An industrial robot that can easily grab and prevent goods from falling off

Abstract

The present invention discloses an industrial robot that is easy to grasp and prevent goods from falling off, and relates to the technical field of robot equipment, including a robot clamping mechanism, an active cavity, a clamping claw, a bracket, a bidirectional ball screw, a first flexible pad, a groove, a support rod, and a second flexible pad. In the present invention, two clamping claws simultaneously clamp and grasp goods, and the grasping operation is convenient and quick; the first flexible pad can effectively adapt to the outer wall of goods with different shapes, and strengthen the clamping processing effect on the surface of the goods; the groove performs contact adsorption processing effects on the surface of the first flexible pad and the surface of the goods, which can effectively strengthen the clamping processing effect of the goods; when clamping the goods, the first flexible pad on the outer wall of the clamping claw performs flexible clamping and anti-skid processing on the side wall of the goods, and the second flexible pad on the outer wall of the bracket performs flexible anti-skid support on the bottom of the goods, which can lift the bottom of the goods, effectively strengthen the clamping processing effect of the goods, and effectively prevent the goods from falling off.

Description

Technical Field

[0001] The invention relates to the technical field of robot equipment, in particular to an industrial robot which is easy to grasp and prevents goods from falling off. Background Art

[0002] Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices. Industrial robots are widely used in various industrial fields such as electronics, chemicals, and logistics.

[0003] Patent CN114454202A discloses an industrial robot with a grasping and falling protection function, including a clamping plate and an anti-slip plate arranged on the outside of the clamping plate, a protection mechanism is arranged inside the clamping plate, and the protection mechanism includes a control component, a motor, a wire wheel, a pull rope, a first guide rod, a connecting plate, a first spring, and an anti-slip block, and a control component is arranged inside the anti-slip block; when the product falls off, the roller is driven to rotate by sliding, so that the gear rotates and drives the rack to move, so that the conductive block contacts the power socket and energizes the motor, so that the wire wheel rotates to reel in the pull rope and drives the anti-slip block to move to clamp the product and prevent it from slipping, thereby avoiding the situation where the product falls directly on the platform or the ground when it falls off and collides directly, causing damage, thereby greatly improving the safety of the product grasping process, and effectively improving the practicality and stability of the industrial robot.

[0004] The industrial robot with a grabbing and falling protection function in the above-mentioned patent document mainly relies on the cooperation of an anti-skid plate and an anti-sliding block to achieve the anti-falling treatment of the goods. However, this anti-falling method perfectly relies on the friction between the anti-skid plate and the anti-sliding block and the goods to achieve the anti-falling treatment. The anti-falling treatment effect is poor, especially when grabbing heavier goods, the goods are more likely to fall off. Summary of the invention

[0005] The purpose of the present invention is to provide an industrial robot that is easy to grasp and prevents goods from falling off, so as to solve the problems raised in the above-mentioned background technology.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions: an industrial robot that is easy to grasp and prevents goods from falling off, comprising a robot gripper mechanism, a connecting head is provided at the top of the robot gripper mechanism, an active cavity is provided at the bottom of the robot gripper mechanism, a driving mechanism is provided at the top of the inner wall of the active cavity, and movable grippers are symmetrically provided on both sides of the inner wall of the active cavity below the driving mechanism, and a movable bracket is provided at the bottom of the gripper.

[0007] Furthermore, the driving mechanism includes a horizontally arranged bidirectional ball screw, the bidirectional ball screw is rotatably connected to the top of the inner wall of the movable cavity, a servo motor is provided on one side of the outer wall of the robot clamping mechanism, the output shaft of the servo motor is fixedly connected to one end of the bidirectional ball screw, symmetrical matching sleeves are provided on both sides of the outer wall of the bidirectional ball screw, the bottom of the screw nut is hinged to the top of the clamping jaw, the outer wall of the clamping jaw is rotatably connected to the inner wall of the movable cavity through a first support shaft, a first flexible pad is provided on one adjacent side of the outer walls of the two clamping jaws, a plurality of grooves are provided on one adjacent side of the outer walls of the two first flexible pads, the inner wall of the movable cavity is provided with a second support shaft on one side of the clamping jaw, the inner wall of the clamping jaw is provided with a movably connected support rod, one end of the support rod is hinged to the second support shaft, the other end of the support rod is hinged to one end of the bracket, and the outer wall of the bracket is rotatably connected to the clamping jaw through a third support shaft, and a second flexible pad is provided on the outer wall of the bracket close to the first flexible pad.

