Cargo grabbing device for industrial robot

Abstract

The utility model relates to the technical field of industrial robots, in particular to a cargo gripping device for an industrial robot, which comprises a base, a rotating seat, a first support arm and a second support arm which are combined into an industrial robot body, and one end of the second support arm is rotatably connected with a mounting seat. The industrial robot has the advantages that the industrial robot body, the mounting base and the bottom end of the second supporting arm are rotationally connected, meanwhile, the connecting rod, the first supporting rods, the second supporting rods and the clamping base are arranged at the bottom end of the mounting base, and the bottom end of the connecting rod is rotationally connected with the middles of the three first supporting rods, so that a clamping mechanism is conveniently formed; the three clamping seats are driven by the connecting rods to contract in parallel through the shortening action of the hydraulic cylinder, so that goods are clamped conveniently, meanwhile, the hydraulic cylinder is adopted as a power source, the compressibility of hydraulic oil is very low, the clamping force on the goods is better, and therefore the problems existing in the prior art are effectively solved.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial robots, in particular to a cargo grabbing device used for an industrial robot. Background Art

[0002] An industrial robot is a multi-joint manipulator or multi-degree-of-freedom machine device for the industrial field. It can perform work automatically and relies on its own power and control capabilities to achieve various functions. In industrial production, industrial robots can replace humans to do certain monotonous, frequent and repetitive long-term operations, or operations in dangerous and harsh environments, such as in stamping, pressure casting, heat treatment, welding, painting, plastic product forming, machining and simple assembly processes.

[0003] The picking position of existing industrial robots is usually a single-cylinder pneumatic structure with a simple structure. Due to the compressibility of gas, the force for clamping goods is insufficient, and the goods are prone to fall and be damaged. Based on this, a cargo grabbing device for an industrial robot is proposed to solve the above problem. Utility Model Content

[0004] The purpose of the utility model is to overcome the shortcomings of the prior art and provide a cargo grabbing device for an industrial robot, which effectively solves the deficiencies of the prior art.

[0005] In order to achieve the above-mentioned objectives, an embodiment of the utility model on one hand provides a cargo grasping device for an industrial robot, comprising a base, a rotating seat, a first support arm and a second support arm, the four being combined into an industrial robot body, one end of the second support arm being rotatably connected to a mounting seat, the middle part of the bottom surface of the mounting seat being fixedly connected to a hydraulic cylinder, and the output end thereof being fixedly connected to a fixing plate, the bottom surface of the fixing plate being rotatably connected to three connecting rods, the bottom end of the mounting seat being fixedly connected to a circular mounting frame, the outer circular surface of the circular mounting frame being rotatably connected to three first support rods and three second support rods, respectively, the middle parts of the three first support rods are rotatably connected to the bottom ends of the three connecting rods, respectively, the bottom ends of the three first support rods and the three second support rods are rotatably connected to clamping seats, and the bottom ends of the three clamping seats are fixedly connected to limiting blocks.

[0006] Preferably, any of the above schemes is that the mounting seat is rotatably connected to one end of the second support arm by a pin. By using this scheme, the mounting seat can be relatively rotated with one end of the second support arm. When the goods are clamped, they are then affected by gravity and are in a relatively vertical state, which makes it easy to rotate with the industrial robot body and transfer or stack the goods.

[0007] Preferably, any of the above schemes is that both ends of the three connecting rods are rotatably connected to the fixed plate and the middle parts of the three first support rods through pins respectively. By using this scheme, the three connecting rods are conveniently connected to the middle parts of the first support rods, and then through the action of the hydraulic cylinder, the three connecting rods drive the three first support rods to rotate, and then the cargo is clamped or released through the three limit blocks.

[0008] Preferably, any of the above schemes is that the three first support rods and the three second support rods are grouped in pairs and placed in parallel, and the bottom ends of the three first support rods are rotatably connected to the top ends of the three clamping seats through pins. The three first support rods and the second support rods in this scheme are placed parallel to each other, and driven by the connecting rod, the clamping seats can remain parallel to each other and close to each other, so as to evenly apply pressure to the edges of the goods and clamp the goods.

[0009] Preferably, any of the above schemes has an L-shaped outer shape, and the inner walls of the three limit blocks are fixedly connected with a damping seat. The material of the damping seat in this scheme can be selected from wear-resistant and corrosion-resistant materials, such as rubber. When the three limit blocks clamp the cargo, it is easy to increase the friction between the damping seat and the surface of the cargo, thereby ensuring the stability of grabbing the cargo.

