Multi-degree-of-freedom industrial handling robot

Abstract

The application belongs to the technical field of mechanical hands, and provides a multi-degree-of-freedom industrial carrying mechanical hand.The multi-degree-of-freedom industrial carrying mechanical hand is designed through the cooperative operation of hydraulic driving and mechanical structure, realizes the stable and accurate clamping and carrying of a square material, the hydraulic clamping is combined with the lifting action of a mechanical arm, the two cooperate, an additional power source is not needed, the clamping action of a clamping jaw is realized through a liquid medium, the system structure is simplified, and the energy consumption is reduced.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of mechanical hands, and particularly relates to a multi-degree-of-freedom industrial carrying mechanical hand. BACKGROUND

[0002] A mechanical hand is an automatic mechanical device for reproducing the function of a human hand, mainly imitating the action of a human palm to grab, hold and put down. The mechanical hand can realize grabbing, holding, carrying and putting down or other various operations according to the program design and trajectory curve given by the programmer and the requirements. The automatic carrying of the mechanical hand has become the core support for connecting the production, storage and logistics links.

[0003] For the carrying of square materials, the traditional manual carrying has problems of low efficiency, high labor intensity, high risk of material damage and the like, and has been unable to meet the needs of large-scale production. The current mainstream two-point transfer mechanical hand mainly adopts an electric or pneumatic driving clamping scheme, but both have significant technical limitations. The inherent defects of the electric clamping scheme are as follows: depending on the mechanical transmission structure of the motor and gear, the meshing gap is easy to cause the clamping action to be jerky and impact, the clamping process is unstable, a dedicated person needs to be equipped for debugging, the operation is complex, the cost is high, and it is difficult to adapt to the transfer needs of multiple weight materials. The defects of the pneumatic clamping scheme are as follows: taking compressed air as the power source, the compressibility of the gas causes the clamping force to be easily affected by the air source fluctuation, and the phenomena of bouncing or unstable clamping occur, the heavy materials are easy to fall off, and the light materials are easy to be damaged.

[0004] In view of the above problems, the multi-degree-of-freedom industrial carrying mechanical hand provided by the present application realizes stable and accurate clamping and carrying of square materials through the cooperative operation design of hydraulic driving and mechanical structure. The hydraulic clamping is combined with the lifting action of the mechanical arm, and the two cooperative operations do not need an additional power source. The clamping action of the clamping jaw is realized through the liquid medium, the system structure is simplified, and the energy consumption is reduced. SUMMARY

[0005] To solve the above technical problems, the present application provides a multi-degree-of-freedom industrial carrying mechanical hand to solve the problems in the prior art. The technical scheme adopted by the present application is as follows:

[0006] A multi-degree-of-freedom industrial carrying mechanical hand, comprising a translational clamping mechanism, a support plate, a mechanical arm, a rotary column and a hydraulic driving part.

[0007] The translational clamping mechanism comprises an elastic clamping plate, an intermediate connecting seat, a main shaft, a sealed shell, a piston and two symmetrically arranged clamping jaw assemblies.

[0008] The bottom of the sealing shell is connected with the top of the support plate, the main shaft is slidably arranged in the sealing shell, an annular pressure cavity is arranged between the inside of the sealing shell and the main shaft, and the piston sleeved on the main shaft is slidably arranged in the pressure cavity; the bottom of the main shaft penetrates through the support plate and is fixedly connected with the intermediate connecting seat; the top of the two clamping jaw assemblies is rotatably connected with the support plate, the two clamping jaw assemblies are arranged at intervals, and opposite sides of the two clamping jaw assemblies are connected with the intermediate connecting seat;

[0009] The pressure cavity is filled with liquid medium, the hydraulic drive part is used for inputting liquid medium to the upper and lower sides of the piston respectively when the mechanical arm is lifted, so as to realize the functions of the piston and the main shaft moving up and down; when the main shaft moves up and down, the two clamping jaw assemblies are expanded or contracted through the intermediate connecting seat, so as to realize the functions of clamping or releasing the square material;

[0010] One end of the mechanical arm is connected with the side surface of the support plate, the other end of the mechanical arm is connected with the rotary column, and a rotary driving mechanism for driving the mechanical arm to rotate around the rotary column is arranged on the mechanical arm; a lifting driving mechanism for driving the mechanical arm to lift is arranged on the rotary column.

[0011] Further, the clamping jaw assembly comprises a first parallel rod, a second parallel rod, a connecting rod, a mounting plate and an elastic clamping plate.

[0012] The top of the first parallel rod and the top of the second parallel rod are rotatably connected with the bottom of the support plate, the bottom of the first parallel rod and the bottom of the second parallel rod are rotatably connected with the mounting plate, and the first parallel rod and the second parallel rod are arranged in parallel; the mounting plate is detachably connected with the elastic clamping plate; one end of the connecting rod is rotatably connected with the middle part of the first parallel rod, and the other end of the connecting rod is rotatably connected with the side surface of the intermediate connecting seat.

[0013] The elastic clamping plates of the two clamping jaw assemblies are used for clamping the square material; and the connecting rods of the two clamping jaw assemblies are distributed on both sides of the intermediate connecting seat.

[0014] Further, the top of the main shaft is threadedly connected with an upper limiting ring, the bottom of the main shaft is provided with a blind hole, the top of a sliding rod is slidably arranged in the blind hole, a lower limiting ring is threadedly connected with the sliding rod, the lower limiting ring is located below the support plate, the bottom of a clamping spring is fixedly connected with the top of the lower limiting ring, the top of the clamping spring is fixedly connected with the bottom of the main shaft, and the clamping spring is sleeved on the sliding rod and penetrates through the support plate.

[0015] The sealing shell bottom is fixedly connected with an adjusting rod, the adjusting rod is connected with the support plate top in a height-adjustable mode, so as to adjust the height of the sealing shell, and then adjust the tension degree of the clamping spring.

[0016] Further, when the piston moves upwards, the two jaw assemblies are closed; when the piston moves downwards, the two jaw assemblies are opened.

