Industrial robot

Abstract

The invention discloses an industrial robot, and particularly relates to the technical field of automatic production equipment, the industrial robot comprises a mechanical arm base and a transmission mechanical arm mounted on the mechanical arm base, and further comprises a grabbing mechanism mounted at the output end of the transmission mechanical arm; the grabbing mechanism comprises a quick release module, an adjusting control panel, a clamping driving module, a clamping linkage module and a clamping jaw module, and the quick release module is connected with the output end of the transmission mechanical arm and used for detachably installing the adjusting control panel. According to the industrial robot, through the arrangement of the quick disassembly module comprising the bidirectional lead screw, the hanging plate and the insertion rod, quick assembly and disassembly of the adjusting control panel and all modules below the adjusting control panel are achieved. According to the structure, overall replacement or maintenance of the grabbing mechanism is facilitated, the downtime of equipment is remarkably shortened, and the maintenance efficiency and operation convenience of a production line are improved.

Description

Technical Field

[0001] This invention relates to the field of automated production equipment technology, and in particular to an industrial robot. Background Technology

[0002] Industrial robots are key equipment in automated production lines, and the performance of their end effectors directly affects production efficiency and flexibility. Currently, there are some shortcomings in the gripping mechanisms of industrial robots used for material handling: First, the gripping mechanism is usually fixedly connected to the robotic arm or the disassembly and assembly process is cumbersome, resulting in long downtime during maintenance and replacement, which affects continuous production. Secondly, the fixed position or limited adjustment range of the gripper makes it difficult to quickly and accurately align for minor positional deviations, which affects the success rate of gripping. Furthermore, common multi-jaw synchronous drive mechanisms are complex in structure or have poor synchronization, which can easily lead to uneven clamping force or workpiece skewing. In addition, most gripper structures are fixed, and their height and gripper head shape are not adjustable, requiring dedicated actuators for different workpieces, which increases costs and management difficulty.

[0003] Therefore, there is an urgent need for an industrial robot gripping mechanism that is easy to assemble and disassemble quickly, supports fine-tuning of position, has high synchronization, and whose height and gripper are modularly adjustable. Summary of the Invention

[0004] The main objective of this invention is to provide an industrial robot that can effectively solve the problems of inconvenient disassembly and assembly, imprecise position adjustment, poor synchronization of multiple grippers, and difficulty in adapting to materials of different sizes and shapes in existing gripping mechanisms.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: An industrial robot includes a robotic arm base, a transmission robotic arm mounted on the robotic arm base, and a gripping mechanism mounted on the output end of the transmission robotic arm.

[0006] The gripping mechanism includes a quick-release module, an adjustment control board, a clamping drive module, a clamping linkage module, and a gripper module.

[0007] The quick-release module is connected to the output end of the transmission robotic arm and is used to detachably install the adjustment control board.

[0008] The adjustment control board is located below the quick-release module and can be adjusted in position relative to the quick-release module.

[0009] The clamping drive module is mounted on the adjustment control board.

[0010] The clamping linkage module is connected to the clamping drive module via a transmission connection.

[0011] The gripper module is connected to the output end of the clamping linkage module and is driven by the clamping linkage module to perform clamping or spreading movements.

[0012] Preferably, the quick-release module includes a mounting box with a mounting control groove at the bottom. A bidirectional lead screw is rotatably mounted in the mounting control groove. One end of the bidirectional lead screw extends to the outside of the mounting box and is connected to a fixing knob. A limiting slide rod is also fixedly mounted in the mounting control groove. Two hanging plates are threaded onto the bidirectional lead screw. Both hanging plates are slidably connected to the limiting slide rod. A clamp is connected to the bottom of each of the two hanging plates. A plug rod is provided on the opposite surface of each of the two clamps. Insertion holes adapted to the plug rods are provided on both sides of the adjustment control plate.

[0013] Preferably, the adjustment control plate has an adjustment groove, and an adjustment threaded rod is rotatably installed in the adjustment groove. One end of the adjustment threaded rod is connected to an adjustment knob located on the front side of the adjustment control plate, and the other end passes through a bearing and is connected to a locking threaded rod. A fixing nut for locking is threaded onto the locking threaded rod. A guide slide rod is also fixed in the adjustment groove. The adjustment slider is threaded onto the adjustment threaded rod and slidably connected to the guide slide rod. The clamping drive module is connected to the adjustment slider.