[0008] Furthermore, a first connecting rod is provided between the screw nut and the clamping jaw, one end of the first connecting rod is rotatably connected to the bottom of the screw nut, and the other end of the first connecting rod is rotatably connected to the top of the clamping jaw.

[0009] Furthermore, a second connecting rod is provided between the support rod and the second support shaft, one end of the second connecting rod is rotatably connected to the support rod, and the other end of the second connecting rod is rotatably connected to the second support shaft.

[0010] Furthermore, a third connecting rod is provided between the support rod and the bracket, one end of the third connecting rod is rotatably connected to the support rod, and the other end of the third connecting rod is rotatably connected to the bracket.

[0011] Furthermore, the outer wall of the clamp is provided with a first notch matching the second connecting rod, the bottom of the outer wall of the clamp is provided with a second notch matching the third connecting rod, and the third support shaft is arranged outside the second notch.

[0012] Furthermore, the groove is a hemispherical groove, and the distance between two adjacent grooves is equal to the inner diameter of the groove.

[0013] Furthermore, the outer wall of the support rod is provided with a plurality of first support balls, the inner wall of the clamp is provided with a through groove matching the support rod, the inner wall of the clamp is provided with a first cavity matching the first support ball, the first cavity is connected with the through groove, the inner wall of the first flexible pad is provided with a second cavity on one side of the first cavity, the first cavity is connected with the second cavity, a second support ball movably connected is provided on the inner side of the second cavity, the inner wall of the first flexible pad is provided with a third cavity on one side of the second cavity, the third cavity is connected with the second cavity, a third support ball movably connected is provided on the inner side of the third cavity, a fourth support ball movably connected is provided on the outer wall of the third support ball away from the second support ball, an opening matching the fourth support ball is opened on the outer wall of the first flexible pad, and a plurality of fourth cavities are provided on the inner wall of the first flexible pad between two adjacent second cavities.

[0014] Furthermore, the top and bottom of the first cavity are both provided with a first spherical groove matching the first support ball, the inner wall of the second cavity is provided with a second spherical groove matching the second support ball on the side away from the first cavity, the inner wall of the third cavity is provided with a third spherical groove matching the third support ball on the side away from the second cavity, the third spherical groove is connected with the opening, and the outer wall of the third support ball is provided with a fourth spherical groove matching the fourth support ball.

[0015] Furthermore, the outer diameter of the first support ball is equal to the outer diameter of the second support ball, the outer diameter of the second support ball is greater than the outer diameter of the third support ball, the outer diameter of the third support ball is greater than the outer diameter of the fourth support ball, and the centers of the second spherical groove, the third spherical groove, and the fourth spherical groove in the same group are located on the same connecting line.

[0016] Compared with the prior art, the beneficial effects achieved by the present invention are:

[0017] 1. The present invention is provided with a robot gripper mechanism, an active cavity, a gripper, a bracket, a bidirectional ball screw, a first flexible pad, a groove, a support rod, and a second flexible pad. The servo motor drives the bidirectional ball screw to rotate, and the two screw nuts simultaneously move toward the center of the bidirectional ball screw or the two screw nuts simultaneously move toward the two ends of the bidirectional ball screw. The two screw nuts respectively drive the tops of the two grippers to reciprocate through the first connecting rod, and the two grippers move synchronously. The grippers rotate along the first support shaft. When the top of the gripper moves toward the inner wall of the active cavity, the bottoms of the two grippers move toward the middle. When the top of the gripper moves toward the center of the active cavity, the bottoms of the two grippers move toward both sides. The bottoms of the two grippers simultaneously move toward the center to clamp and grasp the goods. The grasping operation is convenient and quick. The bottoms of the two grippers simultaneously move toward both sides to loosen and relax the goods. The first flexible pad moves with the gripper, and the surface of the first flexible pad and the surface of the goods are flexibly clamped. The first flexible pad can be flexibly deformed and slowed when clamping and grasping the goods. The punching can effectively adapt to the outer wall of goods with different shapes, strengthen the clamping treatment effect on the surface of goods, and the operation is convenient and quick; the groove contacts the surface of the first flexible pad and the surface of the goods, and the groove is squeezed and deformed, which can effectively adsorb the first flexible pad on the surface of the goods, effectively strengthen the clamping and adsorption treatment effect of the first flexible pad and the surface of the goods, effectively strengthen the clamping treatment effect of the goods, and effectively prevent the goods from falling off on the inner side of the clamping claw; the bottom of the support rod pushes one end of the bracket downward through the second connecting rod, and the other end of the bracket swings upward, and the second flexible pad of the outer wall of the bracket swings upward, and the second flexible pad contacts and supports the bottom of the goods, and the bottom of the goods is lifted up, which can effectively support the bottom of the goods and prevent the goods from falling off between the clamping claws; when clamping the goods, the first flexible pad of the outer wall of the clamping claw performs flexible clamping and anti-slip treatment on the side wall of the goods, and the second flexible pad of the outer wall of the bracket performs flexible anti-slip support on the bottom of the goods, which can lift the bottom of the goods, effectively strengthen the clamping treatment effect of the goods, and effectively prevent the goods from falling off.

