A work station robot action control mechanism

Abstract

The application relates to the technical field of mechanical hands, and discloses a work station mechanical hand action control mechanism which comprises a base and further comprises: an adjusting mechanism arranged on the base and used for adjusting the mechanical hand, an extension mechanism arranged on the adjusting mechanism and used for adjusting the extension amount of the mechanical hand, and a clamping mechanism arranged on the extension mechanism and used for clamping a workpiece, wherein the adjusting mechanism comprises: a first motor installed at the bottom of the inner wall of the base. The application realizes quick power connection and disconnection through the combination of a magnetic clutch and a mechanical transmission, avoids the delay of hydraulic oil flow, and through the cooperative action of the rotating component, the lifting component and the swinging component in the adjusting mechanism, multi-dimensional accurate control of the direction, height and angle of the mechanical hand can be realized; the first, second and third magnetic clutches are adopted; the power transmission of different function modules is quickly switched through power-on / power-off; and the response speed and control precision of the mechanical hand in high-speed grabbing and accurate positioning are improved.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically to a workstation robotic arm motion control mechanism. Background Technology

[0002] A robotic arm is an automated operating device that can mimic certain movements and functions of a human hand and arm to grasp, move objects, or operate tools according to a fixed program. The robotic arm was the earliest industrial robot and the earliest modern robot. It can replace heavy human labor to achieve mechanization and automation of production, and can operate in harmful environments to protect personal safety.

[0003] According to Chinese Patent Publication No. CN221834336U, a workstation robot motion control mechanism includes a control box and an adjusting oil cylinder. The adjusting oil cylinder is fixedly connected to one side of the control box. An electric telescopic rod is fixedly connected to the inner side of one end of the adjusting oil cylinder. A push plate is fixedly connected to one side of the electric telescopic rod, and a first sealing ring is fixedly connected to the outer side of the push plate. An oil passage is opened on the inner side of one end of the adjusting oil cylinder, and a solenoid valve is installed inside the oil passage. A first oil hose, a second oil hose, and a third oil hose are fixedly connected to one side of the adjusting oil cylinder. A first extension device is fixedly connected to the inner side of one end of the control box. In this invention, the device controls the robot's motion by means of hydraulic oil flow, reducing the use of control equipment and lowering the production and maintenance costs of the device.

[0004] When the above-mentioned patent is used, if it is necessary to quickly switch between clamping and releasing actions, the inertia of the hydraulic oil and the elasticity of the hose may cause the control signal to be out of sync with the actual action, which may cause the robot arm to lag and affect the accuracy in high-speed operation scenarios. Therefore, a workstation robot arm motion control mechanism is proposed to solve the above-mentioned problems. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a workstation robot motion control mechanism to address the shortcomings of the prior art.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a workstation robot motion control mechanism, including a base, and further comprising:

[0007] An adjustment mechanism, mounted on the base, is used to adjust the robotic arm;

[0008] The extension mechanism, located on the adjustment mechanism, is used to adjust the extension amount of the robotic arm;

[0009] The clamping mechanism, mounted on the extension mechanism, is used to clamp the workpiece;

[0010] The regulating mechanism includes:

[0011] The first motor is installed on the bottom inner wall of the base;

[0012] The first threaded rod is connected to the output end of the first motor via a coupling;

[0013] A rotating component, mounted on the base, is used to drive the robotic arm to adjust its direction;

[0014] The lifting component, mounted on the rotating component, is used to drive the robotic arm to adjust its height;

[0015] The swing component, mounted on the rotating component, is used to drive the robotic arm to adjust its angle.

[0016] The conductive slip ring is installed on the inner wall of the base.

[0017] Preferably, the rotating assembly includes a first support rod, a first magnetic clutch, a rotating disk, and a fixed cylinder. The first support rod is fixedly connected to the bottom of the inner wall of the base. The electromagnet of the first magnetic clutch is fixedly sleeved on the first support rod. The rotating disk is rotatably connected to the inner wall of the base. The driving end of the first magnetic clutch is fixedly sleeved on the first threaded rod, and the driven end of the first magnetic clutch is fixedly connected to the bottom of the rotating disk. The fixed cylinder is fixedly connected to the top of the rotating disk.