[0014] Preferably, the clamping drive module includes a fixed box, the top of which is connected to the adjusting slider. A servo motor is installed inside the fixed box, and an inspection hole is provided on the surface of the fixed box. The output shaft of the servo motor is connected to a driving bevel gear. The clamping linkage module includes a transmission box, which is connected to the bottom of the fixed box. Multiple clamping threaded rods are arranged in a ring inside the transmission box. One end of each clamping threaded rod is connected to a driven bevel gear that meshes with the driving bevel gear. A guide slide rod II is provided parallel to the top of each clamping threaded rod and fixed inside the transmission box. The gripper control slider is threaded onto the clamping threaded rod and slidably connected to the guide slide rod II. A cross-shaped groove is provided at the bottom of the transmission box, and a connecting block is fixed to the bottom of the gripper control slider. The connecting block passes through the cross-shaped groove and is connected to the gripper module.

[0015] Preferably, the gripper module includes a base plate connected to the connecting block. One or more adjusting plates are detachably connected to the bottom of the base plate. A gripper head base is detachably connected to the bottom of the lowest adjusting plate. A gripper head is detachably connected to the bottom of the gripper head base. Anti-slip pads are provided at both ends of the base plate, the adjusting plates, and the gripper head base, and bolt holes are provided at the bottom of each. Anti-slip protrusions are provided on the gripping surface of the gripper head. The gripper head is detachably connected to the gripper head base through mounting holes and fixing bolts.

[0016] Preferably, the quick-release module is used to enable the quick assembly and disassembly of the adjustment control board and all modules below it.

[0017] Preferably, rotating the adjustment knob drives the adjustment slider to move, thereby causing the clamping drive module to perform fine-tuning of its position.

[0018] Preferably, the servo motor synchronously drives the multiple clamping threaded rods to rotate via the driving bevel gear and the driven bevel gear, thereby controlling the multiple gripper control sliders to move synchronously towards or away from each other.

[0019] Preferably, the overall clamping height of the gripper module can be adjusted by increasing or decreasing the number of the adjusting cross plates or by disassembling the claw head base.

[0020] Preferably, the claw head is a replaceable design, which can be adapted to materials of different shapes by replacing the claw head with different shapes.

[0021] Compared with the prior art, the present invention has the following beneficial effects: This invention provides an industrial robot that, through the inclusion of a quick-release module comprising a bidirectional lead screw, a lifting plate, and a insertion rod, enables the rapid installation and disassembly of the adjustment control panel and all modules beneath it. This structure facilitates the overall replacement or maintenance of the gripping mechanism, significantly reducing equipment downtime and improving production line maintenance efficiency and operational convenience.

[0022] This invention provides an industrial robot that, through a fine-tuning mechanism consisting of an adjusting threaded rod, a slider, and a locking mechanism on the adjustment control panel, enables precise lateral fine-tuning of the position of the gripping drive module. This design ensures that the gripper can accurately align with workpieces of different sizes or positions, improving the accuracy and adaptability of the gripping operation.

[0023] This invention provides an industrial robot in which the gripping drive and linkage module uses a servo motor to drive an active bevel gear, which synchronously drives multiple gripping threaded rods and driven bevel gears in a ring array to rotate. This structure ensures that the multiple gripper control sliders can move in strict synchronization towards or away from each other, thereby making the gripper module uniformly stressed and stable in opening and closing, improving the synchronization accuracy and reliability of gripping.

[0024] This invention provides an industrial robot whose gripper module adopts a stacked design consisting of a base plate, adjustable plates that can be added or removed, a gripper base, and replaceable grippers, enabling flexible adjustment of the gripping height and rapid replacement of the gripper shape. This modular design allows a single gripping mechanism to be easily assembled and adapted to materials of various sizes, shapes, and internal structures, greatly enhancing the robot's versatility and application range. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the gripping mechanism of the present invention; Figure 3 This is a schematic diagram of the quick-release module structure of the present invention; Figure 4 This is a schematic cross-sectional view of the adjustment control plate of the present invention; Figure 5 This is a schematic diagram of the clamping drive module and clamping linkage module of the present invention; Figure 6 This is a schematic diagram of the overall structure of the gripper module of the present invention; Figure 7 This is a schematic diagram showing the disassembled state of the gripper module of the present invention; Figure 8 This is a schematic diagram of the cross-sectional structure of the claw head of the present invention.

