Intelligent robot grabbing device for industrial production and transportation

Abstract

The invention discloses an intelligent robot grabbing device for industrial production and transportation, and relates to the technical field of robots. The device comprises a mounting disc; mounting grooves are formed in the bottom surface of the mounting disc; a disc is rotationally arranged in the mounting groove; multiple rails are arranged on the surface of the disc. The rails comprise the first rail, the second rail and the third rail. A plurality of first adjusting shafts and second adjusting shafts are slidably arranged on the inner top surface of the mounting disc; a first U-shaped plate is fixed at one end of the first adjusting shaft; a second U-shaped plate is fixed at one end of the second adjusting shaft; an auxiliary grabbing assembly is arranged on the inner wall of the first U-shaped plate. And an active grabbing assembly is arranged on the inner wall of the second U-shaped plate. The first rail, the second rail and the third rail which communicate with one another are arranged for the active grabbing assembly and the auxiliary grabbing assembly to operate, the active grabbing assembly and the auxiliary grabbing assembly do not cross during operation, meanwhile, the active grabbing assembly can work independently and can also be matched with the auxiliary grabbing assembly to work together, and the working efficiency is improved. And the range of the grabbed object is expanded.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to an intelligent robot grasping device for industrial production and transportation. Background Art

[0002] Robots are now being used more and more widely in human production. Robots have manipulators that are completely driven by controllers. Manipulators are automatic operating devices that can imitate certain movements of human hands and arms to grab, move objects or operate tools according to fixed procedures. Their characteristics are that they can be programmed to complete various expected tasks, and their structure and performance combine the advantages of both humans and robots.

[0003] After searching, the patent with publication number CN111890405B discloses a soft gripper and a gripping robot. The patent includes a mounting frame, a connecting plate, a driving motor, a motor seat, a gripping belt net, a screw rod, multiple active arms and a transmission arm. The bottom end of each transmission arm is hinged to the outer wall of the corresponding active arm. The driving motor drives the connecting plate to move along the screw rod, and the connecting plate drives each transmission arm and each active arm to rotate, so that each active arm drives the lower part of the gripping belt net to expand or close. The soft gripper solves the technical problems that traditional rigid grippers have poor gripping effect on fragile and fragile objects, and poor adaptability to objects of different shapes and sizes.

[0004] However, the active arm and the transmission arm of the soft gripper operate synchronously and cannot work independently. The rotation of the active arm will definitely drive the rotation of the transmission arm, which adds an extra layer of restriction between the active arm and the transmission arm, thereby limiting the upper limit of the grasping.

[0005] To this end, we provide an industrial production and transportation intelligent robot grasping device to solve the above-mentioned problems. Summary of the invention

[0006] The object of the present invention is to provide an intelligent robot grasping device for industrial production and transportation. By setting up interconnected tracks one, two and three, the active grasping component runs in tracks two and three, and the auxiliary grasping component runs in tracks one and two. The active grasping component and the auxiliary grasping component will not cross-run when running on the corresponding tracks. At the same time, the active grasping component can work alone or in conjunction with the auxiliary grasping component, thereby expanding the range of grasping objects and solving the problem that the active arm and the transmission arm of the existing grasping hand run synchronously and cannot work independently. The rotation of the active arm will definitely drive the transmission arm to rotate, thereby adding a layer of restriction between the active arm and the transmission arm, thereby limiting the upper limit of the grasping.

[0007] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0008] The present invention is a grasping device for an intelligent robot for industrial production and transportation, comprising a mounting plate; a mounting groove is provided on the bottom surface of the mounting plate; a disc is rotatably arranged on the top surface of the mounting groove; a plurality of tracks are evenly arranged on the surface of the disc in a circular array; the tracks comprise track one, track two and track three; the two ends of track two are respectively connected to track one and track three in an arc shape; track one and track three are coaxial with the disc; the radius of track one is smaller than the radius of track three; a plurality of first adjustment shafts and second adjustment shafts are slidably arranged on the top surface of the mounting plate; the first adjustment shaft and the second adjustment shaft are alternately arranged; the first adjustment shaft is adapted to the inner walls of track one and track two; the second adjustment shaft is adapted to the inner walls of track two and track three; a first U-shaped plate is fixed to one end of the first adjustment shaft; a second U-shaped plate is fixed to one end of the second adjustment shaft; an auxiliary grasping component is arranged on the inner wall of the first U-shaped plate; an active grasping component is arranged on the inner wall of the second U-shaped plate.