[0018] Preferably, the lifting assembly includes a lifting plate, a lifting cylinder, and a mounting plate. The lifting plate is threaded onto a first threaded rod. The outer wall of the lifting cylinder is slidably connected to the inner wall of the fixed cylinder, and the inner wall of the lifting cylinder is fixedly connected to the lifting plate. The mounting plate is fixedly connected to the inner wall of the lifting cylinder.

[0019] Preferably, the swing assembly includes a second support rod, a first gear, a second magnetic clutch, a first telescopic rod, a second gear, a worm, a side plate, a worm wheel, and a top plate. The second support rod is fixedly connected to the top of the rotating disk. The bottom of the first gear has a first annular groove, and the inner wall of the first annular groove is slidably connected to the top of the second support rod. The electromagnet of the second magnetic clutch is fixedly fixed on the second support rod. The driving end of the second magnetic clutch is fixedly sleeved on the first threaded rod, and the driven end of the second magnetic clutch is fixedly fixed to the bottom of the first gear. The first telescopic rod is rotatably connected to the top of the rotating disk, and the movable end of the first telescopic rod rotatably passes through the bottom of the mounting plate. The second gear is fixedly sleeved on the fixed end of the first telescopic rod, and the second gear meshes with the first gear. The worm is fixedly connected to the top of the first telescopic rod. The side plate is fixedly connected to the top of the mounting plate. The worm wheel is rotatably connected to the side plate via a rotating shaft and meshes with the worm. The top plate is fixedly sleeved on the rotating shaft.

[0020] Preferably, the side of the top plate is connected to an elastic nylon cloth, and the elastic nylon cloth is fixedly connected to the top of the lifting cylinder.

[0021] Preferably, the extension mechanism includes a third support rod, a third gear, a third magnetic clutch, a second telescopic rod, a fourth gear, a fixed frame, an extension rod, a fixed plate, a second threaded rod, a first rotating rod, and a telescopic universal joint. The third support rod is fixedly connected to the top of the rotating disk. The bottom of the third gear has a second annular groove, and the inner wall of the second annular groove is slidably connected to the top of the third support rod. The electromagnet of the third magnetic clutch is fixedly sleeved on the third support rod. The driving end of the third magnetic clutch is fixedly sleeved on the first threaded rod, and the driven end of the third magnetic clutch is fixed to the bottom of the third gear. The second telescopic rod is rotatably connected to the rotating disk. The top of the plate, and the movable end of the second telescopic rod rotates through the bottom of the mounting plate. The fourth gear is fixedly sleeved on the fixed end of the second telescopic rod, and the fourth gear meshes with the third gear. The fixed frame is fixedly connected to the top of the top plate. The extension rod is slidably connected to the inner wall of the fixed frame. The fixed plate is fixedly connected to the inner wall of the fixed frame. The second threaded rod rotates through the fixed plate and is threadedly connected to the extension rod. The first rotating rod rotates through the bottom of the inner wall of the fixed frame and the top of the top plate. The top of the first rotating rod is connected to the second threaded rod through a bevel gear set, and the bottom of the first rotating rod is connected to the top of the second telescopic rod through a telescopic universal joint.

[0022] Preferably, the top of the rotating disk has a wiring hole, the stator of the conductive slip ring is fixed on the inner wall of the base, and the rotor of the conductive slip ring is fixedly connected to the bottom of the rotating disk. The wires of the electromagnets on the second and third magnetic clutches pass through the wiring hole and are connected to the rotor of the conductive slip ring.

[0023] Preferably, the inner walls of the first telescopic rod, the second telescopic rod, and the telescopic universal joint are provided with longitudinal limiting grooves and limiting blocks, so that the fixed end and the movable end of the first telescopic rod, the second telescopic rod, and the telescopic universal joint can only move relative to each other and cannot rotate relative to each other.

