruding part at the top of the vertical shaft 3015. A guide portion 30142 is provided on the outer side of the vertical metal cylinder 3014, and the vertical metal cylinder 3014 is slidably connected to the lifting slider 302 through the guide portion 30142. The vertical groove 30141 and the guide portion 30142 are staggered.

[0067] In the industrial robot of the present invention, activating the first drive source 3011 drives the spindle 3012 connected to the output end of the first drive source 3011 to rotate, which in turn drives the vertical metal cylinder 3014, mounted at the bottom of the spindle 3012 via the upper connector 3013, to rotate. As the vertical metal cylinder 3014 rotates, the vertical shaft 3015 mounted therein rotates, driving the suction and gripping unit 40, mounted at the bottom of the vertical shaft 3015 via the lower connector 3016, to rotate, thereby adjusting the assembly angle of the electrical components, such as wafers, held by the suction and gripping unit 40. The vertical metal cylinder 3014 rotates outside the spindle 3012 via the upper connector 3013, while the suction and gripping unit 40 rotates outside the vertical shaft 3015 via the lower connector 3016, coordinating with the movement of the edge connecting arm assembly 306 to adjust the position of the suction and gripping unit 40.

[0068] In the present invention, the first driving source 3011 is preferably a servo motor.

[0069] Specific reference Figure 9 The edge connecting arm assembly 306 includes: a mounting bracket 3061 mounted at the top edge of the mechanical frame 10 by screws; a second driving source 3062 mounted inside the mounting bracket 3061; a driving shaft 3063 connected to the output end of the second driving source 3062 and rotatably connected to the mounting bracket 3061; a cam 3064 mounted on the outside of the driving shaft 3063 and rotatably connected to one side of the mounting bracket 3061; a movable arm 3065 rotatably connected to the outside of the left and right sides of the cam 3064, and the bottom of the movable arm 3065 is rotatably connected to a side positioning seat 3066, and four side positioning seats 3066 are arranged in a ring at equal intervals, and an assembly bracket 3067 is mounted on the inner side of the four side positioning seats 3066, and the interior of the assembly bracket 3067 is rotatably connected to the adsorption grabbing unit 40.

[0070] In this embodiment, two oblique grooves 30651 are provided inside the movable arm 3065, one oblique groove 30651 is movably connected to the first side protrusion 3041, and the other oblique groove 30651 is movably connected to the second side protrusion 3051, wherein a first stabilizing arm 304 and a second stabilizing arm 305 are provided between the two movable arms 3065.

[0071] In the industrial robot of the present invention, when the angle of assembly of electrical components such as wafers needs to be adjusted, the second drive source 3062 is activated, driving the drive shaft 3063 connected to the output end of the second drive source 3062 to rotate. When the drive shaft 3063 rotates, the cam 3064 installed on its outer side also rotates, driving the movable arm 3065 rotatably connected to the outer side of the cam 3064 to operate. This allows the assembly bracket 3067 and the adsorption and grasping unit 40, which are rotatably connected to the bottom of the movable arm 3065 via the side positioning seat 3066, to move diagonally, thereby adsorbing electrical components such as wafers in different positions and assembling wafers such as electrical components with different assembly requirements, with high flexibility.

[0072] In the present invention, the second driving source 3062 is preferably a servo motor.

[0073] Example 2

[0074] See also Figures 1-14 , a protective structure of an industrial robot, including a lifting drive source 60 installed at the top of an adsorption and grasping unit 40; and a vacuum adsorption suction cup 601 connected to the output end of the lifting drive source 60; a lifting protection mechanism 70 installed on the top of the vacuum adsorption suction cup 601 and extending to the bottom of the adsorption and grasping unit 40, the lifting protection mechanism 70 includes: a screw rotating assembly 701 installed on the top of the vacuum adsorption suction cup 601 and movably arranged inside the adsorption and grasping unit 40; a transmission belt 702 installed on the outside of the screw rotating assembly 701 through a synchronous wheel; a lower rotating shaft 703 connected to the inner side of the transmission belt 702 through a synchronous wheel; a transmission gear 704 installed at the bottom of the lower rotating shaft 703; a tooth sealing assembly 705 meshingly connected to the side of the transmission gear 704; and a sealing triangle plate 50 installed at the bottom of the tooth sealing assembly 705 by screws.