[0009] The present invention is further configured as follows: a plurality of connecting shafts are evenly fixed on the bottom surface of the mounting plate in a circular array; an arc-shaped plate is fixed to the bottom end of each connecting shaft; a rack is fixed to the inner wall of the arc-shaped plate; a polygonal plate is fixed between each rack; and a fixed shaft is fixed to the side of the rack.

[0010] The present invention is further configured as follows: the auxiliary grabbing assembly includes a gear and a cam rotatably arranged on the inner wall of the first U-shaped plate; the gear and the cam are coaxial; the gear and the rack are meshed and matched; a toggle rod is rotatably arranged on the side surface of the fixed shaft; a first grabbing rod is fixed to the bottom surface of the toggle rod; the side surface of the cam is adapted to the surface of the toggle rod.

[0011] The present invention is further configured as follows: a plurality of T-shaped grooves are provided on the side of the polygonal plate; the number of the T-shaped grooves is the same as the number of the first U-shaped plate; an adjustment plate is rotatably provided on the side of the toggle rod; a connecting block is fixed on the side of the adjusting plate; a sliding shaft that slides in cooperation with the T-shaped groove is fixed on the side of the connecting block.

[0012] The present invention is further configured as follows: the active grabbing assembly includes a third U-shaped plate 35 rotatably arranged on the inner wall of the second U-shaped plate; a C-shaped plate 25 is rotatably arranged on the inner wall of the third U-shaped plate 35; a second grabbing rod is fixed to the bottom surface of the C-shaped plate; fixed plates are fixed on both sides of the arc-shaped plate; and the second grabbing rod is rotatably arranged between the fixed plates between adjacent arc-shaped plates.

[0013] The present invention is further configured as follows: a plurality of first T-shaped guide grooves and second T-shaped guide grooves are evenly arranged on the top surface of the installation groove; the first T-shaped guide grooves and the second T-shaped guide grooves are alternately arranged; a first sliding block that slides with the first T-shaped guide groove is arranged on the bottom surface of the first adjusting shaft; and a second sliding block that slides with the second T-shaped guide groove is arranged on the bottom surface of the second adjusting shaft.

[0014] The present invention is further configured as follows: a clamping plate is fixed to the side surface of the first grab bar; the clamping plate is made of anti-slip material; and a supporting plate is fixed to the bottom surface of the second grab bar.

[0015] The present invention is further configured as follows: a servo motor is fixed on the surface of the mounting disk; an output end of the servo motor is fixedly connected to the turntable; and a driving device is connected to the surface of the mounting disk.

[0016] The present invention has the following beneficial effects:

[0017] 1. The present invention sets track 1, track 2 and track 3 which are interconnected. The active grasping component runs in track 2 and track 3, and the auxiliary grasping component runs in track 1 and track 2. The active grasping component and the auxiliary grasping component will not cross-operate when running on the corresponding tracks. At the same time, the active grasping component can work alone or in combination with the auxiliary grasping component, thereby expanding the range of grasping objects.

[0018] 2. In the present invention, since the active grasping component runs in the track, the auxiliary grasping component does not move, and the angle of rotation of the disc can be changed according to the size of the grasped object, so that the sliding distance of the second adjustment shaft is also different, and the force of the auxiliary grasping component to retract inward to grasp is also different, so that objects of different sizes can be grasped, thereby expanding the universal range of grasping.

[0019] 3. The operation of the active grabbing assembly and the auxiliary grabbing assembly of the present invention is achieved through the same driving force, which saves costs compared to using separate driving devices for the two.

[0020] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0022] Figure 1 This is a structural schematic diagram of an intelligent robot grasping device for industrial production and transportation.

[0023] Figure 2 For the present invention Figure 1 Top view of the .

[0024] Figure 3 It is a structural schematic diagram of a certain state when the active grasping component and the auxiliary grasping component of the present invention work together.

[0025] Figure 4 It is a structural schematic diagram of the initial state of the auxiliary grasping assembly of the present invention when it is working.