[0017] Further, the hydraulic driving part comprises a rotating outer cylinder, a fixed inner cylinder, a jaw opening oil pipe, a jaw closing first oil pipe, a jaw closing second oil pipe and a variable volume mechanism.

[0018] The rotating outer cylinder is rotatably sleeved on the fixed inner cylinder, and the outer side of the rotating outer cylinder is fixedly connected with the mechanical arm; the fixed inner cylinder is internally provided with two control oil chambers, namely a jaw opening oil chamber and a jaw closing oil chamber; the jaw opening oil chamber is internally provided with an opening control piston, and the jaw closing oil chamber is internally provided with a closing control piston; the jaw opening oil chamber and the jaw closing oil chamber are both filled with liquid medium.

[0019] The piston divides the pressure chamber into an upper chamber and a lower chamber; the top of the jaw opening oil chamber is communicated with the upper chamber through the jaw opening oil pipe; the top of the jaw closing oil chamber is communicated with the variable volume mechanism through the jaw closing first oil pipe, and the variable volume mechanism is communicated with the lower chamber through the jaw closing second oil pipe.

[0020] The opening control piston and the closing control piston are used for alternating up-down movement, so as to realize the up-down movement of the piston, and achieve the functions of opening and closing of the two jaw assemblies.

[0021] Further, the variable volume mechanism comprises an outer shell, a pressure spring and a pressure piston.

[0022] The mechanical arm is fixedly connected with the outer shell, the outer shell is internally provided with the pressure piston, one side of the pressure piston is provided with the pressure spring; the other side of the pressure piston and the inside of the outer shell are filled with liquid medium; the mechanical arm is internally provided with an intermediate oil chamber, the middle part of the outer shell is communicated with the intermediate oil chamber, one end of the intermediate oil chamber is communicated with the jaw closing first oil pipe, and the other end of the intermediate oil chamber is communicated with the jaw closing second oil pipe.

[0023] Further, the bottom of the opening control piston is fixedly connected with a first pressing rod, the bottom of the first pressing rod penetrates through the fixed inner cylinder and is fixedly connected with a first pressing plate, a first reset spring is sleeved on the first pressing rod, and the first reset spring is located between the first pressing plate and the fixed inner cylinder.

[0024] The bottom of the folding control piston is fixedly connected with a second pressing rod, the bottom of the second pressing rod penetrates through the fixed inner cylinder body and is fixedly connected with a second pressing plate, a second return spring is sleeved on the second pressing rod and located between the second pressing plate and the fixed inner cylinder body;

[0025] The rotary driving mechanism is used for rotating the mechanical arm so that the mechanical arm reciprocates through the clamping position and the blanking position; the side surface of the rotary column is fixedly connected with a stopper; when the mechanical arm is at the clamping position, the second pressing plate is located directly above the stopper; when the mechanical arm is at the blanking position, the first pressing plate is located directly above the stopper; the first pressing plate and the second pressing plate are respectively used for abutting against the stopper to realize the rising of the folding control piston and the unfolding control piston to push the liquid medium to flow.

[0026] Further, the first valve is arranged on the first oil conveying pipe when the clamping jaw is unfolded, the second valve is arranged on the first oil conveying pipe when the clamping jaw is folded, and the third valve is arranged on the second oil conveying pipe when the clamping jaw is folded.

[0027] Further, the lifting driving mechanism comprises a threaded inner cylinder, a screw rod, a servo motor and a connecting block.

[0028] The rotary column is internally provided with a sliding cavity, the threaded inner cylinder is arranged in the sliding cavity, the threaded inner cylinder is threadedly connected with the screw rod, the top of the screw rod is rotatably connected with the inner wall surface of the rotary column, and the bottom of the screw rod is fixedly connected with the output end of the servo motor.

[0029] The outer side surface of the threaded inner cylinder is fixedly connected with the connecting block, the rotary column is provided with a notch portion in communication with the sliding cavity, and the connecting block penetrates through the notch portion; the inner side surface of the fixed inner cylinder body is fixedly connected with the connecting block.

[0030] Further, the rotary driving mechanism comprises a motor and a gear assembly, the motor is installed on the mechanical arm, the output end of the motor is connected with the gear assembly, the gear assembly is connected with the outer side surface of the fixed inner cylinder body, and the rotation of the mechanical arm is realized through the reaction force of the motor.

[0031] The present application has the following beneficial effects:

[0032] (1) The present application takes the rotary column as the rotation axis, cooperates with the mechanical arm and the rotary driving mechanism, can realize the fixed-point rotation of a specific angle, combines the height adjustment of the lifting driving mechanism, can efficiently complete the two-point circulation transportation and realizes the full-automatic operation;

[0033] (2) The hydraulic clamping of the present application combines the lifting action of the mechanical arm, and the two work cooperatively without additional power source, and the clamping action of the clamping jaw is realized through the liquid medium, which simplifies the system structure and reduces the energy consumption; and the hydraulic transmission has no mechanical meshing gap, and the component wear is much lower than that of the gear and screw rod of the electric or pneumatic clamping, so that the service life of the mechanical hand is longer, and the maintenance cost is reduced;

[0034] (3) The translation type clamping mechanism of the present application realizes self-adaptive parallel clamping of the square material through the design of the elastic clamping plate and the connecting rod, that is, even if the size of the material has a certain deviation, the elastic deformation of the elastic clamping plate and the clamping spring can be compensated, so as to ensure the stability and universality of clamping; at the same time, the clamping mechanism moves stably during clamping and loosening, and will not cause impact damage to the material, effectively protecting the quality of the material; in addition, the whole mechanical hand structure is compact, the components are reasonably arranged, and the occupied space is small, which is convenient for installation and use in limited working environment, and improves the space utilization rate;

[0035] (4) The present application is a special equipment for two-point positioning and transfer of square material, and through the cooperative design of multiple mechanisms and the innovation of hydraulic drive, it has obvious advantages in function realization, performance stability, application adaptability and cost control, and is suitable for various industrial scenes which need efficient and stable transfer of square material. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 is the overall structure diagram of the present application;