[0075] The above working principle: When grabbing and adsorbing electrical components such as wafers, the lifting drive source 60 is started to operate, driving the vacuum adsorption suction cup 601 connected to the output end of the lifting drive source 60 to move downward. At this time, when the vacuum adsorption suction cup 601 is lifted and moved, it will drive the screw rotating assembly 701 connected to it to rotate, and drive the transmission belt 702 connected to the outside of the screw rotating assembly 701 through the synchronous wheel to operate. At this time, when the transmission belt 702 is in operation, the lower rotating shaft 703 and the transmission gear 704 connected to the synchronous wheel on the inner side will rotate, driving the tooth sealing assembly 705 and multiple sealing triangles 50 engaged with the side of the transmission gear 704 to operate, opening the space at the bottom of the adsorption and grasping unit 40, and the vacuum adsorption suction cup 601 moves to the outside of the adsorption and grasping unit 40 to adsorb and grab electrical components such as wafers. Furthermore, when the vacuum adsorption cup 601 is used, the lifting drive source 60 drives the vacuum adsorption cup 601 to rise, and the sealing triangle plate 50 automatically operates to seal the space at the bottom of the adsorption grabbing unit 40 to protect the vacuum adsorption cup 601 .

[0076] In the present invention, the lifting drive source 60 is preferably a servo electric cylinder.

[0077] Specific reference Figure 11 、 Figure 12 and Figure 13 The screw rotation assembly 701 includes: a lower protective bracket 7011 installed at the bottom of the adsorption and grabbing unit 40; a one-way screw 7012 arranged on the outside of the lower protective bracket 7011 and rotatably connected to the inside of the adsorption and grabbing unit 40; a one-way slider 7013 connected to the outside of the one-way screw 7012 through a ball bearing; a lifting plate 7014 installed on the outside of the one-way slider 7013, wherein the lifting plate 7014 is installed and fixed on the top of the vacuum adsorption suction cup 601, the lifting plate 7014 and the lower protective bracket 7011 are slidably connected and extend to the inner wall of the adsorption and grabbing unit 40, and the outer side of the bottom of the one-way screw 7012 is connected to the transmission belt 702 through a synchronous wheel.

[0078] In the protective structure of the industrial robot of the present invention, when the vacuum suction cup 601 moves up and down, the lifting plate 7014 mounted on top of it also moves up and down, driving the one-way screw 7012 connected to the lifting plate 7014 via a one-way slider 7013 and a ball bearing to rotate. As the one-way screw 7012 rotates, the transmission belt 702 connected to its outer side via a synchronous pulley is driven.

[0079] Specific reference Figure 13 and Figure 14The tooth seal assembly 705 includes: a lower ring disk 7051 mounted on the outer side of the bottom of the suction and grabbing unit 40; an intermediate tooth 7052 movably arranged inside the lower ring disk 7051 and meshingly connected to the side of the transmission gear 704; an internal gear 7053 meshingly connected to the inner side of the intermediate tooth 7052 and rotatably connected to the inside of the lower ring disk 7051; a lower gear 7054 coaxially connected to the internal gear 7053; a tooth rod 7055 meshingly connected to the side of the lower gear 7054 and slidingly connected to the lower ring disk 7051. ; A mounting support 7056 is installed on the side of the tooth rod 7055, wherein a vacuum adsorption suction cup 601 is provided inside the lower ring disk 7051 and the middle tooth 7052, and teeth are provided on the inner wall and outer side of the middle tooth 7052. The internal gear 7053, the tooth rod 7055 and the mounting support 7056 are each provided with multiple teeth, wherein a sealing triangle plate 50 is installed at the bottom of the tooth rod 7055 and the mounting support 7056 by screws, and the sealing triangle plate 50 is movably provided at the bottom of the lower ring disk 7051.