[0010] The utility model has the following advantages:

[0011] 1. The cargo grabbing device for an industrial robot is provided with an industrial robot body, a mounting seat is rotatably connected to the bottom end of the second support arm, and a connecting rod, a first support rod, a second support rod and a clamping seat are provided at the bottom end of the mounting seat, and the bottom ends of the connecting rods are rotatably connected to the middle parts of the three first support rods respectively, so as to form a clamping mechanism, shorten the action of the hydraulic cylinder, and then drive the three clamping seats to shrink in parallel through the connecting rod, so as to facilitate clamping of the cargo, and at the same time, a hydraulic cylinder is used as a power source, the hydraulic oil has very low compressibility, and the clamping force on the cargo is better, thereby effectively solving the problems existing in the prior art.

[0012] 2. The cargo grabbing device for the industrial robot is provided with a second support arm and a mounting seat, which are rotatably connected. When the cargo is clamped, the cargo can be placed vertically under the action of gravity, and is convenient for rotating with the industrial robot body to realize the transfer of the cargo. Three limit blocks are provided, each of which is fixedly connected with a damping seat, so that the three limit blocks can be stuck at the edge of the cargo. At the same time, the damping seat increases the friction between the cargo, making the clamping more secure. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a schematic diagram of the structure of the utility model from a first perspective;

[0014] Figure 2 This is a schematic diagram of the structure of the utility model from a second viewing angle;

[0015] Figure 3 This is a schematic diagram of the limit block structure of the utility model.

[0016] In the figure: 1-base, 2-rotating seat, 3-first support arm, 4-second support arm, 5-mounting seat, 6-hydraulic cylinder, 7-connecting rod, 8-circular mounting frame, 9-clamping seat, 10-limiting block, 11-first support rod, 12-damping seat, 13-second support rod, 14-fixed plate. DETAILED DESCRIPTION

[0017] The present invention is further described below in conjunction with the accompanying drawings, but the protection scope of the present invention is not limited to the following description.

[0018] like Figures 1 to 3 As shown, a cargo grasping device for an industrial robot comprises a base 1, a rotating base 2, a first support arm 3 and a second support arm 4, which are combined into an industrial robot body, one end of the second support arm 4 is rotatably connected to a mounting base 5, the middle part of the bottom surface of the mounting base 5 is fixedly connected to a hydraulic cylinder 6, and the output end thereof is fixedly connected to a fixing plate 14, the bottom surface of the fixing plate 14 is rotatably connected to three connecting rods 7, the bottom end of the mounting base 5 is fixedly connected to a circular mounting frame 8, the outer circumferential surface of the circular mounting frame 8 is rotatably connected to three first support rods 11 and three second support rods 13, the middle parts of the three first support rods 11 are rotatably connected to the bottom ends of the three connecting rods 7, the bottom ends of the three first support rods 11 and the three second support rods 13 are rotatably connected to clamping seats 9, and the bottom ends of the three clamping seats 9 are fixedly connected to limiting blocks 10.

[0019] The mounting base 5 is rotatably connected to one end of the second support arm 4 via a pin. As an optional technical solution of the present invention, this facilitates the mounting base 5 to rotate relative to one end of the second support arm 4. When the goods are clamped, they are then affected by gravity and are in a relatively vertical state, making it easy to rotate with the industrial robot body to transfer or stack the goods.

[0020] Both ends of the three connecting rods 7 are rotatably connected to the fixed plate 14 and the middle parts of the three first support rods 11 through pins. As an optional technical solution of the present invention, this facilitates the connection of the three connecting rods 7 with the middle parts of the first support rods 11, and then through the action of the hydraulic cylinder 6, the three connecting rods 7 drive the three first support rods 11 to rotate, and then the goods are clamped or released through the three limit blocks 10.

[0021] The three first support rods 11 and the three second support rods 13 are arranged in groups of two and are placed in parallel. The bottom ends of the three first support rods 11 are rotatably connected to the top ends of the three clamping seats 9 through pins. As an optional technical solution of the utility model, the three first support rods 11 and the second support rods 13 are placed parallel to each other. Driven by the connecting rod 7, the clamping seats 9 can remain parallel to each other and close to each other, which is convenient for evenly applying pressure on the edges of the goods and clamping the goods.