[0018] 2. The present invention arranges a first supporting ball, a first cavity, a second cavity, a second supporting ball, a third cavity, a third supporting ball, and a fourth supporting ball. During the lifting and lowering movement of the first supporting ball, the first supporting ball first contacts the second supporting ball, the first supporting ball pushes the second supporting ball outward, the second supporting ball moves outward along the second cavity, the second supporting ball pushes the third supporting ball outward, the third supporting ball moves outward along the third cavity, the third supporting ball is pressed tightly by the second supporting ball, the third supporting ball and the inner wall of the third cavity are pressed tightly, the fourth supporting ball moves along with the third supporting ball, and the fourth supporting ball moves along with the third supporting ball. The support ball moves through the opening to the outside of the first flexible pad, and the fourth support ball rolls and contacts with the outer wall of the cargo on the outside of the first flexible pad; when the bracket is lifted up to lift the cargo, the cargo moves upward under the rolling support of the fourth support ball, so that the cargo can still move upward after being grabbed and clamped by the clamping claws, which can effectively ensure that the bracket can move normally to the bottom of the cargo and lift the cargo; as the support rod continues to move, the first support ball and the second support ball gradually separate, and the fourth support ball passes through the opening into the third cavity under the interaction with the outer wall of the cargo, and the third support ball moves along the third The cavity moves inward, the third support ball pushes the second support ball inward, the second support ball moves inward along the second cavity, the second support ball pushes the first support ball inward, and the first support ball moves inward along the second cavity. At this time, the outer wall of the cargo and the first flexible pad are restored to the flexible adsorption and anti-skid treatment, which can effectively ensure the clamping treatment effect of the cargo and prevent the cargo from falling off; the setting of the fourth cavity can effectively enhance the flexible buffering treatment effect of the first flexible pad, enhance the contact adaptability and closeness between the first flexible pad and the outer wall of the cargo, and improve the adaptability and stability of the equipment to the clamping and fixing of different cargo outer walls; when the outer wall of cargo with different shapes contacts the outer wall of the first flexible pad, the outer wall of the cargo pushes the first flexible pad outward, the first flexible pad is squeezed and deformed, the third support ball inside the first flexible pad performs telescopic movement along the third cavity, the second support ball performs telescopic movement along the second cavity, and at the same time, the second support ball, the third support ball and the fourth support ball cooperate to support inside the first flexible pad, which can effectively enhance the contact tightness and stability between the first flexible pad and the outer wall of the cargo, and further enhance the stability of the gripping and clamping of the cargo by the clamping claw to prevent the cargo from falling off. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0020] Figure 1 It is a front view of the present invention as a whole;

[0021] Figure 2 is a front cross-sectional view of the robot gripper mechanism of the present invention;

[0022] Figure 3is a front cross-sectional view of the clamping jaws of the present invention;

[0023] Figure 4 The present invention Figure 3 The enlarged schematic diagram of point A in the middle;

[0024] Figure 5 The present invention Figure 3 The enlarged schematic diagram of point B in the middle;

[0025] Figure 6 It is a partial front cross-sectional view of another state of the clamping jaw in the present invention;

[0026] Figure 7 The present invention Figure 6 The enlarged schematic diagram of the center C;