[0026] Figure 5 For the present invention Figure 4 Bottom view of .

[0027] Figure 6 For the present invention Figure 5 A magnified image of area A.

[0028] Figure 7 It is a structural schematic diagram of a certain state of the auxiliary grasping component of the present invention during operation.

[0029] Figure 8 For the present invention Figure 7 Bottom view of .

[0030] Fig. 9 For the present invention Figure 8 A magnified view of area B.

[0031] Fig.10 It is a structural schematic diagram of the initial state of the active grasping component of the present invention when working alone.

[0032] Fig.11 For the present invention Fig.10 Bottom view of .

[0033] Fig.12 For the present invention Fig.11 Magnified view of area C.

[0034] Fig.13 It is a structural schematic diagram of a certain state of the active grasping component of the present invention when it is working alone.

[0035] Fig.14 For the present invention Fig.13 Bottom view of .

[0036] Fig.15 For the present invention Fig.14 Magnified view of area D.

[0037] Fig.16 It is a structural schematic diagram of the installation disk of the present invention.

[0038] Fig.17 It is a structural schematic diagram of the installation slot of the present invention.

[0039] Fig.18 For the present invention Fig.17 Enlarged view of area E.

[0040] Fig.19 It is a schematic structural diagram of the disc of the present invention.

[0041] Fig. 20 It is a schematic structural diagram of the adjustment plate of the present invention.

[0042] Fig.21 It is a schematic structural diagram of the first U-shaped plate and the second U-shaped plate of the present invention.

[0043] Fig. 22 For the present invention Fig.21 Magnified view of region F.

[0044] Fig.23 For the present invention Fig.21 Magnified view of region G.

[0045] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0046] 1-mounting plate, 2-mounting groove, 3-disc, 4-track, 5-track one, 6-track two, 7-track three, 8-first adjusting shaft, 9-second adjusting shaft, 10-first U-shaped plate, 11-second U-shaped plate, 12-connecting shaft, 13-arc plate, 14-rack, 15-polygonal plate, 16-fixed shaft, 17-gear, 18-cam, 19-toggle rod, 20-first grab bar, 21-T-shaped slide groove, 22-adjusting plate, 23-connecting block, 24-sliding shaft, 25-C-shaped plate, 26-second grab bar, 27-fixed plate, 28-first T-shaped guide groove, 29-second T-shaped guide groove, 30-first slider, 31-second slider, 32-clamping plate, 33-support plate, 34-servo motor, 35-third U-shaped plate. DETAILED DESCRIPTION

[0047] 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.

[0048] For specific embodiment 1, please refer to Figure 1-23The present invention is an industrial production and transportation intelligent robot grasping device, comprising a mounting plate 1; a mounting groove 2 is provided on the bottom surface of the mounting plate 1; a disc 3 is rotatably provided on the top surface of the mounting groove 2; a plurality of tracks 4 are evenly provided on the surface of the disc 3 in a circular array; the track 4 comprises a track 1 5, a track 2 6 and a track 3 7; the two ends of the track 2 6 are respectively connected to the track 1 5 and the track 3 7 in an arc shape; the track 1 5 and the track 3 7 are coaxial with the disc 3; the radius of the track 1 5 is smaller than the radius of the track 3 7; the mounting plate 1 is provided with a mounting groove 2; a mounting groove 2 is provided with a mounting groove 3 ... A plurality of first adjustment shafts 8 and second adjustment shafts 9 are slidingly arranged on the inner top surface of the disk 1; the first adjustment shafts 8 and the second adjustment shafts 9 are alternately arranged; the first adjustment shaft 8 is adapted to the inner walls of the track 1 5 and the track 2 6; the second adjustment shaft 9 is adapted to the inner walls of the track 2 6 and the track 3 7; a first U-shaped plate 10 is fixed to one end of the first adjustment shaft 8; a second U-shaped plate 11 is fixed to one end of the second adjustment shaft 9; an auxiliary grasping component is arranged on the inner wall of the first U-shaped plate 10; an active grasping component is arranged on the inner wall of the second U-shaped plate 11.