[0037] Figure 2 is a schematic view at the clamping preparation stage;

[0038] Figure 3 is a schematic view at the clamping stage;

[0039] Figure 4 is a schematic view at the material lifting stage;

[0040] Figure 5 is a schematic view at the material and mechanical arm rotating stage;

[0041] Figure 6 is a schematic view at the discharging stage;

[0042] Figure 7 is a schematic view of the translation type clamping mechanism;

[0043] Figure 8 is a sectional view of the clamping jaw unfolding oil cavity and the clamping jaw folding oil cavity;

[0044] Figure: translation type clamping mechanism 1, support plate 2, telescopic rod 3, mechanical arm 4, motor 5, gear assembly 6, rotary column 7, rotating outer cylinder 8, fixed inner cylinder 9, stop block 10, jaw unfolding oil pipe 11, jaw folding first oil pipe 12, jaw folding second oil pipe 13, variable volume mechanism 14, square material 15, first valve 100, second valve 200, third valve 300, first parallel rod 101, second parallel rod 102, connecting rod 103, mounting plate 104, elastic clamping plate 105, intermediate connecting seat 106, lower limit ring 107, clamping spring 108, sliding rod 109, adjusting rod 110, piston 111, main shaft 112, sealing shell 113, upper limit ring 114, pressure piston 141, pressure spring 142, shell 143, intermediate oil cavity 144, threaded inner cylinder 701, screw 702, notch part 703, servo motor 704, connecting block 705, jaw unfolding oil cavity 901, unfolding control piston 9011, first pressure rod 9012, first return spring 9013, first pressure plate 9014, jaw folding oil cavity 902, folding control piston 9021, second pressure rod 9022, second return spring 9023, second pressure plate 9024. DETAILED DESCRIPTION

[0045] The technical solutions in the embodiments of the present application will be described below in conjunction with Figures 1-8 The technical solutions in the embodiments of the present application will be described below in conjunction with

[0046] As Figure 1 A multi-degree-of-freedom industrial carrying robot, comprising a translation type clamping mechanism 1, a support plate 2, a mechanical arm 4, a rotary column 7 and a hydraulic drive part;

[0047] The translation type clamping mechanism 1 comprises an elastic clamping plate 105, an intermediate connecting seat 106, a main shaft 112, a sealing shell 113, a piston 111 and two symmetrical jaw assemblies;

[0048] The bottom of the sealing shell 113 is connected to the top of the support plate 2, the main shaft 112 can slide up and down through the sealing shell 113, and an annular pressure cavity is arranged between the inside of the sealing shell 113 and the main shaft 112. The piston 111 is arranged to be slidably up and down in the pressure cavity and is sleeved on the main shaft 112; the bottom of the main shaft 112 passes through the support plate 2 and is fixedly connected to the intermediate connecting seat 106; the top of the two jaw assemblies is rotatably connected to the support plate 2, and the two jaw assemblies are arranged at intervals and connected to the intermediate connecting seat 106 on opposite sides;

[0049] The pressure cavity is filled with liquid medium, and the hydraulic drive part is used to input liquid medium to the upper and lower sides of the piston 111 respectively when the mechanical arm 4 is lifted, so as to realize the functions of the up and down movement of the piston 111 and the main shaft 112; when the main shaft 112 moves up and down, the two clamping jaw assemblies are expanded or contracted through the intermediate connecting seat 106, so as to realize the functions of clamping or releasing the square material 15.

[0050] One end of the mechanical arm 4 is connected to the side of the support plate 2, and the other end of the mechanical arm 4 is connected to the rotary column 7, and a rotary driving mechanism is arranged on the mechanical arm 4 and used to drive the mechanical arm 4 to rotate around the rotary column 7; and a lifting driving mechanism is arranged on the rotary column 7 and used to drive the mechanical arm 4 to lift.

[0051] The mechanical arm 4 is parallel, and is used as a rotating and supporting part of the whole mechanical arm, and is driven to rotate through the rotary driving mechanism. The rotary column 7 is the rotating axis of the mechanical arm 4, and a counterweight part can be arranged at the bottom of the rotary column 7, so as to stabilize the whole mechanical arm.

[0052] During the carrying operation, the height of the mechanical arm 4 is adjusted through the lifting driving mechanism, so that the translation type clamping mechanism 1 is aligned with the square material 15; the rotary driving mechanism is started, and the mechanical arm 4 and the translation type clamping mechanism 1 are driven to rotate to above the material, at this time, the piston 111 is at the lowest position, at this time, the two clamping jaw assemblies of the mechanical arm are expanded to the maximum angle, and this state is the initial state in the figure. Figure 1 Then the lifting driving mechanism drives the mechanical arm 4 to descend to the lowest height, to the state in the figure. Figure 2 Then the hydraulic drive part inputs liquid medium to the lower side of the piston 111, pushes the piston 111 and the main shaft 112 to move upwards, the main shaft 112 drives the two clamping jaw assemblies to contract through the intermediate connecting seat 106, the elastic clamping plate 105 clamps the square material 15, and the state in the figure is formed. Figure 3 Then the mechanical arm 4 is lifted to the highest position, and the state in the figure is formed. Figure 4 Then the rotary driving mechanism is actuated, the mechanical arm 4 is rotated by 180°, the material is carried to above the target position, and the state in the figure is formed. Figure 5 After reaching the position, the mechanical arm 4 is lowered to the lowest position, the hydraulic drive part inputs liquid medium to the upper side of the piston 111, pushes the piston 111 and the main shaft 112 to move downwards, the clamping jaw assemblies are expanded, the square material 15 is released, the carrying is completed, and the state in the figure is formed. Figure 6 Finally, each part is reset, and returns to the initial state in the figure, ready for the next carrying. Figure 1 Finally, each part is reset, and returns to the initial state in the figure, ready for the next carrying.