[0024] Preferably, the clamping mechanism includes a second motor, a second rotating rod, a third rotating rod, a swing frame, a sliding plate, a second electric push rod, a hinge rod, a moving block, and a clamping plate. The second motor is mounted on the extension rod. The second rotating rod is connected to the output end of the second motor via a coupling. The third rotating rod is rotatably connected to the extension rod and is driven by the second rotating rod via a gear set. The swing frame is fixedly sleeved on the third rotating rod. The sliding plate is fixedly connected to the bottom of the swing frame. The top of the sliding plate has a groove, and the inner wall of the groove is provided with a limit rod. The second electric push rod is mounted on the swing frame. One end of the hinge rod is hinged to the output end of the second electric push rod. The moving block is sleeved on the limit rod and moves through the groove. The top of the moving block is hinged to the other end of the hinge rod. The clamping plate is fixedly connected to the bottom of the moving block.

[0025] Preferably, the clamping mechanism further includes a first electric push rod and a clamping plate. The first electric push rod is mounted on the top of the extension rod, and the movable end of the first electric push rod passes through the top of the extension rod. The clamping plate is disposed at the bottom of the movable end of the first electric push rod and is positioned above the second rotating rod.

[0026] The present invention, by adopting the above technical solution, can bring the following beneficial effects:

[0027] 1. This workstation robot motion control mechanism achieves rapid engagement and disengagement of power through a combination of magnetic clutch and mechanical transmission, avoiding delays in hydraulic oil flow. By adjusting the synergistic action of the rotating, lifting, and swinging components in the mechanism, the robot can achieve multi-dimensional precise control of direction, height, and angle. Employing first, second, and third magnetic clutches, the power transmission of different functional modules can be quickly switched by energizing / de-energizing, thereby improving the response speed and control accuracy of the robot in high-speed grasping and precise positioning.

[0028] 2. The workstation robot motion control mechanism, through the linkage design of a third magnetic clutch, gear transmission, telescopic universal joint and threaded rod, achieves precise adjustment of the robot's extension amount. The first threaded rod drives the third gear to rotate, which in turn drives the second telescopic rod to rotate through the fourth gear. Power is transmitted to the first rotating rod through the telescopic universal joint. The first rotating rod drives the second threaded rod to rotate through a bevel gear set, causing the extension rod to slide linearly within the fixed frame, thereby achieving stepless adjustment of the extension amount.

[0029] 3. This workstation robot motion control mechanism uses a combination of swing frame angle adjustment and clamping plate translation to improve adaptability to workpieces of different shapes. A second motor drives a gear set to rotate the swing frame, enabling multi-angle posture adjustment of the clamping plate. A second electric push rod drives a moving block to slide on a limit rod via a hinge rod, causing the clamping plate to translate synchronously, achieving stable clamping of the workpiece. A first electric push rod drives a locking plate to lock the gear set, preventing angle deviation after adjustment and improving clamping stability.

[0030] 4. In this workstation robot motion control mechanism, the rotating disk and the base are connected by a conductive slip ring to a magnetic clutch wire, which ensures stable circuit connection during rotation and avoids cable entanglement and damage.

[0031] 5. The workstation robot motion control mechanism uses elastic nylon cloth to cover the connection between the lifting cylinder and the top plate to prevent dust from entering the mechanical transmission components and avoid mechanical failures caused by impurities. At the same time, the elastic nylon cloth moves synchronously with the lifting components, without affecting the flexibility of the equipment. Attached Figure Description

[0032] Figure 1 This is a front view of the present invention;

[0033] Figure 2 This is a front sectional view of the present invention;

[0034] Figure 3 This is a schematic diagram of the structure of the present invention;

[0035] Figure 4 This is a schematic diagram of the adjustment mechanism of the present invention;

[0036] Figure 5 This is a schematic diagram of the clamping mechanism of the present invention;

[0037] Figure 6 This is an enlarged schematic diagram of point A in the present invention;

[0038] Figure 7 This is an enlarged schematic diagram of section B of the present invention;

[0039] Figure 8 This is an enlarged schematic diagram of point C in the present invention.