[0027] In the figure: 1. robot gripper mechanism; 2. connector; 3. movable cavity; 4. gripper; 5. bracket; 6. bidirectional ball screw; 7. servo motor; 8. screw nut; 9. first support shaft; 10. first flexible pad; 11. groove; 12. second support shaft; 13. support rod; 14. third support shaft; 15. second flexible pad; 16. first connecting rod; 17. second connecting rod; 18. third connecting rod; 19. first notch; 20. second notch; 21. first support ball; 22. through groove; 23. first cavity; 24. second cavity; 25. second support ball; 26. third cavity; 27. third support ball; 28. fourth support ball; 29. ​​opening; 30. fourth cavity. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] like Figure 1-3An industrial robot that is easy to grasp and prevent goods from falling off is shown, comprising a robot gripper mechanism 1, a connecting head 2 is provided at the top of the robot gripper mechanism 1, an active cavity 3 is provided at the bottom of the robot gripper mechanism 1, a driving mechanism is provided at the top of the inner wall of the active cavity 3, and movable grippers 4 are symmetrically provided on both sides of the inner wall of the active cavity 3 below the driving mechanism, and a movable bracket 5 is provided at the bottom of the gripper 4; the driving mechanism comprises a horizontally arranged bidirectional ball screw 6, the bidirectional ball screw 6 is rotatably connected to the top of the inner wall of the active cavity 3, a servo motor 7 is provided on one side of the outer wall of the robot gripper mechanism 1, the output shaft of the servo motor 7 is fixedly connected to one end of the bidirectional ball screw 6, and the outer walls of the bidirectional ball screw 6 are symmetrically matched with sleeves on both sides. A movably connected screw nut 8 is provided, the bottom of the screw nut 8 is hinged to the top of the clamp 4, the outer wall of the clamp 4 is rotatably connected to the inner wall of the movable cavity 3 through a first support shaft 9, a first flexible pad 10 is provided on the adjacent side of the outer walls of the two clamps 4, and a plurality of grooves 11 are provided on the adjacent side of the outer walls of the two first flexible pads 10, the inner wall of the movable cavity 3 is provided with a second support shaft 12 on one side of the clamp 4, the inner wall of the clamp 4 is provided with a movably connected support rod 13, one end of the support rod 13 is hinged to the second support shaft 12, the other end of the support rod 13 is hinged to one end of the bracket 5, and the outer wall of the bracket 5 is rotatably connected to the clamp 4 through a third support shaft 14, and a second flexible pad 15 is provided on the outer wall of the bracket 5 close to the first flexible pad 10.

[0030] A first connecting rod 16 is provided between the screw nut 8 and the clamping jaw 4, one end of the first connecting rod 16 is rotatably connected to the bottom of the screw nut 8, and the other end of the first connecting rod 16 is rotatably connected to the top of the clamping jaw 4. The first connecting rod 16 is hinged between the screw nut 8 and the clamping jaw 4, so that when the screw nut 8 performs horizontal reciprocating motion along the bidirectional ball screw 6, the screw nut 8 drives the top of the clamping jaw 4 to swing through the first connecting rod 16, thereby realizing the swinging operation of the bottom of the clamping jaw 4; a second connecting rod 17 is provided between the support rod 13 and the second support shaft 12, one end of the second connecting rod 17 is rotatably connected to the support rod 13, and the other end of the second connecting rod 17 is rotatably connected to the second support shaft 12 The second connecting rod 17 is hinged between the support rod 13 and the second support shaft 12, so that the second connecting rod 17 swings between the support rod 13 and the second support shaft 12, and the telescopic movement of the support rod 13 is realized under the pulling of the second connecting rod 17; a third connecting rod 18 is provided between the support rod 13 and the bracket 5, one end of the third connecting rod 18 is rotatably connected to the support rod 13, and the other end of the third connecting rod 18 is rotatably connected to the bracket 5, and the third connecting rod 18 is hinged between the support rod 13 and the bracket 5. When the support rod 13 telescopes, the third connecting rod 18 is driven to swing, and the third connecting rod 18 drives one end of the bracket 5 to swing, thereby ensuring that the bracket 5 swings along the third support shaft 14.