[0053] The present application takes the rotary column 7 as the rotation axis, and the mechanical arm 4 realizes accurate rotation through the rotation driving mechanism, cooperates with the lifting action of the lifting driving mechanism, and completes the space transfer between two points; the hydraulic drive utilizes the incompressibility of the liquid medium, controls the lifting of the main shaft 112 through the pressure difference on the upper and lower sides of the piston 111, and then converts into the folding and unfolding of the clamping jaw assembly through the intermediate connecting seat 106, realizes the clamping and loosening of the material; the fixed-point rotation design of the present application adapts to the two-point transfer scene, improves the carrying efficiency, the hydraulic drive makes the clamping force stable and controllable, and the multi-mechanism cooperative action realizes the full-automatic circulating carrying; the hydraulic clamping of the present application combines the lifting action of the mechanical arm 4, and the two cooperative operations do not need an additional power source, realize the clamping action of the clamping jaw through the liquid medium, simplify the system structure, and reduce the energy consumption; and the hydraulic transmission has no mechanical meshing gap, and the component wear is much lower than that of the gear and screw of the electric or pneumatic clamping, so that the service life of the mechanical hand is longer, and the maintenance cost is reduced.

[0054] The liquid medium of the present application can be hydraulic oil, pure water, etc.

[0055] Further, the clamping jaw assembly comprises a first parallel rod 101, a second parallel rod 102, a connecting rod 103, a mounting plate 104 and an elastic clamping plate 105.

[0056] The top of the first parallel rod 101 and the second parallel rod 102 is rotatably connected to the bottom of the support plate 2, the bottom of the first parallel rod 101 and the second parallel rod 102 is rotatably connected to the mounting plate 104, and the first parallel rod 101 and the second parallel rod 102 are arranged in parallel; the mounting plate 104 is detachably connected to the elastic clamping plate 105; the middle part of the first parallel rod 101 is rotatably connected to one end of the connecting rod 103, and the other end of the connecting rod 103 is rotatably connected to the side surface of the intermediate connecting seat 106.

[0057] The elastic clamping plates 105 of the two clamping jaw assemblies are used for clamping the square material 15; the connecting rods 103 of the two clamping jaw assemblies are distributed on both sides of the intermediate connecting seat 106.

[0058] As Figure 1 , Figure 7, the initial state, the main shaft 112 is in the lowest position, the intermediate connecting seat 106 pulls down the connecting rod 103, the first parallel rod 101 and the second parallel rod 102 rotate outward to the maximum angle, and the elastic clamping plate 105 expands with the mounting plate 104; when the mechanical arm 4 is lowered to the lowest height, the hydraulic drive pushes the main shaft 112 to move upwards, the intermediate connecting seat 106 pushes up the connecting rod 103, and drives the first parallel rod 101 to rotate inward, because the parallel rods are arranged in parallel, the mounting plate 104 and the elastic clamping plate 105 keep parallel and translate inward, and the square material 15 is folded and clamped; after the material is transferred to the target station, the main shaft 112 moves downward, the intermediate connecting seat 106 pulls down the connecting rod 103, the parallel rods rotate outward, the elastic clamping plate 105 expands and releases the material, and then resets to the maximum expansion angle.

[0059] The first parallel rod 101 and the second parallel rod 102 of the present application constitute a parallelogram mechanism, which ensures that the elastic clamping plate 105 is always parallel to the side surface of the square material 15 during opening and closing; the parallelogram mechanism ensures that the material is uniformly stressed during clamping; the elastic clamping plate 105 can buffer the clamping impact force and protect the surface of the material. The elastic clamping plate 105 can be a rubber plate.

[0060] The present application adopts hydraulic clamping, utilizes the physical characteristics of incompressible liquid medium, realizes gapless transmission of force through the pressure cavity and the piston 111: the liquid medium transmits pressure to the main shaft 112, then synchronously drives the two-side clamping jaw assemblies through the intermediate connecting seat 106, cooperates with the parallelogram mechanism, makes the elastic clamping plate 105 always parallel and stably fold, the clamping force is impact-free and smooth, which can not only ensure firm clamping of heavy materials, but also avoid damage of light materials due to impact, and adapt to the clamping needs of square materials of different materials such as packaging boxes and iron boxes.

[0061] Further, the top of the main shaft 112 is threadedly connected with an upper limit ring 114, the bottom of the main shaft 112 is provided with a blind hole, the top of a sliding rod 109 is slidably arranged in the blind hole, a lower limit ring 107 is threadedly connected on the sliding rod 109, the lower limit ring 107 is located below the support plate 2, the bottom of a clamping spring 108 is fixedly connected to the top of the lower limit ring 107, the top of the clamping spring 108 is fixedly connected to the bottom of the main shaft 112, and the clamping spring 108 is sleeved on the sliding rod 109 and passes through the support plate 2.

[0062] The bottom of the sealing shell 113 is fixedly connected with an adjusting rod 110, and the adjusting rod 110 is connected to the top of the support plate 2 in a height-adjustable manner, so as to adjust the height of the sealing shell 113, and further adjust the tension degree of the clamping spring 108.

[0063] For different weights of square material 15, the height of the sealing shell 113 is adjusted by adjusting the rod 110: when the sealing shell 113 is raised, the main shaft 112 moves downward relatively, the compression amount of the clamping spring 108 increases, and the tensioning degree increases, which is suitable for heavier materials (relatively heavy); when the sealing shell 113 is lowered, the tensioning degree of the spring decreases, which is suitable for lighter materials. Figure 1 In the initial state, the upper limit ring 114 has a gap with the top of the sealing shell 113, the lower limit ring 107 is in the lowest position, and the clamping spring 108 is in a pre-tightened state; when clamping the material, the main shaft 112 moves upward to stretch the clamping spring 108, the sliding rod 109 slightly slides, and the clamping jaw keeps clamping the material under the action of the clamping spring 108.