[0040] In the diagram: 1. Base; 2. Adjustment mechanism; 21. First motor; 22. First threaded rod; 23. First support rod; 24. First magnetic clutch; 25. Rotary disc; 26. Fixed cylinder; 27. Lifting plate; 28. Lifting cylinder; 29. ​​Mounting plate; 210. Second support rod; 211. First gear; 212. Second magnetic clutch; 213. First telescopic rod; 214. Second gear; 215. Worm gear; 216. Side plate; 217. Worm wheel; 218. Top plate; 219. Conductive slip ring; 3. Elastic nylon cloth; 4. Extension mechanism ; 41. Third support rod; 42. Third gear; 43. Third magnetic clutch; 44. Second telescopic rod; 45. Fourth gear; 46. Fixed frame; 47. Extension rod; 48. Fixed plate; 49. Second threaded rod; 410. First rotating rod; 411. Telescopic universal joint; 5. Clamping mechanism; 51. Second motor; 52. Second rotating rod; 53. Third rotating rod; 54. Swing frame; 55. First electric push rod; 56. Clamping plate; 57. Sliding plate; 58. Second electric push rod; 59. Hinge rod; 510. Moving block; 511. Clamping plate. Detailed Implementation

[0041] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0043] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection or setting, a detachable connection or setting, or an integral connection or setting. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0044] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a number" means two or more, unless otherwise explicitly specified.