[0049] Specifically, a plurality of first T-shaped guide grooves 28 and second T-shaped guide grooves 29 are evenly arranged on the top surface of the mounting groove 2; the first T-shaped guide grooves 28 and the second T-shaped guide grooves 29 are alternately arranged; a first slider 30 slidably matched with the first T-shaped guide groove 28 is arranged on the bottom surface of the first adjusting shaft 8; and a second slider 31 slidably matched with the second T-shaped guide groove 29 is arranged on the bottom surface of the second adjusting shaft 9.

[0050] Furthermore, a servo motor 34 is fixed on the surface of the mounting plate 1 ; an output end of the servo motor 34 is fixedly connected to the disc 3 ; and a driving device is connected to the surface of the mounting plate 1 .

[0051] The operation process of this embodiment is as follows: in the initial state, the auxiliary grasping component and the active grasping component are both in a relaxed state, and the active grasping component can work alone or in conjunction with the auxiliary grasping component. Figure 5 The perspective is a frontal perspective, which describes the process of the active grasping component working alone and the active grasping component and the auxiliary grasping component working together.

[0052] When the active grasping component works alone: ​​the initial state is that all first adjustment axes 8 are close to each other, all first adjustment axes 8 are located on the side of track 1 5 away from track 2 6, and all second adjustment axes 9 are located at the turning point of track 1 5 and track 2 6.

[0053] Then turn on the servo motor 34 to drive the disc 3 to rotate counterclockwise along the top surface of the installation groove 2, and then the second adjusting shaft 9 is driven by the inner wall of the track 2 6, driving the second slider 31 to slide and expand outward along the second T-shaped guide groove 29 in the direction away from the center of the disc 3. When the second adjusting shaft 9 moves to the turning point of the track 2 6 and the track 3 7, the second slider 31 can no longer expand outward. At the same time, during the expansion of the second adjusting shaft 9 from the inside to the outside, the position of the first adjusting shaft 8 changes from the side of the track 1 5 away from the track 2 6 to the turning point of the track 1 5 and the track 2 6. Since the track 1 5 is coaxial with the disc 3, the first slider will not be driven during the rotation of the disc 3. 30 slides, that is, the first adjustment shaft 8 remains stationary, and then the first U-shaped plate 10 remains stationary, and then the auxiliary grasping component remains in a relaxed state, and the second adjustment shaft 9 expands and moves outward, thereby driving the second U-shaped plate 11 to expand and move outward, and then driving the active grasping component to grasp the object. In the process of moving the object, the servo motor 34 is turned off, and the active grasping component remains stationary. Since the active grasping component runs in the track 2 6, the auxiliary grasping component is stationary, and then the rotation angle of the disc 3 can be changed according to the size of the grasped object, so that the sliding distance of the second adjustment shaft 9 is also different, and then the force of the auxiliary grasping component to contract inward to grasp is also different.

[0054] When it is necessary to put down an item, turn on the servo motor 34 to drive the disc 3 to rotate clockwise along the top surface of the installation groove 2, and then the second adjusting shaft 9 is driven by the inner wall of the track 2 6, driving the second slider 31 to slide inward along the second T-shaped guide groove 29 toward the center of the disc 3 and retract. When the second adjusting shaft 9 moves to the turning point between the track 1 5 and the track 2 6, the second slider 31 can no longer retract inward. At the same time, during the process of the second adjusting shaft 9 retracting from the outside to the inside, the position of the first adjusting shaft 8 changes from the turning point between the track 1 5 and the track 2 6 to the side of the track 1 5 away from the track 2 6. The second adjusting shaft 9 retracts inward and drives the second U-shaped plate 11 to retract inward, thereby driving the active grasping component to relax and put down the item.

[0055] When the auxiliary grasping component and the active grasping component work together: in the initial state, all first adjustment axes 8 are close to each other, all first adjustment axes 8 are located on the side of track 1 5 away from track 2 6, and all second adjustment axes 9 are located at the turning point where track 1 5 and track 2 6 are connected.

[0056] Then turn on the servo motor 34 to drive the disc 3 to rotate counterclockwise along the top surface of the installation groove 2, and then the second adjustment shaft 9 is driven by the inner wall of the track 2 6, driving the second slider 31 to slide and expand outward along the second T-shaped guide groove 29 in the direction away from the center of the disc 3. When the second adjustment shaft 9 moves to the turning point of the track 2 6 and the track 3 7, the second slider 31 can no longer expand outward, and the second adjustment shaft 9 expands outward and moves, thereby driving the second U-shaped plate 11 to expand outward, thereby driving the active grasping component to grasp the object.