[0064] The present application uses hydraulic drive to stretch the clamping spring 108, and the clamping jaw clamps the material through the elastic force of the clamping spring. The purpose is to use the elastic force characteristics of the clamping spring to realize self-adaptive adjustment and buffer protection of clamping force, avoid damage to the material and damage to the hydraulic system caused by excessive hydraulic force, and be able to adapt to different material sizes within a small range. It should be noted that the elastic force generated by the clamping spring 108 is sufficient to clamp the material, so the present application preferably clamps and carries lighter materials, such as square materials 15 with moderate weight and regular shape, such as packaging boxes, small metal components, etc. The weight of the material is within the range of 5kg to 50kg.

[0065] Further, when the piston 111 moves upward, the two clamping jaw assemblies are closed; when the piston 111 moves downward, the two clamping jaw assemblies are opened.

[0066] Figure 1 In the initial state, the piston 111 is in the lowest position, the lower chamber volume of the pressure chamber is the smallest, the upper chamber volume is the largest, and the clamping jaw assembly is maximally opened; in the clamping stage, the hydraulic drive inputs medium to the lower chamber, the piston 111 moves upward, the lower chamber volume increases and the upper chamber volume decreases, and the clamping jaw assembly is closed by the main shaft 112; in the releasing stage, the hydraulic drive inputs medium to the upper chamber, the piston 111 moves downward, the upper chamber volume increases and the lower chamber volume decreases, and the clamping jaw assembly is opened; after resetting, the piston 111 returns to the lowest position, and the clamping jaw restores to the maximally opened state.

[0067] As shown in Figure 1 , Figure 8 , the hydraulic drive part includes a rotating outer cylinder 8, a fixed inner cylinder 9, a clamping jaw opening oil pipe 11, a clamping jaw closing first oil pipe 12, a clamping jaw closing second oil pipe 13, and a variable volume mechanism 14;

[0068] The fixed inner cylinder 9 is sleeved on the rotary column 7, and the fixed inner cylinder 9 is connected with the lifting driving mechanism; the rotating outer cylinder 8 is rotatably sleeved on the fixed inner cylinder 9, and the outer side of the rotating outer cylinder 8 is fixedly connected with the mechanical arm 4; two control oil cavities are arranged in the fixed inner cylinder 9, which are a jaw unfolding oil cavity 901 and a jaw folding oil cavity 902 respectively, an unfolding control piston 9011 is arranged in the jaw unfolding oil cavity 901, and a folding control piston 9021 is arranged in the jaw folding oil cavity 902; the jaw unfolding oil cavity 901 and the jaw folding oil cavity 902 are both filled with liquid medium;

[0069] The piston 111 divides the pressure cavity into an upper chamber and a lower chamber, the top of the jaw unfolding oil cavity 901 is communicated with the upper chamber through the jaw unfolding oil pipe 11, and the top of the jaw folding oil cavity 902 is communicated with the variable volume mechanism 14 through the jaw folding first oil pipe 12; the variable volume mechanism 14 is communicated with the lower chamber through the jaw folding second oil pipe 13.

[0070] The unfolding control piston 9011 and the folding control piston 9021 are used for alternating up-down movement, so as to realize the up-down movement of the piston 111, and achieve the functions of unfolding or folding of the two jaw assemblies.

[0071] In the clamping stage, the folding control piston 9021 moves upwards to extrude the liquid medium in the jaw folding oil cavity 902, the liquid medium enters the variable volume mechanism 14 through the jaw folding first oil pipe 12, and then flows into the lower chamber of the pressure cavity through the jaw folding second oil pipe 13, so as to push the piston 111 to move upwards and fold the jaws; in the releasing stage, the unfolding control piston 9011 moves upwards to extrude the medium in the jaw unfolding oil cavity 901, the medium flows into the upper chamber of the pressure cavity through the jaw unfolding oil pipe 11, so as to push the piston 111 to move downwards and unfold the jaws; when the mechanical arm 4 rotates, the rotating outer cylinder 8 rotates around the fixed inner cylinder 9 synchronously with the mechanical arm, each oil pipe rotates with the mechanical arm 4, so that the oil circuit is always communicated and there is no winding. The jaw unfolding oil cavity 901 and the jaw folding oil cavity 902 can be arc-shaped structures.

[0072] In addition, one end of the telescopic rod 3 can be fixedly connected with the outer side of the support plate 2, and the other end of the telescopic rod 3 is fixedly connected with the end of the mechanical arm 4, so as to adjust the horizontal clamping position of the support plate 2; and a threaded pipe part can be arranged on the jaw folding second oil pipe 13 and the jaw unfolding oil pipe 11, so as to realize the functions of lengthening or shortening in the horizontal direction, and adapt to the length change of the telescopic rod 3.

[0073] Further, the variable volume mechanism 14 comprises an outer shell 143, a pressure spring 142 and a pressure piston 141.

[0074] The mechanical arm 4 is fixedly connected with the shell 143, the pressure piston 141 is arranged in the shell 143, and the pressure spring 142 is arranged on one side of the pressure piston 141; the other side of the pressure piston 141 and the inside of the shell 143 are filled with liquid medium; the inside of the mechanical arm 4 is provided with an intermediate oil cavity 144, the middle part of the shell 143 is communicated with the intermediate oil cavity 144, one end of the intermediate oil cavity 144 is communicated with the first oil conveying pipe 12 for clamping jaw folding, and the other end of the intermediate oil cavity 144 is communicated with the second oil conveying pipe 13 for clamping jaw folding.

[0075] Further, the bottom of the unfolding control piston 9011 is fixedly connected with a first pressing rod 9012, the first pressing rod 9012 penetrates through the fixed inner cylinder 9 at the bottom and is fixedly connected with a first pressing plate 9014, a first reset spring 9013 is arranged on the first pressing rod 9012, and the first reset spring 9013 is located between the first pressing plate 9014 and the fixed inner cylinder 9;

[0076] The bottom of the folding control piston 9021 is fixedly connected with a second pressing rod 9022, the second pressing rod 9022 penetrates through the fixed inner cylinder 9 at the bottom and is fixedly connected with a second pressing plate 9024, a second reset spring 9023 is arranged on the second pressing rod 9022, and the second reset spring 9023 is located between the second pressing plate 9024 and the fixed inner cylinder 9;

[0077] The rotary drive mechanism is used for rotating the mechanical arm 4, so that the mechanical arm 4 reciprocates through the clamping position and the discharging position; the side of the rotary column 7 is fixedly connected with a stopper 10; when the mechanical arm 4 is at the clamping position, the second pressing plate 9024 is located directly above the stopper 10, and when the mechanical arm 4 is at the discharging position, the first pressing plate 9014 is located directly above the stopper 10; the first pressing plate 9014 and the second pressing plate 9024 are respectively used for abutting against the stopper 10 to realize the rising of the folding control piston 9021 and the unfolding control piston 9011 to push the liquid medium to flow.