[0026] In the diagram: 1. Robotic arm base; 2. Transmission robotic arm; 3. Gripping mechanism; 31. Quick-release module; 311. Mounting box; 312. Mounting control slide; 313. Bidirectional lead screw; 314. Fixing knob; 315. Limiting slide; 316. Hanging plate; 317. Clamping plate; 318. Insert rod; 32. Adjustment control plate; 321. Insertion hole; 322. Adjustment slide; 323. Adjustment threaded rod; 3231. Locking threaded rod; 3232. Adjustment knob; 324. Bearing; 325. Fixing nut; 326. Guide slide rod one; 327. Adjustment slider; 33. Clamping drive module; 331. Fixing box; 332. Inspection hole; 333. Servo motor; 334. Driving bevel gear; 34. Clamping linkage module; 341. Transmission box; 342. Clamping threaded rod; 343. Driven bevel gear; 344. Guide slide rod II; 345. Gripper control slider; 3451. Connecting block; 346. Cross-shaped slide groove; 35. Gripper module; 351. Base horizontal plate; 3511. Anti-slip pad; 3512. Bolt hole; 352. Adjusting horizontal plate; 353. Gripper head base; 354. Gripper head; 3541. Anti-slip protrusion; 3542. Mounting hole; 3543. Fixing bolt. Detailed Implementation

[0027] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0028] like Figure 1 As shown, the present invention provides an industrial robot including a robotic arm base 1, a transmission robotic arm 2, and a gripping mechanism 3. The robotic arm base 1 is fixedly installed on the ground near the production line or on a corresponding workstation. The transmission robotic arm 2 is installed on the robotic arm base 1 and can be a multi-joint robotic arm with multi-degree-of-freedom motion capability, used to realize the positioning and movement of the gripping mechanism 3 in three-dimensional space. The gripping mechanism 3 is installed at the output end of the transmission robotic arm 2 and is used to perform operations such as gripping, handling, or spreading materials.

[0029] The gripping mechanism 3 mainly includes a quick-release module 31, an adjustment control board 32, a clamping drive module 33, a clamping linkage module 34, and a gripper module 35.

[0030] like Figure 2 and Figure 3 As shown, the quick-release module 31 includes a mounting box 311. The top of the mounting box 311 is fixedly connected to the output end of the transmission robotic arm 2. The bottom of the mounting box 311 has a mounting control slide groove 312. A bidirectional lead screw 313 is rotatably mounted in the mounting control slide groove 312. One end of the bidirectional lead screw 313 extends to the outside of the mounting box 311 and is connected to a fixing knob 314. A limit slide rod 315 is also fixedly mounted in the mounting control slide groove 312. Two hanging plates 316 are threaded onto the bidirectional lead screw 313. Both hanging plates 316 are engaged with the limit slide rod 315. 5. Sliding connection: The bottom of each of the two hanging plates 316 is connected to a clamping plate 317. Each of the two clamping plates 317 has a plug rod 318 on its opposite surface. The two sides of the adjustment control plate 32 are provided with plug holes 321 that are compatible with the plug rods 318. By rotating the fixing knob 314, the bidirectional lead screw 313 can be rotated, which can make the two hanging plates 316 move towards or away from each other along the limiting slide bar 315, thereby driving the clamping plate 317 and the plug rod 318 to clamp or loosen the adjustment control plate 32, so as to realize the quick installation and disassembly of the adjustment control plate 32 and all the modules below it. Furthermore, the end of the insertion rod 318 is provided with a guide slope to facilitate alignment and insertion with the insertion holes 321 on both sides of the adjustment control plate 32. During installation, first align the insertion holes 321 on both sides of the adjustment control plate 32 with the insertion rod 318 on the two clamping plates 317, then rotate the fixing knob 314 to drive the bidirectional lead screw 313 to rotate, so that the two hanging plates 316 move towards each other along the limiting slide bar 315 until the insertion rod 318 is fully inserted into the insertion hole 321 and the clamping plate 317 is tightly attached to the side of the adjustment control plate 32, thus achieving a firm lock. During disassembly, rotating the fixing knob 314 in the opposite direction will disengage the clamping plate 317, completing the quick disassembly.