[0031] The outer wall of the clamp 4 is provided with a first notch 19 matching the second connecting rod 17, the first notch 19 provides movement space for the second connecting rod 17, and prevents the second connecting rod 17 from affecting the normal movement of the clamp 4. At the same time, the second support shaft 12 can pass through the first notch 19, and prevents the second support shaft 12 from affecting the normal movement of the clamp 4; the bottom of the outer wall of the clamp 4 is provided with a second notch 20 matching the third connecting rod 18, the third support shaft 14 is arranged outside the second notch 20, and the second notch 20 provides movement space for the third connecting rod 18 and the bracket 5, ensuring the normal movement of the third connecting rod 18 and the bracket 5; the groove 11 is a hemispherical groove, and the hemispherical groove design can effectively ensure that the groove 11 produces an adsorption effect when it contacts and squeezes the surface of the cargo, thereby enhancing the clamping stability of the cargo; the spacing between two adjacent grooves 11 is equal to the inner diameter of the groove 11, which can effectively improve the distribution density of the groove 11 on the surface of the first flexible pad 10, and can effectively enhance the clamping stability of the cargo.

[0032] The specific implementation method is as follows: when in use, the connecting head 2 at the top of the robot gripper mechanism 1 is connected to the robot driving arm by setting the robot gripper mechanism 1, the movable cavity 3, the gripper 4, the bracket 5, the bidirectional ball screw 6, the first flexible pad 10, the groove 11, the support rod 13, and the second flexible pad 15; the servo motor 7 is turned on, the servo motor 7 drives the bidirectional ball screw 6 to rotate, the bidirectional ball screw 6 drives the two screw nuts 8 to move synchronously along the bidirectional ball screw 6, the two screw nuts 8 move horizontally back and forth along the bidirectional ball screw 6, and the two screw nuts 8 move toward the center of the bidirectional ball screw 6 at the same time. Or the two screw nuts 8 move toward the two ends of the bidirectional ball screw 6 at the same time, and the two screw nuts 8 drive the tops of the two clamping jaws 4 to reciprocate through the first connecting rod 16 respectively, and the two clamping jaws 4 move synchronously, and the clamping jaws 4 rotate along the first support shaft 9. When the top of the clamping jaw 4 moves toward the inner wall of the movable cavity 3, the bottoms of the two clamping jaws 4 move toward the middle, and when the top of the clamping jaw 4 moves toward the center of the movable cavity 3, the bottoms of the two clamping jaws 4 move to both sides. The bottoms of the two clamping jaws 4 move toward the center at the same time to clamp and grab the goods. The grabbing operation is convenient and quick, and the bottoms of the two clamping jaws 4 move to both sides at the same time to loosen and release the goods.

[0033] When the clamping jaw 4 clamps the goods, the first flexible pad 10 moves with the clamping jaw 4, and the surface of the first flexible pad 10 and the surface of the goods are flexibly clamped. The first flexible pad 10 can be flexibly deformed and buffered when clamping and grabbing goods, which can effectively adapt to the outer wall of goods with different shapes, strengthen the clamping effect on the surface of the goods, and is convenient and quick to operate; the groove 11 contacts the surface of the first flexible pad 10 and the surface of the goods, and the groove 11 is squeezed and deformed, which can effectively adsorb the first flexible pad 10 on the surface of the goods, effectively strengthen the clamping and adsorption effect of the first flexible pad 10 and the surface of the goods, effectively strengthen the clamping effect of the goods, and effectively prevent the goods from falling off the inner side of the clamping jaw 4;

[0034] When the clamping jaw 4 rotates along the first support shaft 9, the support rod 13 and the second connecting rod 17 swing with the clamping jaw 4, the second support shaft 12 provides rotational support for one end of the second connecting rod 17, one end of the second connecting rod 17 rotates along the second support shaft 12, and the other end of the second connecting rod 17 drives the support rod 13 to telescope, the support rod 13 passes through the clamping jaw 4 to telescope, the support rod 13 drives one end of the bracket 5 to swing through the third connecting rod 18, the third support shaft 14 provides rotational support for the bracket 5, and the bracket 5 can swing along the third support shaft 14; when the bottom of the clamping jaw 4 moves toward the center, the distance between the support rod 13 and the second support shaft 12 is shortened, and the second support shaft 12 is The top of the support rod 13 is pushed downward through the second connecting rod 17, and the bottom of the support rod 13 pushes one end of the bracket 5 downward through the second connecting rod 17, and the other end of the bracket 5 swings upward, and the second flexible pad 15 on the outer wall of the bracket 5 swings upward, and the second flexible pad 15 contacts and supports the bottom of the cargo, and the bottom of the cargo is lifted up, which can effectively support the bottom of the cargo and prevent the cargo from falling off between the clamping claws 4; when clamping the cargo, the first flexible pad 10 on the outer wall of the clamping claw 4 performs flexible clamping and anti-skid treatment on the side wall of the cargo, and the second flexible pad 15 on the outer wall of the bracket 5 performs flexible anti-skid support on the bottom of the cargo, which can lift the bottom of the cargo, effectively enhance the clamping effect of the cargo, and effectively prevent the cargo from falling off.