[0078] In the application, the mechanical arm 4 clamps the material when being at the clamping position, and the mechanical arm 4 discharges the material when being at the discharging position. Figure 1 Figure 2 When the mechanical arm 4 rotates to the clamping position, the second pressing plate 9024 is located directly above the stopper 10, the lifting drive mechanism drives the mechanical arm 4 to descend, the second pressing plate 9024 abuts against the stopper 10, the second pressing rod 9022 and the folding control piston 9021 are pushed to move upwards, the medium in the clamping jaw folding oil cavity 902 is extruded, and the clamping jaw is folded. Figure 5 Figure 6 ​​, the mechanical arm 4 rises and rotates to the unloading position, the first pressing plate 9014 is located above the block 10, the mechanical arm 4 descends, the first pressing plate 9014 is in abutment with the block 10, the first pressing rod 9012 and the unfolding control piston 9011 are pushed to move upwards, the jaw unfolding oil cavity 901 medium is extruded, and the jaw is unfolded.The present application drives the liquid path medium by the movement of the mechanical arm itself, simplifies the system structure, reduces the cost, and reduces the energy consumption.

[0079] Further, the first valve 100 is arranged on the jaw unfolding oil pipe 11, the second valve 200 is arranged on the jaw folding first oil pipe 12, and the third valve 300 is arranged on the jaw folding second oil pipe 13.

[0080] When the present application is implemented, the following flow is included:

[0081] As Figure 1 , the initial state is before the carrying operation, the first valve 100 is opened at this time, the first pressing plate 9014 can be moved upwards in an artificial manner, the first pressing rod 9012 drives the unfolding control piston 9011 to move upwards, the liquid medium in the jaw unfolding oil cavity 901 flows into the upper chamber of the pressure cavity through the jaw unfolding oil pipe 11, and the two jaw assemblies are unfolded to the maximum angle, and then the first valve 100 is closed, at this time, the mechanical arm 4 is in a preparation state capable of clamping materials. The unfolding control piston 9011 is at the highest position and is affected by atmospheric pressure, and the first return spring 9013 is in a compressed state.

[0082] As Figure 2 , during the clamping preparation stage, the mechanical arm 4 is located at the clamping position, the second pressing plate 9024 is located above the block 10, and the jaw assembly is located above the square material 15. Then the mechanical arm 4 is driven to descend by the lifting driving mechanism, the first valve 100 and the second valve 200 are opened, and the third valve 300 is closed during the descending process, when the second pressing plate 9024 contacts the block 10 and pushes the second pressing rod 9022 to move upwards, the folding control piston 9021 is synchronously moved upwards, the liquid medium enters the variable volume mechanism 14 through the second valve 200 and the jaw folding first oil pipe 12, the pressure piston 141 rises to extrude the pressure spring 142, until the mechanical arm 4 is at the lowest position, at this time, the square material 15 is located between the two jaw assemblies.

[0083] As Figure 3, clamping, open the third valve 300 and the first valve 100, close the second valve 200, under the action of pressure spring 142, pressure piston 141 down and push the liquid medium into the second oil pipe 13 retraction, and then flow into the lower chamber of the pressure chamber, push piston 111 up, through the intermediate connecting seat 106 driven connecting rod 103 inward rotation, so that the first parallel bar 101 and the second parallel bar 102 synchronous inward translation, mounting plate 104 and elastic clamping plate 105 keep parallel state retraction, until the clamping square material 15. The process of piston 111 up, the liquid medium in the upper chamber into the spread of oil pipe 11 and backflow to the spread of the oil cavity 901 in the clamping jaw, under the action of pressure spring 142 and the first reset spring 9013, make piston 9011 down reset. The present application in the process of clamping action, variable volume mechanism 14 play a delay clamping function, the purpose is to ensure that the mechanical arm 4 down to the lowest position, material accurately located between the two jaw assemblies, then execute clamping operation, avoid because the mechanical arm 4 down process clamping jaw premature closure caused by material clamping inaccuracy or damage.

[0084] As Figure 4 , the material lifting, the first valve 100, the second valve 200 and the third valve 300 is closed, in order to keep the liquid force; under the action of atmospheric pressure, the second reset spring 9023 is in compression state. The mechanical arm 4 under the action of lifting drive mechanism begins to rise.

[0085] As Figure 5 , the material and mechanical arm 4 rotate to the lower position, the process through the rotary drive mechanism drive mechanical arm 4 around the rotary column 7 rotation to realize, at this time the first pressure plate 9014 is located in the block 10 directly above.

[0086] As Figure 6, the mechanical arm 4 first drops a certain height, the first pressing plate 9014 just contacts the block 10, at this time, the first valve 100, the second valve 200 and the third valve 300 are opened, the first pressing plate 9014 contacts the block 10 and pushes the first pressing rod 9012 to move upwards, drives the unfolding control piston 9011 to move upwards, the liquid medium in the jaw unfolding oil cavity 901 flows into the pressure cavity upper chamber through the jaw unfolding oil pipe 11, drives the piston 111 to move downwards, the liquid medium in the lower chamber enters the jaw folding first oil pipe 12, the jaw folding second oil pipe 13 and flows back to the jaw folding oil cavity 902, under the action of liquid force and the second reset spring 9023, the folding control piston 9021 moves downwards and resets. Figure 1 The first reset spring 9013 is in a compressed state under the action of atmospheric pressure.