[0080] In the protective structure of the industrial robot of the present invention, when the transmission gear 704 rotates, the intermediate teeth 7052 meshing with the intermediate teeth 7052 also rotate, driving the rotation of the multiple internal gears 7053 meshing with the inner sides of the intermediate teeth 7052. As the internal gears 7053 rotate, the lower gear 7054 coaxially connected to the bottom rotates, driving the tooth rod 7055 meshing with the side of the lower gear 7054 to move within the lower ring disk 7051. The movement of the tooth rod 7055 also moves the tooth rod 7055 and the sealing triangle 50 mounted on its side via the mounting bracket 7056, automatically opening and closing the opening of the lower ring disk 7051.

[0081] Without limitation, any person skilled in the art who is familiar with the technical field can make equivalent replacements or changes based on the technical solutions and inventive concepts of the present invention within the technical scope disclosed by the present invention, and these changes should be covered by the protection scope of the present invention.

Claims

1. An industrial robot, characterized in that: include: A mechanical frame (10); an upper frame (20) welded to the top of the mechanical frame (10); an automated grasping mechanical claw (30) mounted on the upper frame (20) and extending into the interior of the mechanical frame (10), the automated grasping mechanical claw (30) being electrically connected to a control module inside the upper frame (20), The automated grasping mechanical claw (30) comprises: a transfer connecting arm assembly (301) mounted on the upper frame (20) and extending to the interior of the mechanical frame (10); a lifting slider (302) slidably connected to the outside of the transfer connecting arm assembly (301); a plurality of connecting blocks (303) mounted on the outside of the lifting slider (302); a first stabilizing arm (304) rotatably connected to the middle of the connecting block (303); a second stabilizing arm (305) rotatably connected to the left and right sides of the connecting block (303); and an edge connecting arm assembly (306) movably connected to the sides of the first stabilizing arm (304) and the second stabilizing arm (305), wherein four edge connecting arm assemblies (306) are provided, and the edge connecting arm assemblies (306) are mounted at an eccentric position at the top of the mechanical frame (10) by screws and are all located on the outside of the transfer connecting arm assembly (301). An adsorption grabbing unit (40) is installed on the inner side of the edge connecting arm assembly (306) and the bottom of the transfer connecting arm assembly (301).

2. An industrial robot according to claim 1, characterized in that: The transfer connecting arm assembly (301) comprises: a first driving source (3011) installed at the center of the upper frame (20); a main shaft (3012) connected to the output end of the first driving source (3011) and extending to the inside of the mechanical frame (10); an upper connecting seat (3013) rotatably connected to the outside of the bottom of the main shaft (3012); a vertical metal cylinder (3014) fixed to the bottom of the upper connecting seat (3013) by screws; a vertical shaft (3015) slidably connected to the inside of the vertical metal cylinder (3014) and extending to the outside; and a lower connecting seat (3016) rotatably connected to the outside of the vertical shaft (3015). Wherein, a suction grabbing unit (40) is mounted on the bottom of the lower connecting seat (3016) via screws.

3. The industrial robot according to claim 2, characterized in that: A vertical groove (30141) is provided on the inner wall of the vertical metal cylinder (3014), and the vertical groove (30141) is slidably connected to the protruding portion at the top of the vertical shaft (3015). A guide portion (30142) is provided on the outside of the vertical metal cylinder (3014) and is located on the side of the vertical groove (30141). The vertical metal cylinder (3014) is slidably connected to the lifting slider (302) via the guide portion (30142). The vertical groove (30141) and the guide portion (30142) are arranged in an alternating manner.

4. The industrial robot according to claim 1, wherein: The first stabilizing arm (304) and the second stabilizing arm (305) are both obliquely arranged, and first side protrusions (3041) are installed on the left and right sides of the bottom of the first stabilizing arm (304), and a second side protrusion (3051) is installed on one side of the top of the second stabilizing arm (305), and the first side protrusion (3041) and the second side protrusion (3051) are both movably arranged inside the edge connecting arm assembly (306).

5. The industrial robot according to claim 4, characterized in that: The edge connecting arm assembly (306) comprises: a mounting bracket (3061) mounted on the top edge of the mechanical frame (10) by screws; a second driving source (3062) mounted inside the mounting bracket (3061); a driving shaft (3063) connected to the output end of the second driving source (3062) and rotatably connected to the mounting bracket (3061); a cam (3064) mounted on the outside of the driving shaft (3063) and rotatably connected to one side of the mounting bracket (3061); and movable arms (3065) rotatably connected to the outside of the left and right sides of the cam (3064).