[0045] Please see Figure 1-8One embodiment of the present invention is: a workstation robot motion control mechanism, including a base 1, and further including: an adjustment mechanism 2 disposed on the base 1 for adjusting the robot, an extension mechanism 4 disposed on the adjustment mechanism 2 for adjusting the extension amount of the robot, and a clamping mechanism 5 disposed on the extension mechanism 4 for clamping the workpiece. The adjustment mechanism 2 includes: a first motor 21 mounted on the bottom inner wall of the base 1; a first threaded rod 22 connected to the output end of the first motor 21 via a coupling; a rotating assembly disposed on the base 1 for driving the robot to adjust its direction; a lifting assembly disposed on the rotating assembly for driving the robot to adjust its height; a swinging assembly disposed on the rotating assembly for driving the robot to adjust its angle; and a conductive slip ring. 219 is installed on the inner wall of the base 1. The rotating assembly includes a first support rod 23, a first magnetic clutch 24, a rotating disk 25, and a fixed cylinder 26. The first support rod 23 is fixedly connected to the bottom of the inner wall of the base 1. The electromagnet of the first magnetic clutch 24 is fixedly sleeved on the first support rod 23. The rotating disk 25 is rotatably connected to the inner wall of the base 1. The driving end of the first magnetic clutch 24 is fixedly sleeved on the first threaded rod 22, and the driven end of the first magnetic clutch 24 is fixedly connected to the bottom of the rotating disk 25. The fixed cylinder 26 is fixedly connected to the top of the rotating disk 25. The lifting assembly includes a lifting plate 27, a lifting cylinder 28, and a mounting plate 29. The lifting plate 27 is threadedly sleeved on the first threaded rod 22. The outer wall of the lifting cylinder 28 is connected to the inner wall of the fixed cylinder 26. The lifting cylinder 28 is slidably connected to the inner wall of the lifting plate 27, and the mounting plate 29 is fixedly connected to the inner wall of the lifting cylinder 28. The swing assembly includes a second support rod 210, a first gear 211, a second magnetic clutch 212, a first telescopic rod 213, a second gear 214, a worm gear 215, a side plate 216, a worm wheel 217, and a top plate 218. The second support rod 210 is fixedly connected to the top of the rotating disk 25. The bottom of the first gear 211 has a first annular groove, and the inner wall of the first annular groove is slidably connected to the top of the second support rod 210. The electromagnet of the second magnetic clutch 212 is fixedly fixed on the second support rod 210. The active end of the second magnetic clutch 212 is fixedly sleeved on the first threaded rod 22. The driven end of 212 is fixed to the bottom of the first gear 211. The first telescopic rod 213 is rotatably connected to the top of the rotating disk 25, and the movable end of the first telescopic rod 213 rotatably passes through the bottom of the mounting plate 29. The second gear 214 is fixedly sleeved on the fixed end of the first telescopic rod 213, and the second gear 214 meshes with the first gear 211. The worm gear 215 is fixedly connected to the top of the first telescopic rod 213. The side plate 216 is fixedly connected to the top of the mounting plate 29. The worm wheel 217 is rotatably connected to the side plate 216 through a rotating shaft and meshes with the worm gear 215. The top plate 218 is fixedly sleeved on the rotating shaft. An elastic nylon cloth 3 is connected to the side of the top plate 218, and the elastic nylon cloth 3 is fixedly connected to the top of the lifting cylinder 28.To prevent dust from entering the lifting cylinder 28 and affecting the operation of the equipment, the extension mechanism 4 includes a third support rod 41, a third gear 42, a third magnetic clutch 43, a second telescopic rod 44, a fourth gear 45, a fixed frame 46, an extension rod 47, a fixed plate 48, a second threaded rod 49, a first rotating rod 410, and a telescopic universal joint 411. The third support rod 41 is fixedly connected to the top of the rotating disk 25. The bottom of the third gear 42 has a second annular groove, and the inner wall of the second annular groove is slidably connected to the top of the third support rod 41. The electromagnet of the third magnetic clutch 43 is fixedly sleeved on the third support rod 41. The driving end of the third magnetic clutch 43 is fixedly sleeved on the first threaded rod 22, and the driven end of the third magnetic clutch 43 is fixed to the bottom of the third gear 42. The second telescopic rod 44 is rotatably connected to the top of the rotating disk 25, and the movable end of the second telescopic rod 44 rotatably passes through the bottom of the mounting plate 29. The fourth gear 45 is fixedly sleeved on the fixed end of the second telescopic rod 44, and the fourth gear 45 meshes with the third gear 42. The fixed frame 46 is fixedly connected to the top plate 218. At the top, the extension rod 47 is slidably connected to the inner wall of the fixed frame 46, and the fixed plate 48 is fixedly connected to the inner wall of the fixed frame 46. The second threaded rod 49 rotates through the fixed plate 48 and is threadedly connected to the extension rod 47. The first rotating rod 410 rotates through the bottom of the inner wall of the fixed frame 46 and the top of the top plate 218. The top of the first rotating rod 410 is connected to the second threaded rod 49 through a bevel gear set, and the bottom of the first rotating rod 410 is connected to the top of the second telescopic rod 44 through a telescopic universal joint 411. A wiring hole is provided at the top of the rotating disk 25. The stator of the electric slip ring 219 is fixed to the inner wall of the base 1, and the rotor of the electric slip ring 219 is fixedly connected to the bottom of the rotating disk 25. The wires of the electromagnets on the second magnetic clutch 212 and the third magnetic clutch 43 pass through the wiring holes and are connected to the rotor of the electric slip ring 219. The inner walls of the first telescopic rod 213, the second telescopic rod 44, and the telescopic universal joint 411 are all provided with longitudinal limiting grooves and limiting blocks, which are used to ensure that the fixed ends and movable ends of the first telescopic rod 213, the second telescopic rod 44, and the telescopic universal joint 411 can only move relative to each other, and cannot rotate relative to each other.