[0087] It should be noted that the control of each valve of the present application is preferably realized by a PLC program, the first reset spring 9013 and the second reset spring 9023 should be selected to be springs with small elastic force, so as to avoid forming a vacuum, and the elastic force generated by the pressure spring 142 is much greater than the elastic force generated by the first reset spring 9013 and the second reset spring.

[0088] Further, the lifting driving mechanism comprises a threaded inner cylinder 701, a screw rod 702, a servo motor 704 and a connecting block 705.

[0089] The rotating column 7 is provided with a sliding cavity, the threaded inner cylinder 701 is arranged in the sliding cavity, the threaded inner cylinder 701 is threadedly connected to the screw rod 702, the top of the screw rod 702 is rotatably connected to the inner wall surface of the rotating column 7, and the bottom of the screw rod 702 is fixedly connected to the output end of the servo motor 704.

[0090] The outer side surface of the threaded inner cylinder 701 is fixedly connected to the connecting block 705, the rotating column 7 is provided with a notch portion 703 communicating with the sliding cavity, and the connecting block 705 passes through the notch portion 703.

[0091] In the application, the screw thread transmission of the screw rod 702 and the threaded inner cylinder 701 converts the rotary motion of the servo motor 704 into linear motion, realizing the lifting of the mechanical arm 4; the connecting block 705 slides along the gap part 703, limiting the rotation of the threaded inner cylinder 701 with the screw rod 702, ensuring that it only makes linear motion, forming a screw rod structure; the control of the servo motor 704 enables the lifting height to be accurately set.

[0092] Further, the rotary drive mechanism comprises a motor 5 and a gear assembly 6, the motor 5 is installed on the mechanical arm 4, the output end of the motor 5 is connected with the gear assembly 6, the gear assembly 6 is connected with the outer side of the fixed inner cylinder 9, and the reverse force of the motor 5 realizes the rotation of the mechanical arm 4.

[0093] The application transmits the torque of the motor 5 to the fixed inner cylinder 9 through the meshing transmission of the gear assembly 6, and drives the mechanical arm 4 to rotate by the reaction force of the fixed inner cylinder 9; the fixed transmission ratio characteristic of the gear transmission ensures accurate control of the rotation angle, and adapts to the position requirements of two-point fixed-point transfer. The gear assembly 6 can comprise two gears, one of which is fixedly sleeved on the fixed inner cylinder 9, and the other is fixedly connected with the output end of the motor 5.

[0094] The above-described embodiments are only descriptions of the preferred modes of the application, and do not limit the scope of the application, and various deformations, modifications, changes and replacements of the technical solutions of the application made by those skilled in the art without departing from the design spirit of the application shall fall within the protection scope determined by the claims of the application.

Claims

1. A multi-degree-of-freedom industrial transfer robot characterized by comprising: It comprises a translation type clamping mechanism (1), a support plate (2), a mechanical arm (4), a rotary column (7) and a hydraulic drive part; The translation type clamping mechanism (1) comprises elastic clamping plates (105), an intermediate connecting seat (106), a main shaft (112), a sealed shell (113), a piston (111) and two symmetrically arranged clamping jaw assemblies; The bottom of the sealed shell (113) is connected to the top of the support plate (2), the main shaft (112) can slide up and down through the sealed shell (113), an annular pressure cavity is arranged between the inside of the sealed shell (113) and the main shaft (112), and the piston (111) sleeved on the main shaft (112) is arranged to slide up and down in the pressure cavity; the bottom of the main shaft (112) passes through the support plate (2) and is fixedly connected to the intermediate connecting seat (106); the top of the two clamping jaw assemblies is rotatably connected to the support plate (2), the two clamping jaw assemblies are arranged at intervals, and the opposite sides of the two clamping jaw assemblies are connected to the intermediate connecting seat (106); The pressure cavity is filled with liquid medium, and the hydraulic drive part is used for inputting liquid medium to the upper and lower sides of the piston (111) respectively when the mechanical arm (4) is lifted, so as to realize the functions of the up and down movement of the piston (111) and the main shaft (112); when the main shaft (112) moves up and down, the two clamping jaw assemblies are expanded or contracted through the intermediate connecting seat (106), so as to realize the functions of clamping or loosening the square material (15); One end of the mechanical arm (4) is connected to the side surface of the support plate (2), the other end of the mechanical arm (4) is connected to the rotary column (7), and a rotary drive mechanism is arranged on the mechanical arm (4) to drive the mechanical arm (4) to rotate around the rotary column (7); the rotary column (7) is provided with a lifting drive mechanism for driving the mechanical arm (4) to lift; The hydraulic drive part comprises a rotary outer cylinder (8), a fixed inner cylinder (9), a clamping jaw expansion oil pipe (11), a clamping jaw contraction first oil pipe (12), a clamping jaw contraction second oil pipe (13) and a variable volume mechanism (14); The fixed inner cylinder (9) is sleeved on the rotary column (7) and is connected to the lifting drive mechanism; the rotary outer cylinder (8) is rotatably sleeved on the fixed inner cylinder (9), and the outer side surface of the rotary outer cylinder (8) is fixedly connected to the mechanical arm (4); two control oil chambers are arranged in the fixed inner cylinder (9), which are a clamping jaw expansion oil chamber (901) and a clamping jaw contraction oil chamber (902); an expansion control piston (9011) is arranged in the clamping jaw expansion oil chamber (901), and a contraction control piston (9021) is arranged in the clamping jaw contraction oil chamber (902); the clamping jaw expansion oil chamber (901) and the clamping jaw contraction oil chamber (902) are both filled with liquid medium; The piston (111) divides the pressure cavity into an upper chamber and a lower chamber, the top of the jaw unfolding oil cavity (901) is communicated with the upper chamber through the jaw unfolding oil pipe (11), the top of the jaw folding oil cavity (902) is communicated with the variable volume mechanism (14) through the jaw folding first oil pipe (12), and the variable volume mechanism (14) is communicated with the lower chamber through the jaw folding second oil pipe (13); The unfolding control piston (9011) and the folding control piston (9021) are used for alternating up-down movement to realize the up-down movement of the piston (111) and achieve the functions of unfolding or folding of the two jaw assemblies; The bottom of the unfolding control piston (9011) is fixedly connected with a first pressing rod (9012), the bottom of the first pressing rod (9012) penetrates through the fixed inner cylinder body (9) and is fixedly connected with a first pressing plate (9014), the first pressing rod (9012) is sleeved with a first reset spring (9013), and the first reset spring (9013) is located between the first pressing plate (9014) and the fixed inner cylinder body (9); The bottom of the folding control piston (9021) is fixedly connected with a second pressing rod (9022), the bottom of the second pressing rod (9022) penetrates through the fixed inner cylinder body (9) and is fixedly connected with a second pressing plate (9024), the second pressing rod (9022) is sleeved with a second reset spring (9023), and the second reset spring (9023) is located between the second pressing plate (9024) and the fixed inner cylinder body (9); The rotary driving mechanism is used for rotating the mechanical arm (4) to reciprocate through the clamping position and the blanking position; the side surface of the rotary column (7) is fixedly connected with a stop block (10); when the mechanical arm (4) is at the clamping position, the second pressing plate (9024) is located directly above the stop block (10); when the mechanical arm (4) is at the blanking position, the first pressing plate (9014) is located directly above the stop block (10); the first pressing plate (9014) and the second pressing plate (9024) are respectively used for abutting against the stop block (10) to realize the rising of the folding control piston (9021) and the unfolding control piston (9011) to push the liquid medium to flow; The variable volume mechanism (14) comprises an outer shell (143), a pressure spring (142) and a pressure piston (141); The mechanical arm (4) is fixedly connected with the outer shell (143), the pressure piston (141) is arranged in the outer shell (143), one side of the pressure piston (141) is provided with the pressure spring (142), the other side of the pressure piston (141) and the inside of the outer shell (143) are filled with liquid medium, an intermediate oil cavity (144) is arranged in the mechanical arm (4), the middle part of the outer shell (143) is communicated with the intermediate oil cavity (144), one end of the intermediate oil cavity (144) is communicated with the jaw folding first oil pipe (12), and the other end of the intermediate oil cavity (144) is communicated with the jaw folding second oil pipe (13).