[0031] like Figure 4As shown, the adjustment control plate 32 has an adjustment groove 322. An adjustment threaded rod 323 is rotatably installed in the adjustment groove 322. One end of the adjustment threaded rod 323 is connected to an adjustment knob 3232 located on the front side of the adjustment control plate 32, and the other end passes through the bearing 324 and is connected to a locking threaded rod 3231. A locking nut 325 for locking is threaded onto the locking threaded rod 3231. A guide slide rod 326 is also fixed in the adjustment groove 322. The adjustment slider 327 is threaded onto the adjustment threaded rod 323 and slidably connected to the guide slide rod 326. By rotating the adjustment knob 3232, the adjustment threaded rod 323 can be driven to rotate, thereby driving the adjustment slider 327 to move along the guide slide rod 326, realizing the fine adjustment of the lateral position of the clamping drive module 33. After the adjustment is in place, tighten the locking nut 325 to make it press against the back of the adjustment control plate 32, thereby locking the adjustment threaded rod 323 and preventing loosening. Specifically, the adjusting slider 327 is provided with a scale indicator or positioning mark, and the side of the adjusting control plate 32 is provided with a scale ruler to facilitate quantitative positioning during fine adjustment. After the position adjustment is completed, the fixing nut 325 is tightened on the locking threaded rod 3231 and pressed against the back of the adjusting control plate 32 to prevent the adjusting threaded rod 323 from rotating under vibration environment and to ensure the long-term stability of the position of the clamping drive module 33.

[0032] like Figure 5 As shown, the clamping drive module 33 includes a fixed box 331. The top of the fixed box 331 is connected to the adjusting slider 327. A servo motor 333 is installed inside the fixed box 331. A maintenance hole 332 for maintenance and heat dissipation is opened on the surface of the fixed box 331. The output shaft of the servo motor 333 is connected to an active bevel gear 334.

[0033] The clamping linkage module 34 includes a transmission box 341, which is fixedly connected to the bottom of the fixed box 331. Multiple clamping threaded rods 342 are arranged in a ring array inside the transmission box 341. One end of each clamping threaded rod 342 is connected to a driven bevel gear 343, which meshes with the driving bevel gear 334. A guide slide rod 344 is fixed in parallel above each clamping threaded rod 342 and is fixed inside the transmission box 341. A gripper control slider 345 is threaded onto the clamping threaded rod 342 and is slidably connected to the guide slide rod 344. A cross-shaped groove 346 is opened at the bottom of the transmission box 341. A connecting block 3451 is fixed at the bottom of the gripper control slider 345. The connecting block 3451 passes through the cross-shaped groove 346 and is connected to the gripper module 35. The servo motor 333 is electrically connected to the control system and receives clamping or opening commands. The gear ratio of the driving bevel gear 334 to each driven bevel gear 343 can be designed according to the required clamping force and speed. Preferably, the clamping threaded rod 342 is a ball screw to improve transmission efficiency and motion accuracy. The width of the cross-shaped slide groove 346 is slightly larger than the width of the connecting block 3451, ensuring that the connecting block 3451 can slide smoothly in the groove while restricting its rotation, so that the movement of the gripper-controlled slider 345 is strictly converted into linear motion.

[0034] When the servo motor 333 is working, it drives the active bevel gear 334 to rotate, which in turn drives all the clamping threaded rods 342 to rotate synchronously through the bevel gear pair. This drives each gripper control slider 345 to move synchronously towards or away from each other along the guide slide bar 344, thereby realizing the closing or opening of the gripper module 35.

