Manipulator structure for working of industrial robot

Abstract

The utility model discloses a manipulator structure for industrial robot work, which comprises a base, a mechanical arm is mounted on the base, a clamping mechanism is arranged at one end of the mechanical arm, the clamping mechanism is composed of a clamping servo control module, a clamping jaw and a servo assembly, a pressure sensor is mounted on the clamping jaw, and the servo assembly is connected with the clamping servo control module. The monitoring end of the pressure sensor is connected with a movable pressing block; the pressure sensor provided with the movable pressing block is assembled on the clamping jaw, extrusion acting force is transmitted to the pressure sensor, the pressure sensor monitors a pressure value and transmits the pressure value to the analysis module to be analyzed, and when the analyzed pressure value is larger than a set maximum value, the pressure sensor is started, and the pressure sensor is started. The control module issues an instruction to the clamping servo control module of the mechanical arm, so that the clamping servo control module stops continuously applying the clamping acting force in time, and the situation that the clamping acting force of the mechanical arm cannot be monitored in time, so that the clamping acting force is too large, and the object is excessively extruded and damaged is effectively avoided.

Description

Technical Field

[0001] The utility model belongs to the technical field of manipulators, and in particular relates to a manipulator structure for working industrial robots. Background Art

[0002] Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field. They have a certain degree of automation and can rely on their own power and control capabilities to achieve various industrial processing and manufacturing functions. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemicals. Industrial manipulators are automatic devices that imitate human hand movements and can automatically grasp, carry and operate according to given programs.

[0003] The existing industrial robot working manipulator structure consists of a mechanical arm and a clamping mechanism. The manipulator is assembled at the working position, and the objects are grasped and transported through the clamping claws on the clamping mechanism. However, there are the following defects:

[0004] (1) In the process of grabbing and transporting objects through the gripper of the existing industrial robot working manipulator structure, the clamping component is prone to generate excessive clamping force and clamp on the object, causing damage to the object;

[0005] (2) During assembly of the existing industrial robot working manipulator structure, a bolt assembly is used to fix the base of the manipulator structure. However, during operation, the manipulator generates vibrations, which easily cause the bolt assembly on the base to spin, causing the assembly of the industrial robot working manipulator structure to loosen. For this reason, we propose an industrial robot working manipulator structure. Utility Model Content

[0006] The purpose of the utility model is to provide an industrial robot working manipulator structure to solve the problem that the industrial robot working manipulator structure proposed in the above background technology is prone to excessive squeezing force and cannot stop clamping in time, causing damage to the object, and at the same time, when bolts are used for assembly and installation, it is easily affected by the vibration force generated by the manipulator and is prone to self-spin loosening.

[0007] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a manipulator structure for working an industrial robot, comprising a base, a manipulator arm is installed on the base, a clamping mechanism is arranged at one end of the manipulator arm, the clamping mechanism is composed of a clamping servo control module, a clamping claw and a servo assembly, a pressure sensor is installed on the clamping claw, a monitoring end of the pressure sensor is connected to a movable pressure block, a control box is installed on the manipulator arm, a control module is arranged inside the control box, an analysis module is electrically connected to the control module, and the control module is electrically connected to the clamping servo control module.

[0008] Preferably, the pressure sensor is electrically connected to a wireless transmission module, the analysis module is electrically connected to a wireless receiving module, and the wireless receiving module and the wireless transmission module are wirelessly connected.

[0009] Preferably, a key module is provided between the command transmitting end of the control module and the command receiving end of the clamping servo control module, the key module is composed of an encryption module and a decoding module, the encryption module is installed on the command transmitting end, and the decoding module is installed on the command receiving end.

[0010] Preferably, a mounting hole is provided on the surface of the base, a mounting shaft is provided on one side of the mounting hole, and the mounting shaft is fixed on the surface of the base, a clamping plate is rotatably connected to the mounting shaft, and a clamping groove is provided on one end surface of the clamping plate.

[0011] Preferably, a push frame is fixed to the side wall of the clamping plate, an outer wall of the push frame is sleeved with an assembling seat, and the assembling seat is fixed on the surface of the base.

[0012] Preferably, a spring is provided at one end of the push frame, and the spring is located inside the assembly seat.