[0022] The three limit blocks 10 are all L-shaped in shape, and the inner walls of the three limit blocks 10 are fixedly connected with a damping seat 12. As an optional technical solution of the present invention, the material of the damping seat 12 can be selected from wear-resistant and corrosion-resistant materials, such as rubber. When the three limit blocks 10 clamp the goods, it is easy to increase the friction between the damping seat 12 and the surface of the goods, thereby ensuring the stability of grabbing the goods.

[0023] The cargo grabbing device for an industrial robot requires the following steps when in use:

[0024] 1) When in use, the industrial robot body can realize rotation and arm lifting movements;

[0025] 2) The hydraulic cylinder 6 shortens, and the fixed plate 14 drives the three connecting rods 7 to move;

[0026] 3) The three connecting rods 7 drive the three first support rods 11 and the three second support rods 13 to rotate, and simultaneously push the three limit blocks 10 to approach each other to clamp the goods;

[0027] 4) The hydraulic cylinder 6 extends, and the fixed plate 14 drives the three connecting rods 7 to move, which directly drives the three limit seats 10 to release the goods, thereby completing the release of the goods.

[0028] In summary, when the user uses it, by setting the industrial robot body, the mounting seat 5 is rotatably connected to the bottom end of the second support arm 4, and at the same time, the bottom end of the mounting seat 5 is provided with a connecting rod 7, a first support rod 11, a second support rod 13 and a clamping seat 9, and the bottom end of the connecting rod 7 is rotatably connected to the middle part of the three first support rods 11, respectively, to form a clamping mechanism, through the shortening action of the hydraulic cylinder 6, and then through the connecting rod 7, the three clamping seats 9 are driven to contract in parallel, so as to facilitate the clamping of the goods, and at the same time, the hydraulic cylinder is used as the power source, and the hydraulic oil The compressibility is very low, and the clamping force on the goods is better, thereby effectively solving the problems existing in the prior art. By setting a second support arm 4 and a mounting seat 5, the two are rotatably connected. After the goods are clamped, they are subjected to the action of gravity so that the goods can be placed vertically, which is convenient for rotation with the industrial robot body to achieve the transfer of goods. By setting three limit blocks 10, each of which is fixedly connected to a damping seat 12, it is convenient to make the three limit blocks 10 stuck at the edge position of the goods. At the same time, the damping seat 12 increases the friction between the goods, making the clamping more secure.

[0029] 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 cargo grabbing device for an industrial robot, characterized in that: The invention comprises a base (1), a rotating base (2), a first support arm (3) and a second support arm (4), the four of which are combined to form an industrial robot body, one end of the second support arm (4) is rotatably connected to a mounting base (5), the middle part of the bottom surface of the mounting base (5) is fixedly connected to a hydraulic cylinder (6), and the output end thereof is fixedly connected to a fixing plate (14), the bottom surface of the fixing plate (14) is rotatably connected to three connecting rods (7), the bottom end of the mounting base (5) is fixedly connected to a circular mounting frame (8), the outer cylindrical surface of the circular mounting frame (8) is rotatably connected to three first support rods (11) and three second support rods (13), the middle parts of the three first support rods (11) are rotatably connected to the bottom ends of the three connecting rods (7), the bottom ends of the three first support rods (11) and the three second support rods (13) are rotatably connected to clamping seats (9), and the bottom ends of the three clamping seats (9) are fixedly connected to limiting blocks (10).

2. A cargo grabbing device for an industrial robot according to claim 1, characterized in that: The mounting seat (5) is rotatably connected to one end of the second supporting arm (4) via a pin.

3. A cargo grabbing device for an industrial robot according to claim 2, characterized in that: Both ends of the three connecting rods (7) are rotatably connected to the fixing plate (14) and the middle parts of the three first supporting rods (11) respectively through pins.

4. The cargo grabbing device for an industrial robot according to claim 3, characterized in that: The three first support rods (11) and the three second support rods (13) are arranged in pairs and are placed in parallel. The bottom ends of the three first support rods (11) are rotatably connected to the top ends of the three clamping seats (9) respectively through pins.

5. The cargo grabbing device for an industrial robot according to claim 4, characterized in that: The three limit blocks (10) are all L-shaped in appearance, and the inner walls of the three limit blocks (10) are all fixedly connected with a damping seat (12).

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