[0046] Please see Figure 1-8Based on the above embodiments, in another preferred embodiment of the present invention, the clamping mechanism 5 includes a second motor 51, a second rotating rod 52, a third rotating rod 53, a swing frame 54, a sliding plate 57, a second electric push rod 58, a hinge rod 59, a moving block 510, and a clamping plate 511. The second motor 51 is mounted on the extension rod 47. The second rotating rod 52 is connected to the output end of the second motor 51 via a coupling. The third rotating rod 53 is rotatably connected to the extension rod 47 and is transmitted to the second rotating rod 52 via a gear set. The swing frame 54 is fixedly sleeved on the third rotating rod 53. The sliding plate 57 is fixedly connected to the bottom of the swing frame 54. A groove is provided on the top of the sliding plate 57. The inner wall is provided with a limit rod. The second electric push rod 58 is installed on the swing frame 54. One end of the hinge rod 59 is hinged to the output end of the second electric push rod 58. The moving block 510 is sleeved on the limit rod and moves through the slide groove. The top of the moving block 510 is hinged to the other end of the hinge rod 59. The clamping plate 511 is fixedly connected to the bottom of the moving block 510. The clamping mechanism 5 also includes a first electric push rod 55 and a clamping plate 56. The first electric push rod 55 is installed on the top of the extension rod 47 and the movable end of the first electric push rod 55 passes through the top of the extension rod 47. The clamping plate 56 is located at the bottom of the movable end of the first electric push rod 55 and is located above the second rotating rod 52.

[0047] Working principle: By starting the first motor 21, the first motor 21 drives the first threaded rod 22 to rotate. When it is necessary to adjust the direction of the clamping plate 511, the first magnetic clutch 24 is energized, and the second magnetic clutch 212 and the third magnetic clutch 43 are de-energized. This causes the first threaded rod 22 to drive the rotating disk 25 to rotate, which in turn drives the fixed cylinder 26 to rotate, thus achieving the direction adjustment of the clamping plate 511. When it is necessary to adjust the angle of the clamping plate 511, the second magnetic clutch 212 is energized, and the first magnetic clutch 24 and the third magnetic clutch 43 are de-energized. This causes the first threaded rod 22 to drive the first gear 211 to rotate. The first gear 211 drives the second gear 214 to rotate, which in turn drives the first telescopic rod 213 to rotate. The rotation of the first telescopic rod 213 drives the worm gear 215 to rotate, which in turn drives the worm wheel 217 to rotate, which in turn drives the top plate 218 to rotate, thus achieving the angle adjustment of the fixed frame 46. The first magnetic clutch 24 and the second magnetic clutch 212 are de-energized, thereby adjusting the angle of the clamping plate 511. When the clamping plate 511 needs to be extended, the third magnetic clutch 43 is energized, and the first magnetic clutch 24 and the second magnetic clutch 212 are de-energized. This causes the first threaded rod 22 to drive the third gear 42 to rotate, which in turn drives the second telescopic rod 44 to rotate through the fourth gear 45. The second telescopic rod 44 drives the first rotating rod 410 to rotate through the telescopic universal joint 411, which in turn drives the second threaded rod 49 to rotate through the bevel gear set. The rotation of the second threaded rod 49 will drive the extension rod 47 to extend, thereby adjusting the position of the clamping plate 511. Finally, the height of the clamping plate 511 is adjusted by de-energizing the first magnetic clutch 24, the second magnetic clutch 212 and the third magnetic clutch 43. The rotation of the first threaded rod 22 drives the lifting plate 27 to rise and fall, which in turn drives the lifting cylinder 28 to rise and fall, thereby adjusting the height of the clamping plate 511.

[0048] By starting the second motor 51, the second rotating rod 52 is driven to rotate, which in turn drives the third rotating rod 53 to rotate through the gear set. The third rotating rod 53 drives the swing frame 54 to swing, which in turn drives the clamping plate 56 to swing, allowing for further adjustment of the angle of the clamping plate 56. This makes the angle adjustment range of the clamping plate 56 wider and the adjustment more precise. After the adjustment is completed, the first electric push rod 55 is started to drive the clamping plate 56 to descend, locking the gear on the second rotating rod 52 and improving the stability of the adjustment. Then, the second electric push rod 58 is started, which drives one end of the hinge rod 59 to move upward, thereby driving the two moving blocks 510 to move inward, and then driving the two clamping plates 511 to clamp the workpiece.