[0035] like Figure 1-Figure 7The industrial robot shown in the figure is easy to grasp and prevent goods from falling off. The outer wall of the support rod 13 is provided with a plurality of first support balls 21, the inner wall of the clamping claw 4 is provided with a through groove 22 matching the support rod 13, the inner wall of the clamping claw 4 is provided with a first cavity 23 matching the first support ball 21, the first cavity 23 is connected with the through groove 22, the inner wall of the first flexible pad 10 is provided with a second cavity 24 on one side of the first cavity 23, the first cavity 23 is connected with the second cavity 24, and the inner side of the second cavity 24 is provided with a second support movably connected The first flexible pad 10 has an inner wall with a third cavity 26 on one side of the second cavity 24, and the third cavity 26 is connected with the second cavity 24. A third support ball 27 is movably connected to the inner side of the third cavity 26. A fourth support ball 28 is movably connected to the outer wall of the third support ball 27 away from the second support ball 25. An opening 29 matching the fourth support ball 28 is formed on the outer wall of the first flexible pad 10. A plurality of fourth cavities 30 are formed on the inner wall of the first flexible pad 10 between two adjacent second cavities 24.

[0036] The top and bottom of the first cavity 23 are both provided with a first spherical groove matching the first support ball 21, and the first spherical groove provides position-limiting support for the first support ball 21, which can effectively limit the movement range of the first support ball 21; the inner wall of the second cavity 24 is provided with a second spherical groove matching the second support ball 25 on the side away from the first cavity 23, and the second spherical groove provides position-limiting support for the second support ball 25, which can effectively ensure the movement range of the second support ball 25 inside the second cavity 24, and at the same time ensure that the second support ball 25 can completely move to the inside of the second spherical groove to push the third support ball 27 outward, thereby improving the movement stability of the second support ball 25 and the third support ball 27; the inner wall of the third cavity 26 is provided with a third spherical groove matching the third support ball 27 on the side away from the second cavity 24, and the third spherical groove is connected with the opening 29, and the third spherical groove provides position-limiting support for the third support ball 27, which can effectively ensure the movement range of the third support ball 27 inside the third cavity 26, thereby ensuring the fourth support The ball 28 can move through the opening 29 to the outside of the first flexible pad 10; the outer wall of the third support ball 27 is provided with a fourth spherical groove matching the fourth support ball 28, and the fourth spherical groove provides installation and movement space for the fourth support ball 28 to ensure the rolling of the fourth support ball 28; the outer diameter of the first support ball 21 is equal to the outer diameter of the second support ball 25, the outer diameter of the second support ball 25 is greater than the outer diameter of the third support ball 27, and the outer diameter of the third support ball 27 is greater than the outer diameter of the fourth support ball 28, so that the first support ball 21 ejects the second support ball 25 more stably and smoothly, and the second support ball 25 ejects the third support ball 27 more stably and smoothly; the ball centers of the same group of the second spherical groove, the third spherical groove, and the fourth spherical groove are located on the same connecting line, so that the second support ball 25, the third support ball 27 and the fourth support ball 28 make linear motion along the second spherical groove, the third spherical groove, and the fourth spherical groove during the movement, so that the second support ball 25 ejects the third support ball 27 more stably and smoothly.