2. The multi-degree-of-freedom industrial transfer robot according to claim 1, characterized by The clamping jaw assembly comprises a first parallel rod (101), a second parallel rod (102), a connecting rod (103), a mounting plate (104) and an elastic clamping plate (105); The top of the first parallel rod (101) and the second parallel rod (102) is rotatably connected to the bottom of the support plate (2), the bottom of the first parallel rod (101) and the second parallel rod (102) is rotatably connected to the mounting plate (104), and the first parallel rod (101) and the second parallel rod (102) are arranged in parallel; the mounting plate (104) is detachably connected to the elastic clamping plate (105); the middle part of the first parallel rod (101) is rotatably connected to one end of the connecting rod (103), and the other end of the connecting rod (103) is rotatably connected to the side surface of the middle connecting seat (106); The elastic clamping plates (105) of the two clamping jaw assemblies are used for clamping square materials (15); and the connecting rods (103) of the two clamping jaw assemblies are distributed on both sides of the middle connecting seat (106).

3. The multi-degree-of-freedom industrial transfer robot according to claim 1 or 2, characterized by The top of the main shaft (112) is threadedly connected with an upper limiting ring (114), the bottom of the main shaft (112) is provided with a blind hole, the top of a sliding rod (109) is slidably arranged in the blind hole, a lower limiting ring (107) is threadedly connected on the sliding rod (109), the lower limiting ring (107) is located below the support plate (2), the bottom of a clamping spring (108) is fixedly connected to the top of the lower limiting ring (107), the top of the clamping spring (108) is fixedly connected to the bottom of the main shaft (112), and the clamping spring (108) is sleeved on the sliding rod (109) and passes through the support plate (2); The bottom of the sealing shell (113) is fixedly connected with an adjusting rod (110), the top of the adjusting rod (110) is adjustably connected to the top of the support plate (2) and is used for adjusting the height of the sealing shell (113) and the tension degree of the clamping spring (108).

4. The multi-degree-of-freedom industrial transfer robot according to claim 1 or 2, characterized by When the piston (111) moves upwards, the two clamping jaw assemblies are closed; when the piston (111) moves downwards, the two clamping jaw assemblies are opened.

5. The multi-degree-of-freedom industrial handling robot according to claim 1, wherein A first valve (100) is arranged on the clamping jaw opening oil conveying pipe (11), a second valve (200) is arranged on the clamping jaw closing first oil conveying pipe (12), and a third valve (300) is arranged on the clamping jaw closing second oil conveying pipe (13).

6. The multi-degree-of-freedom industrial handling robot according to claim 1, wherein The lifting driving mechanism comprises a threaded inner cylinder (701), a screw rod (702), a servo motor (704) and a connecting block (705); A sliding cavity is arranged in the rotary column (7), the threaded inner cylinder (701) is arranged in the sliding cavity, the threaded inner cylinder (701) is threadedly connected to the screw rod (702), the top of the screw rod (702) is rotatably connected to the inner wall surface of the rotary column (7), and the bottom of the screw rod (702) is fixedly connected to the output end of the servo motor (704). The threaded inner cylinder (701) is fixedly connected to the connecting block (705) on the outer side, the rotary column (7) is provided with a notch part (703) communicating with the sliding cavity on the side, and the connecting block (705) passes through the notch part (703); the inner side of the fixed inner cylinder body (9) is fixedly connected to the connecting block (705).

7. The multi-degree-of-freedom industrial handling robot according to claim 1, wherein The rotating drive mechanism comprises a motor (5) and a gear assembly (6), the motor (5) is installed on the mechanical arm (4), the output end of the motor (5) is connected to the gear assembly (6), the gear assembly (6) is connected to the outer side of the fixed inner cylinder body (9), and the rotation of the mechanical arm (4) is realized through the counterforce of the motor (5).

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