6. The industrial robot according to claim 5, characterized in that: The movable arm (3065) has two oblique grooves (30651) formed therein. One of the oblique grooves (30651) is movably connected to the first side protrusion (3041) and the other oblique groove (30651) is movably connected to the second side protrusion (3051). Wherein, a first stabilizing arm (304) and a second stabilizing arm (305) are provided between the two movable arms (3065).

7. The industrial robot according to claim 5, characterized in that: The bottom of the movable arm (3065) is rotatably connected to a side positioning seat (3066), and four side positioning seats (3066) are arranged in a ring at equal intervals. An assembly bracket (3067) is installed on the inner side of the four side positioning seats (3066), and the interior of the assembly bracket (3067) is rotatably connected to an adsorption grabbing unit (40).

8. A protective structure for an industrial robot, for an industrial robot according to any one of claims 1 to 7, characterized in that: include: A lifting drive source (60) is installed at the top of the adsorption and grabbing unit (40); and the output end of the lifting drive source (60) is connected to a vacuum adsorption sucker (601); a lifting protection mechanism (70) is installed at the top of the vacuum adsorption sucker (601) and extends to the bottom of the adsorption and grabbing unit (40), The lifting protection mechanism (70) comprises: a screw rotating assembly (701) mounted on the top of the vacuum adsorption cup (601) and movably arranged inside the adsorption grabbing unit (40); a transmission belt (702) mounted on the outside of the screw rotating assembly (701) and connected to the transmission belt (702) via a synchronous wheel; a lower rotating shaft (703) connected to the inside of the transmission belt (702) via a synchronous wheel; a transmission gear (704) mounted at the bottom of the lower rotating shaft (703); a tooth seal assembly (705) meshingly connected to the side of the transmission gear (704); and a sealing triangle (50) mounted on the bottom of the tooth seal assembly (705) via screws.

9. The protective structure for an industrial robot according to claim 8, characterized in that: The screw rotating assembly (701) comprises: a lower protective bracket (7011) mounted on the bottom of the adsorption and grabbing unit (40); a one-way screw (7012) arranged outside the lower protective bracket (7011) and rotatably connected to the inside of the adsorption and grabbing unit (40); a one-way slider (7013) connected to the outside of the one-way screw (7012) via a ball bearing; and a lifting plate (7014) mounted on the outside of the one-way slider (7013). The lifting plate (7014) is fixedly mounted on the top of the vacuum adsorption cup (601), the lifting plate (7014) is slidably connected to the lower protective bracket (7011) and extends to the inner wall of the adsorption grabbing unit (40), and the outer side of the bottom of the one-way screw (7012) is connected to the transmission belt (702) via a synchronous wheel.

10. The protective structure for an industrial robot according to claim 8, characterized in that: The tooth seal assembly (705) comprises: a lower ring disk (7051) mounted on the outer side of the bottom of the adsorption and grabbing unit (40); an intermediate tooth (7052) movably arranged inside the lower ring disk (7051) and meshingly connected to the side of the transmission gear (704); an internal gear (7053) meshingly connected to the inner side of the intermediate tooth (7052) and rotatably connected to the inside of the lower ring disk (7051); a lower gear (7054) coaxially connected to the internal gear (7053); a tooth rod (7055) meshingly connected to the side of the lower gear (7054) and slidably connected to the lower ring disk (7051); and a mounting support (7056) mounted on the side of the tooth rod (7055). The lower ring disk (7051) and the middle teeth (7052) are provided with vacuum adsorption cups (601) running through the inside, the inner wall and outer side of the middle teeth (7052) are provided with teeth, and the inner gear (7053), the tooth rod (7055) and the mounting support (7056) are provided with multiple, The bottom of the tooth rod (7055) and the mounting support (7056) are mounted with a sealing triangular plate (50) via screws, and the sealing triangular plate (50) is movably arranged at the bottom of the lower ring plate (7051).

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