[0037] The specific implementation method is as follows: when in use, by setting the first support ball 21, the first cavity 23, the second cavity 24, the second support ball 25, the third cavity 26, the third support ball 27, and the fourth support ball 28, when the support rod 13 telescopes inside the clamp 4, the first support ball 21 performs a lifting movement along the first cavity 23. During the lifting movement of the first support ball 21, the first support ball 21 first contacts the second support ball 25, the first support ball 21 pushes the second support ball 25 outward, the second support ball 25 moves outward along the second cavity 24, and the second support ball 25 pushes the third support ball 27 outward The third support ball 27 moves outward along the third cavity 26, the third support ball 27 is pressed tightly by the second support ball 25, the third support ball 27 and the inner wall of the third cavity 26 are pressed tightly, the fourth support ball 28 moves along with the third support ball 27, the fourth support ball 28 passes through the opening 29 and moves to the outside of the first flexible pad 10, and the fourth support ball 28 rolls and contacts with the outer wall of the cargo on the outside of the first flexible pad 10; when the bracket 5 pushes up to lift the cargo, the cargo moves upward under the rolling support of the fourth support ball 28, so that the cargo can still move upward after being grabbed and clamped by the clamp 4, which can effectively ensure that the bracket 5 can move normally to the cargo As the support rod 13 continues to move, the first support ball 21 and the second support ball 25 gradually separate, the tightening force of the first support ball 21 on the second support ball 25 gradually decreases, the tightening force of the second support ball 25 and the third support ball 27 gradually decreases, the tightening force on the fourth support ball 28 decreases, the tightening force on the outer wall of the cargo and the fourth support ball 28 decreases, and the fourth support ball 28 interacts with the outer wall of the cargo, and the fourth support ball 28 passes through the opening 29 into the third cavity 26, and the third support ball 27 moves inward along the third cavity 26, and the third support ball 27 holds the second The support ball 25 pushes inward, and the second support ball 25 moves inward along the second cavity 24. The second support ball 25 pushes the first support ball 21 inward, and the first support ball 21 moves inward along the second cavity 24. At this time, the outer wall of the cargo and the first flexible pad 10 are restored to the flexible adsorption and anti-skid treatment, which can effectively ensure the clamping effect of the cargo and prevent the cargo from falling off; the setting of the fourth cavity 30 can effectively enhance the flexible buffering effect of the first flexible pad 10, enhance the contact adaptability and closeness between the first flexible pad 10 and the outer wall of the cargo, and improve the adaptability and stability of the equipment to the clamping and fixing of different cargo outer walls;When the outer wall of the cargo with different shapes contacts the outer wall of the first flexible pad 10, the outer wall of the cargo pushes the first flexible pad 10 outward, the first flexible pad 10 is squeezed and deformed, the third support ball 27 inside the first flexible pad 10 performs telescopic movement along the third cavity 26, and the second support ball 25 performs telescopic movement along the second cavity 24. At the same time, the second support ball 25, the third support ball 27 and the fourth support ball 28 cooperate to support inside the first flexible pad 10, which can effectively enhance the contact tightness and stability between the first flexible pad 10 and the outer wall of the cargo, and further enhance the gripping and clamping stability of the clamp 4 on the cargo, and prevent the cargo from falling off. ;