[0035] like Figure 6 , Figure 7 and Figure 8 As shown, the gripper module 35 includes a base plate 351, which is connected to a connecting block 3451. One or more adjusting plates 352 are detachably connected to the bottom of the base plate 351 by bolts. The bottom of the lowest adjusting plate 352 is detachably connected to a gripper base 353 by bolts. The bottom of the gripper base 353 is detachably connected to a gripper head 354 by fixing bolts 3543.

[0036] The base plate 351, the adjusting plate 352 and the claw base 353 are all provided with anti-slip pads 3511 at both ends, and bolt holes 3512 are provided at the bottom for stacking connection. By increasing or decreasing the number of adjusting plates 352 or disassembling the claw base 353, the overall clamping height of the gripper module 35 can be flexibly adjusted to adapt to workpieces of different heights or internal cavity sizes.

[0037] The gripping surface of the claw head 354 is provided with anti-slip protrusions 3541 to enhance gripping stability. The claw head 354 is aligned with the threaded hole at the bottom of the claw head base 353 through the mounting hole 3542 on it and is fixed by the fixing bolt 3543. The claw head 354 is a replaceable design and can be replaced with different structures according to the shape of the material, such as flat, V-shaped, arc-shaped claw heads, etc., to improve the adaptability of the device. Specifically, the anti-slip pad 3511 is preferably made of polyurethane or rubber to provide sufficient friction when clamping or spreading the workpiece and to avoid scratching the workpiece surface. The adjusting plate 352 is available in a variety of standard thicknesses. Users can select different quantities and combinations for stacking according to the workpiece height or inner cavity size. When replacing the claw head 354, loosen the fixing bolt 3543, remove the original claw head 354 from the claw head base 353, replace it with a claw head 354 that is adapted to the new workpiece contour, and then tighten the fixing bolt 3543 again.

[0038] The working principle of this industrial robot will be explained in detail below.

[0039] like Figure 1-8 As shown, during operation, the transmission robotic arm 2 moves the gripping mechanism 3 above the target material. The entire gripping mechanism can be quickly installed or replaced via the quick-release module 31. The clamping drive module 33 can be finely adjusted laterally by rotating the adjustment knob 3232 to ensure that the grippers are aligned with the material. During clamping, the servo motor 333 drives the active bevel gear 334, causing all the gripping threaded rods 342 to rotate synchronously. This causes the control sliders 345 of each gripper to move towards each other along the guide slide rods 344, which in turn drives the clamping molds of each gripper through the connecting block 3451. When the blocks 35 close, the material is clamped by the base plate 351, the adjusting plate 352, or the claw head 354. For ring-shaped or cylindrical workpieces, the gripper modules 35 can move in opposite directions. The workpiece is supported from the inside by the stepped adjusting plate 352. By changing the adjusting plate 352 of different heights or the claw head 354 of different shapes, it can adapt to the gripping needs of materials of various sizes and shapes. During maintenance, the entire gripping mechanism can be quickly removed through the quick-release module 31, or the servo motor 333 can be maintained through the maintenance hole 332.

[0040] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. An industrial robot, comprising a robotic arm base (1) and a transmission robotic arm (2) mounted on the robotic arm base (1), characterized in that: It also includes a gripping mechanism (3), which is installed at the output end of the transmission robotic arm (2); The gripping mechanism (3) includes a quick-release module (31), an adjustment control plate (32), a clamping drive module (33), a clamping linkage module (34), and a gripper module (35). The quick-release module (31) is connected to the output end of the transmission robotic arm (2) and is used to detachably install the adjustment control plate (32). The adjustment control plate (32) is located below the quick-release module (31) and can be adjusted in position relative to the quick-release module (31); The clamping drive module (33) is mounted on the adjustment control plate (32); The clamping linkage module (34) is connected to the clamping drive module (33) in a transmission connection; The gripper module (35) is connected to the output end of the clamping linkage module (34) and is driven by the clamping linkage module (34) to perform clamping or spreading movements.