[0013] Preferably, a limiting groove is provided on the side wall of the push frame, a limiting block is arranged inside the limiting groove, and the limiting block is fixed on the inner wall of the assembly seat.

[0014] Preferably, the cross section of the installation shaft is an I-shaped structure, and the inner end surface of the installation shaft is inlaid with balls.

[0015] Compared with the prior art, the beneficial effects of the utility model are:

[0016] (1) The utility model assembles a pressure sensor equipped with a movable pressure block on the clamping jaw. When clamping and transporting an object, the clamping jaw clamps the object and exerts a squeezing effect on the movable pressure block, transmitting the squeezing force to the pressure sensor. The pressure sensor monitors the pressure value and transmits it to the analysis module for analysis. When the analyzed pressure value is greater than the set maximum value, the control module issues an instruction to the clamping servo control module of the robot arm to stop applying the clamping force in time, effectively avoiding the clamping force of the utility model from being too large due to the inability to monitor the clamping force in time, resulting in excessive squeezing and damage to the object. The designed key module is used to encrypt the instructions, thereby improving the security of the instructions issued by the utility model.

[0017] (2) Through the designed installation shaft and clamping plate, the utility model uses a bolt assembly to penetrate into the base installation hole for fixing, and then the clamping groove at the end of the clamping plate is clamped in the side of the screw head of the bolt assembly. Since the clamping groove is a polygonal structure, it is adapted to fit the screw head of the bolt assembly, thereby locking and fixing the installation structure of the utility model to prevent the utility model from loosening due to self-spin. Through the designed assembly seat and push frame, the structure of the end of the clamping plate is reinforced. Through the designed spring, the spring exerts an elastic force on the push frame, and one end of the clamping plate is clamped more tightly on the end of the bolt assembly for installation under the action of elastic squeezing, thereby further improving the locking effect of the utility model. Through the designed limit block and limit groove, the push frame is limited to prevent it from detaching from the assembly seat. Through the designed ball bearing, a lubrication effect is played to reduce the wear between the installation shaft and the clamping plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is the front view of the utility model;

[0019] Figure 2 It is a partial structural schematic diagram of the clamping mechanism of the utility model;

[0020] Figure 3 It is a top view of the utility model;

[0021] Figure 4 This is a working system diagram of the pressure sensor of the utility model;

[0022] Figure 5 For this utility model Figure 1 A in the enlarged view;

[0023] Figure 6 It is a top sectional view of the assembly of the assembly seat and the push frame of the utility model.

[0024] In the figure: 1. base; 2. mechanical arm; 3. control box; 4. clamping mechanism; 5. clamping claw; 6. pressure sensor; 7. movable pressure block; 8. mounting shaft; 9. push frame; 10. assembly seat; 11. clamping plate; 12. mounting hole; 13. ball; 14. spring; 15. limit block; 16. limit groove. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0026] Example 1

[0027] See also Figures 1 to 4 The utility model provides a technical solution: a manipulator structure for industrial robot work, including a base 1, a mechanical arm 2 is installed on the base 1, a clamping mechanism 4 is arranged at one end of the mechanical arm 2, the clamping mechanism 4 is composed of a clamping servo control module, a clamping claw 5 and a servo component, a pressure sensor 6 is installed on the clamping claw 5, and a movable pressure block 7 is connected to the monitoring end of the pressure sensor 6, a control box 3 is installed on the mechanical arm 2, a control module is arranged inside the control box 3, an analysis module is electrically connected to the control module, the control module and the clamping servo control module are electrically connected, a wireless transmission module is electrically connected to the pressure sensor 6, the analysis module is electrically connected to the wireless receiving module, the wireless receiving module and the wireless transmission module are wirelessly connected, through the designed pressure sensor 6, the movable pressure block 7, the control module, the analysis module, the wireless receiving module and the wireless transmission module, the utility model will be equipped with a pressure block 7 The sensor 6 is assembled on the clamping jaw 5. When clamping and transporting an object, the clamping jaw 5 clamps the object and exerts a squeezing effect on the movable pressure block 7, transmitting the squeezing force to the pressure sensor 6. The pressure sensor 6 monitors the pressure value and transmits it to the analysis module for analysis. When the analyzed pressure value is greater than the set maximum value, the control module issues an instruction to the clamping servo control module of the robot arm to stop applying the clamping force in time, effectively avoiding the clamping force of the utility model from being unable to be monitored in time and resulting in excessive clamping force, which causes excessive squeezing and damage to the object. A key module is arranged between the instruction transmitting end of the control module and the instruction receiving end of the clamping servo control module. The key module is composed of an encryption module and a decoding module. Through the designed key module, the instruction is encrypted to improve the security of the instruction issuance of the utility model. The encryption module is installed on the instruction transmitting end, and the decoding module is installed on the instruction receiving end.