[0038] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An industrial robot that can easily grasp and prevent goods from falling off, comprising a robot gripper mechanism (1), characterized in that: The robot gripper mechanism (1) is provided with a connecting head (2) at the top, a movable cavity (3) at the bottom, a driving mechanism at the top of the inner wall of the movable cavity (3), symmetrical movable grippers (4) are provided on both sides of the inner wall of the movable cavity (3) below the driving mechanism, and a movable bracket (5) is provided at the bottom of the gripper (4); the driving mechanism comprises a horizontally arranged bidirectional ball screw (6), the bidirectional ball screw (6) is rotatably connected to the top of the inner wall of the movable cavity (3), a servo motor (7) is provided on one side of the outer wall of the robot gripper mechanism (1), the output shaft of the servo motor (7) is fixedly connected to one end of the bidirectional ball screw (6), and the bidirectional ball screw (6) is rotatably connected to the top of the inner wall of the movable cavity (3). ) symmetrically matched sleeves are provided on both sides of the outer wall with movably connected screw nuts (8), the bottom of the screw nut (8) is hinged to the top of the clamp (4), the outer wall of the clamp (4) is rotatably connected to the inner wall of the movable cavity (3) through a first support shaft (9), a first flexible pad (10) is provided on the adjacent side of the outer wall of the two clamps (4), a plurality of grooves (11) are provided on the adjacent side of the outer wall of the two first flexible pads (10), the inner wall of the movable cavity (3) is provided with a second support shaft (12) on one side of the clamp (4), the inner wall of the clamp (4) is provided with a movably connected support rod (13), one end of the support rod (13) is hinged to the second support shaft (12), and the other end of the support rod (13) is hinged to one end of the bracket (5). The bracket (5) is hinged, and the outer wall of the bracket (5) is rotatably connected to the clamping claw (4) through a third support shaft (14); a second flexible pad (15) is provided on the outer wall of the bracket (5) near the first flexible pad (10); a plurality of first supporting balls (21) are provided on the outer wall of the support rod (13); a through groove (22) matching the support rod (13) is provided on the inner wall of the clamping claw (4); a first cavity (23) matching the first supporting ball (21) is provided on the inner wall of the clamping claw (4); the first cavity (23) is connected to the through groove (22); a second cavity (24) is provided on the inner wall of the first flexible pad (10) on one side of the first cavity (23); the first cavity (23) is connected to the second cavity (24); A second support ball (25) is movably connected to the inner side of the second cavity (24); a third cavity (26) is provided on the inner wall of the first flexible pad (10) at one side of the second cavity (24); the third cavity (26) is connected to the second cavity (24); a third support ball (27) is movably connected to the inner side of the third cavity (26); a fourth support ball (28) is movably connected to the outer wall of the third support ball (27) at a side away from the second support ball (25); an opening (29) matching the fourth support ball (28) is provided on the outer wall of the first flexible pad (10); and a plurality of fourth cavities (30) are provided on the inner wall of the first flexible pad (10) between two adjacent second cavities (24).

2. The industrial robot for easily grasping and preventing goods from falling off according to claim 1, characterized in that: A first connecting rod (16) is provided between the screw nut (8) and the clamping jaw (4), one end of the first connecting rod (16) is rotatably connected to the bottom of the screw nut (8), and the other end of the first connecting rod (16) is rotatably connected to the top of the clamping jaw (4).

3. The industrial robot for easily grasping and preventing goods from falling off according to claim 1, characterized in that: A second connecting rod (17) is provided between the support rod (13) and the second support shaft (12); one end of the second connecting rod (17) is rotatably connected to the support rod (13), and the other end of the second connecting rod (17) is rotatably connected to the second support shaft (12).

4. The industrial robot for easily grasping and preventing goods from falling off according to claim 3, characterized in that: A third connecting rod (18) is provided between the support rod (13) and the bracket (5); one end of the third connecting rod (18) is rotatably connected to the support rod (13), and the other end of the third connecting rod (18) is rotatably connected to the bracket (5).

5. The industrial robot for easily grasping and preventing goods from falling off according to claim 4, characterized in that: The outer wall of the clamping jaw (4) is provided with a first notch (19) matching the second connecting rod (17), the bottom of the outer wall of the clamping jaw (4) is provided with a second notch (20) matching the third connecting rod (18), and the third support shaft (14) is arranged outside the second notch (20).

6. The industrial robot for easily grasping and preventing goods from falling off according to claim 1, characterized in that: The grooves (11) are hemispherical grooves, and the distance between two adjacent grooves (11) is equal to the inner diameter of the grooves (11).

7. The industrial robot for easily grasping and preventing goods from falling off according to claim 1, characterized in that: The top and bottom of the first cavity (23) are both provided with a first spherical groove matching the first supporting ball (21); the inner wall of the second cavity (24) is provided with a second spherical groove matching the second supporting ball (25) on a side away from the first cavity (23); the inner wall of the third cavity (26) is provided with a third spherical groove matching the third supporting ball (27) on a side away from the second cavity (24); the third spherical groove is connected to the opening (29); and the outer wall of the third supporting ball (27) is provided with a fourth spherical groove matching the fourth supporting ball (28).

8. The industrial robot for easily grasping and preventing goods from falling off according to claim 7, characterized in that: The outer diameter of the first supporting ball (21) is equal to the outer diameter of the second supporting ball (25), the outer diameter of the second supporting ball (25) is greater than the outer diameter of the third supporting ball (27), the outer diameter of the third supporting ball (27) is greater than the outer diameter of the fourth supporting ball (28), and the centers of the second spherical groove, the third spherical groove, and the fourth spherical groove of the same group are located on the same connecting line.

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