2. An industrial robot according to claim 1, characterized in that: The quick-release module (31) includes a mounting box (311). The mounting box (311) has a mounting control groove (312) at its bottom. A bidirectional lead screw (313) is rotatably mounted in the mounting control groove (312). One end of the bidirectional lead screw (313) extends to the outside of the mounting box (311) and is connected to a fixing knob (314). A limiting slide rod (315) is also fixedly mounted in the mounting control groove (312). Two hanging plates (316) are threaded onto the bidirectional lead screw (313). Both hanging plates (316) are slidably connected to the limiting slide rod (315). A clamping plate (317) is connected to the bottom of both hanging plates (316). A plug rod (318) is provided on the opposite surface of both clamping plates (317). The adjustment control plate (32) has insertion holes (321) on both sides that are adapted to the plug rod (318).

3. An industrial robot according to claim 1, characterized in that: The adjustment control plate (32) is provided with an adjustment slide groove (322). An adjustment threaded rod (323) is rotatably installed in the adjustment slide groove (322). One end of the adjustment threaded rod (323) is connected to an adjustment knob (3232) located on the front side of the adjustment control plate (32). The other end passes through the bearing (324) and is connected to a locking threaded rod (3231). A fixing nut (325) for locking is threaded on the locking threaded rod (3231). A guide slide rod (326) is also fixed in the adjustment slide groove (322). The adjustment slider (327) is threaded on the adjustment threaded rod (323) and slidably connected to the guide slide rod (326). The clamping drive module (33) is connected to the adjustment slider (327).

4. An industrial robot according to claim 3, characterized in that: The clamping drive module (33) includes a fixed box (331), the top of which is connected to the adjusting slider (327). A servo motor (333) is installed inside the fixed box (331). An inspection hole (332) is provided on the surface of the fixed box (331). The output shaft of the servo motor (333) is connected to a drive bevel gear (334). The clamping linkage module (34) includes a transmission box (341), which is connected to the bottom of the fixed box (331). Multiple clamping threaded rods (342) are arranged in a ring inside the transmission box (341). Each clamping threaded rod (342) has a... One end of each is connected to a driven bevel gear (343) that meshes with the driving bevel gear (334). Above each of the clamping threaded rods (342), there is a guide slide rod (344) fixed in the transmission box (341) in parallel. The gripper control slider (345) is threaded on the clamping threaded rod (342) and slidably connected to the guide slide rod (344). The bottom of the transmission box (341) is provided with a cross-shaped slide groove (346). The bottom of the gripper control slider (345) is fixed with a connecting block (3451). The connecting block (3451) passes through the cross-shaped slide groove (346) and is connected to the gripper module (35).

5. An industrial robot according to claim 4, characterized in that: The gripper module (35) includes a base plate (351), which is connected to the connecting block (3451). One or more adjusting plates (352) are detachably connected to the bottom of the base plate (351). The bottom of the lowest adjusting plate (352) is detachably connected to a claw head base (353). The bottom of the claw head base (353) is detachably connected to a claw head (354). Anti-slip pads (3511) are provided at both ends of the base plate (351), the adjusting plate (352), and the claw head base (353), and bolt holes (3512) are provided at the bottom of each. Anti-slip protrusions (3541) are provided on the gripping surface of the claw head (354). The claw head (354) is detachably connected to the claw head base (353) through mounting holes (3542) and fixing bolts (3543).

6. An industrial robot according to any one of claims 1 to 5, characterized in that: The quick-release module (31) is used to realize the quick assembly and disassembly of the adjustment control board (32) and all the modules below it.

7. An industrial robot according to any one of claims 3 to 5, characterized in that: Rotating the adjustment knob (3232) drives the adjustment slider (327) to move, thereby causing the clamping drive module (33) to make fine adjustments to its position.

8. An industrial robot according to claim 4 or 5, characterized in that: The servo motor (333) drives multiple clamping threaded rods (342) to rotate synchronously through the active bevel gear (334) and the driven bevel gear (343), thereby controlling multiple gripper control sliders (345) to move synchronously towards or away from each other.

9. An industrial robot according to claim 5, characterized in that: The overall clamping height of the gripper module (35) can be adjusted by increasing or decreasing the number of the adjusting cross plates (352) or by removing the claw base (353).

10. An industrial robot according to claim 5, characterized in that: The claw (354) is a replaceable design, which can be adapted to materials of different shapes by replacing the claw (354) with different shapes.

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