[0049] This invention provides a motion control mechanism for a workstation robot. Many methods and approaches exist for implementing this technical solution; the above description is merely a preferred embodiment. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this invention, and these improvements and modifications should also be considered within the scope of protection of this invention. All components not explicitly stated in this embodiment can be implemented using existing technologies.

Claims

1. A station manipulator action control mechanism comprising a base (1), characterized in that, Also include: Adjusting mechanism (2) is arranged on the base (1), for adjusting the mechanical hand; Extension mechanism (4) is arranged on the adjusting mechanism (2), for adjusting the length of the mechanical hand; Clamping mechanism (5) is arranged on the extension mechanism (4), for clamping the workpiece; The adjusting mechanism (2) comprises: First motor (21) is installed on the inner wall of the base (1) bottom; First threaded rod (22) is connected with the output end of the first motor (21) through the shaft coupling; Rotary assembly, arranged on the base (1), for driving the mechanical hand to adjust the direction; Lifting assembly, arranged on the rotary assembly, for driving the mechanical hand to adjust the height; Swing assembly, arranged on the rotary assembly, for driving the mechanical hand to adjust the angle; Conductive slip ring (219) is arranged on the inner wall of the base (1); The rotary assembly comprises a first support rod (23), a first magnetic force clutch (24), a rotary disc (25), a fixed cylinder (26), the first support rod (23) is fixedly connected on the inner wall of the base (1) bottom, the electromagnet of the first magnetic force clutch (24) is fixedly sleeved on the first support rod (23), the rotary disc (25) is rotatably connected with the inner wall of the base (1), the driving end of the first magnetic force clutch (24) is fixedly sleeved on the first threaded rod (22), and the driven end of the first magnetic force clutch (24) is fixedly connected on the bottom of the rotary disc (25), the fixed cylinder (26) is fixedly connected on the top of the rotary disc (25); The lifting assembly comprises a lifting plate (27), a lifting cylinder (28) and a mounting plate (29), the lifting plate (27) is threadedly sleeved on the first threaded rod (22), the outer wall of the lifting cylinder (28) is slidably connected with the inner wall of the fixed cylinder (26), and the inner wall of the lifting cylinder (28) is fixedly connected with the lifting plate (27), the mounting plate (29) is fixedly connected on the inner wall of the lifting cylinder (28); The swing assembly includes a second support rod (210), a first gear (211), a second magnetic clutch (212), a first telescopic rod (213), a second gear (214), a worm (215), a side plate (216), a worm wheel (217), a top plate (218), the second support rod (210) is fixedly connected to the top of the rotating disc (25), the bottom of the first gear (211) is provided with a first annular groove, and the inner wall of the first annular groove is in sliding connection with the top of the second support rod (210), the electromagnet of the second magnetic clutch (212) is fixed on the second support rod (210), the driving end of the second magnetic clutch (212) is fixedly sleeved on the first threaded rod (22), and the driven end of the second magnetic clutch (212) is fixed to the bottom of the first gear (211), the first telescopic rod (213) is rotatably connected to the top of the rotating disc (25), and the movable end of the first telescopic rod (213) is rotatably penetrated through the bottom of the mounting plate (29), the second gear (214) is fixedly sleeved on the fixed end of the first telescopic rod (213), and the second gear (214) is in meshing connection with the first gear (211), the worm (215) is fixedly connected to the top of the first telescopic rod (213), the side plate (216) is fixedly connected to the top of the mounting plate (29), the worm wheel (217) is rotatably connected to the side plate (216) through a rotating shaft and is in meshing connection with the worm (215), and the top plate (218) is fixedly sleeved on the rotating shaft. The stretching mechanism (4) comprises a third support rod (41), a third gear (42), a third magnetic clutch (43), a second telescopic rod (44), a fourth gear (45), a fixed frame (46), a stretching rod (47), a fixed plate (48), a second threaded rod (49), a first rotating rod (410), a telescopic universal shaft (411), the third support rod (41) is fixedly connected to the top of the rotating disc (25), a second annular groove is formed in the bottom of the third gear (42), and the inner wall of the second annular groove is in sliding connection with the top of the third support rod (41), the electromagnet of the third magnetic clutch (43) is fixedly sleeved on the third support rod (41), the driving end of the third magnetic clutch (43) is fixedly sleeved on the first threaded rod (22), and the driven end of the third magnetic clutch (43) is fixed to the bottom of the third gear (42), the second telescopic rod (44) is rotatably connected to the top of the rotating disc (25), the movable end of the second telescopic rod (44) is rotatably penetrated through the bottom of the mounting plate (29), the fourth gear (45) is fixedly sleeved on the fixed end of the second telescopic rod (44), and the fourth gear (45) is in meshing connection with the third gear (42), the fixed frame (46) is fixedly connected to the top of the top plate (218), the stretching rod (47) is in sliding connection with the inner wall of the fixed frame (46), the fixed plate (48) is fixedly connected to the inner wall of the fixed frame (46), the second threaded rod (49) is rotatably penetrated through the fixed plate (48) and is in threaded connection with the stretching rod (47), the first rotating rod (410) is rotatably penetrated through the bottom of the inner wall of the fixed frame (46) and the top of the top plate (218), the top of the first rotating rod (410) is in transmission connection with the second threaded rod (49) through the bevel gear set, and the bottom of the first rotating rod (410) is in transmission connection with the top of the second telescopic rod (44) through the telescopic universal shaft (411).