[0028] Example 2

[0029] See also Figures 1 to 6The utility model provides a technical solution: a manipulator structure for industrial robot work, including a base 1, a mechanical arm 2 is installed on the base 1, a clamping mechanism 4 is arranged at one end of the mechanical arm 2, the clamping mechanism 4 is composed of a clamping servo control module, a clamping claw 5 and a servo component, a pressure sensor 6 is installed on the clamping claw 5, and a movable pressure block 7 is connected to the monitoring end of the pressure sensor 6, a control box 3 is installed on the mechanical arm 2, a control module is arranged inside the control box 3, an analysis module is electrically connected to the control module, the control module and the clamping servo control module are electrically connected, a wireless transmission module is electrically connected to the pressure sensor 6, the analysis module is electrically connected to the wireless receiving module, the wireless receiving module and the wireless transmission module are wirelessly connected, through the designed pressure sensor 6, the movable pressure block 7, the control module, the analysis module, the wireless receiving module and the wireless transmission module, the utility model will be equipped with a pressure block 7 The sensor 6 is assembled on the clamping jaw 5. When clamping and transporting an object, the clamping jaw 5 clamps the object and exerts a squeezing effect on the movable pressure block 7, transmitting the squeezing force to the pressure sensor 6. The pressure sensor 6 monitors the pressure value and transmits it to the analysis module for analysis. When the analyzed pressure value is greater than the set maximum value, the control module issues an instruction to the clamping servo control module of the robot arm to stop applying the clamping force in time, effectively avoiding the clamping force of the utility model from being unable to be monitored in time and resulting in excessive clamping force, which causes excessive squeezing and damage to the object. A key module is arranged between the instruction transmitting end of the control module and the instruction receiving end of the clamping servo control module. The key module is composed of an encryption module and a decoding module. Through the designed key module, the instruction is encrypted to improve the security of the instruction issuance of the utility model. The encryption module is installed on the instruction transmitting end, and the decoding module is installed on the instruction receiving end.

[0030] In the present embodiment, preferably, a mounting hole 12 is provided on the surface of the base 1, a mounting shaft 8 is provided on one side of the mounting hole 12, and the mounting shaft 8 is fixed on the surface of the base 1, and a clamping plate 11 is connected to the mounting shaft 8 by rotation, and a clamping groove is provided on one end surface of the clamping plate 11. Through the designed mounting shaft 8 and clamping plate 11, the utility model uses a bolt assembly to penetrate into the mounting hole 12 of the base 1 for fixing, and then the clamping groove at the end of the clamping plate 11 is clamped in the side of the screw head of the bolt assembly. Since the clamping groove is a polygonal structure, it is adapted to fit the screw head of the bolt assembly, thereby locking and fixing the mounting structure of the utility model to prevent the utility model from loosening due to self-spin. A push frame 9 is fixed to the side wall of the clamping plate 11, and an assembly seat 10 is provided on the outer wall of the push frame 9. The assembly seat 10 is fixed on the surface of the base 1, and the end structure of the clamping plate 11 is reinforced through the designed assembly seat 10 and push frame 9.

[0031] In this embodiment, preferably, a spring 14 is provided at one end of the push frame 9. Through the designed spring 14, the spring 14 applies elastic force to the push frame 9, so that one end of the clamping plate 11 is clamped more tightly on the end of the bolt assembly for installation under the elastic extrusion action, further improving the locking effect of the utility model, and the spring 14 is located inside the assembly seat 10, and a limiting groove 16 is provided on the side wall of the push frame 9. A limiting block 15 is provided on the inner side of the limiting groove 16. The push frame 9 is limited by the designed limiting block 15 and the limiting groove 16 to prevent it from detaching from the assembly seat 10. The limiting block 15 is fixed on the inner wall of the assembly seat 10. The cross-section of the mounting shaft 8 is an I-shaped structure, and the inner end face of the mounting shaft 8 is inlaid with a ball 13. The designed ball 13 plays a lubricating role to reduce the wear between the mounting shaft 8 and the clamping plate 11.

[0032] The working principle and use process of the utility model are as follows: the utility model assembles a pressure sensor 6 equipped with a movable pressure block 7 on the clamping jaw 5. When clamping and transporting an object, the clamping jaw 5 clamps the object and exerts an extrusion effect on the movable pressure block 7, and transmits the extrusion force to the pressure sensor 6. The pressure sensor 6 monitors the pressure value and transmits it to the analysis module for analysis. When the analyzed pressure value is greater than the set maximum value, the control module issues an instruction to the clamping servo control module of the robot arm, so that it stops applying the clamping force in time, effectively avoiding the clamping force of the utility model from being too large due to the inability to monitor the clamping force in time, resulting in excessive extrusion and damage to the object. After the bolt assembly is inserted into the mounting hole 12 of the base 1 for fixing, the slot at the end of the clamping plate 11 is clamped on the side of the screw head of the bolt assembly. Since the slot is a polygonal structure, it is adapted to fit the screw head of the bolt assembly, thereby locking and fixing the mounting structure of the utility model to prevent the loosening of the installation of the utility model caused by self-spin.

[0033] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A manipulator structure for industrial robot work, comprising a base (1), a manipulator arm (2) mounted on the base (1), a clamping mechanism (4) disposed at one end of the manipulator arm (2), the clamping mechanism (4) consisting of a clamping servo control module, a clamping claw (5) and a servo assembly, characterized in that: The clamping jaw (5) is provided with a pressure sensor (6), the monitoring end of the pressure sensor (6) is connected to a movable pressure block (7), the mechanical arm (2) is provided with a control box (3), a control module is arranged inside the control box (3), an analysis module is electrically connected to the control module, and the control module is electrically connected to a clamping servo control module.

2. The industrial robot working manipulator structure according to claim 1, characterized in that: The pressure sensor (6) is electrically connected to a wireless transmission module, the analysis module is electrically connected to a wireless receiving module, and the wireless receiving module and the wireless transmission module are wirelessly connected.

3. The industrial robot working manipulator structure according to claim 1, characterized in that: A key module is arranged between the command transmitting end of the control module and the command receiving end of the clamping servo control module. The key module is composed of an encryption module and a decoding module. The encryption module is installed on the command transmitting end, and the decoding module is installed on the command receiving end.

4. The industrial robot working manipulator structure according to claim 1, characterized in that: The surface of the base (1) is provided with a mounting hole (12), one side of the mounting hole (12) is provided with a mounting shaft (8), and the mounting shaft (8) is fixed on the surface of the base (1), and a clamping plate (11) is connected to the mounting shaft (8) by rotation, and a clamping groove is provided on one end surface of the clamping plate (11).

5. The industrial robot working manipulator structure according to claim 4, characterized in that: A push frame (9) is fixed to the side wall of the clamping plate (11), an outer wall of the push frame (9) is sleeved with an assembly seat (10), and the assembly seat (10) is fixed on the surface of the base (1).

6. The manipulator structure for industrial robot work according to claim 5, characterized in that: A spring (14) is provided at one end of the push frame (9), and the spring (14) is located inside the assembly seat (10).

7. The industrial robot working manipulator structure according to claim 6, characterized in that: A limiting groove (16) is provided on the side wall of the push frame (9), a limiting block (15) is arranged inside the limiting groove (16), and the limiting block (15) is fixed on the inner wall of the assembly seat (10).

8. The industrial robot working manipulator structure according to claim 4, characterized in that: The cross section of the installation shaft (8) is an I-shaped structure, and the inner end surface of the installation shaft (8) is inlaid with a ball (13).

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