2. A station mechanical hand action control mechanism according to claim 1, characterized in that: The side surface of the top plate (218) is connected with the elastic nylon cloth (3), and the elastic nylon cloth (3) is fixedly connected to the top of the lifting cylinder (28).

3. A station mechanical hand action control mechanism according to claim 2, characterized in that: The top of the rotating disc (25) is provided with a wiring hole, the stator of the conductive slip ring (219) is fixed to the inner wall of the base (1), and the rotor of the conductive slip ring (219) is fixedly connected to the bottom of the rotating disc (25), and the wires of the electromagnets on the second magnetic clutch (212) and the third magnetic clutch (43) are connected with the rotor of the conductive slip ring (219) through the wiring hole.

4. A station mechanical hand action control mechanism according to claim 3, characterized in that: The inner walls of the first telescopic rod (213), the second telescopic rod (44) and the telescopic universal shaft (411) are provided with longitudinal limiting grooves and limiting blocks.

5. A station mechanical hand action control mechanism according to claim 4, characterized in that: The clamping mechanism (5) comprises a second motor (51), a second rotating rod (52), a third rotating rod (53), a swing frame (54), a sliding plate (57), a second electric push rod (58), a hinged rod (59), a moving block (510) and a clamping plate (511), the second motor (51) is installed on the stretching rod (47), the second rotating rod (52) is connected with the output end of the second motor (51) through a shaft coupling, the third rotating rod (53) is rotatably connected on the stretching rod (47) and is in transmission connection with the second rotating rod (52) through a gear set, the swing frame (54) is fixedly sleeved on the third rotating rod (53), the sliding plate (57) is fixedly connected at the bottom of the swing frame (54), a sliding groove is formed in the top of the sliding plate (57), and a limiting rod is arranged on the inner wall of the sliding groove, the second electric push rod (58) is installed on the swing frame (54), one end of the hinged rod (59) is hinged with the output end of the second electric push rod (58), the moving block (510) is sleeved on the limiting rod and movably penetrates through the sliding groove, the top of the moving block (510) is hinged with the other end of the hinged rod (59), and the clamping plate (511) is fixedly connected at the bottom of the moving block (510).

6. A station mechanical hand action control mechanism according to claim 5, characterized in that: The clamping mechanism (5) further comprises a first electric push rod (55) and a clamping plate (56), the first electric push rod (55) is installed at the top of the stretching rod (47) and the movable end of the first electric push rod (55) penetrates through the top of the stretching rod (47), and the clamping plate (56) is arranged at the bottom of the movable end of the first electric push rod (55) and is above the second rotating rod (52).

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