[0057] Then continue to rotate the disc 3 counterclockwise, the second adjustment shaft 9 enters the track three 7 and finally stops on the side of the track three 7 away from the track two 6. Since the track three 7 is coaxial with the disc 3, the second slider 31 will not slide during the rotation of the disc 3, and the active grasping component maintains the grasping action.

[0058] At the same time, as the second adjusting shaft 9 expands from the inside to the outside and remains on the track three 7, the position of the first adjusting shaft 8 changes from the side of the track one 5 away from the track two 6 to the turning point between the track one 5 and the track two 6 and finally enters the track two 6. When the first adjusting shaft 8 is in the track one 5, the first slider 30 remains stationary, that is, the first adjusting shaft 8 remains stationary. After the first adjusting shaft 8 enters the track two 6 from the turning point between the track one 5 and the track two 6, the first adjusting shaft 8 is driven by the inner wall of the track two 6, driving the first slider 30 to slide and expand outward along the first T-shaped guide groove 28 in the direction away from the center of the disk 3.

[0059] When the first adjustment shaft 8 moves to the turning point between track two 6 and track three 7, the first slider 30 can no longer expand outward, so that the first U-shaped plate 10 remains stationary, and the auxiliary grasping component changes from a relaxed state to a grasping state. During the process of moving the object, the servo motor 34 is turned off, so that the active grasping component and the auxiliary grasping component remain grasping and stationary.

[0060] When it is necessary to put down an item, turn on the servo motor 34 to drive the disc 3 to rotate clockwise along the top surface of the installation groove 2, and then the second adjusting shaft 9 enters the turning point of track 2 6 and track 3 7 from the side of track 3 7 away from track 2 6. During this process, the second adjusting shaft 9 is always located in track 3 7, and then the active grasping component maintains the grasping state and does not move. At the same time, during this process, the first adjusting shaft 8 enters track 2 6 from the turning point of track 2 6 and track 3 7, and then the inner wall of track 2 6 pushes the first adjusting shaft 8 to move, and then drives the first slider 30 to shrink and slide inward along the first T-shaped guide groove 28 toward the center of the disc 3, and then drives the auxiliary grasping component to relax and break contact with the item.

[0061] Then continue to rotate the disk 3 clockwise. At this time, the second adjusting shaft 9 enters the track 2 6 from the turning point of the track 2 6 and the track 3 7, and then the inner wall of the track 2 6 pushes the second adjusting shaft 9 to slide, thereby driving the second slider 31 to shrink and slide inward along the second T-shaped guide groove 29 toward the center of the disk 3. When the second adjusting shaft 9 moves to the turning point of the track 2 6 and the track 3 7, the second slider 31 can no longer shrink inward. The second adjusting shaft 9 shrinks and moves inward, thereby driving the second U-shaped plate 11 to shrink and move inward, thereby driving the active grasping component to put down the item. During the process of the second adjusting shaft 9 sliding inward and shrinking in the track 2 6, the first adjusting shaft 8 enters the inside of the track 1 5 from the turning point of the track 1 5 and the track 2 6.

[0062] In this embodiment, by setting up track one 5, track two 6 and track three 7 that are interconnected, the active grasping component runs in track two 6 and track three 7, and the auxiliary grasping component runs in track one 5 and track two 6, and the active grasping component and the auxiliary grasping component will not cross-operate when running on the corresponding tracks. At the same time, the active grasping component can work alone or in combination with the auxiliary grasping component, thereby expanding the range of grasping objects. At the same time, the operation of the active grasping component and the auxiliary grasping component is through the same driving force, which saves costs compared to using driving devices for both separately.

[0063] For specific embodiment 2, please refer to Figure 1-23 On the basis of the specific embodiment 1, a plurality of connecting shafts 12 are evenly fixed in a circular array on the bottom surface of the mounting plate 1; an arc plate 13 is fixed to the bottom end of each connecting shaft 12; a rack 14 is fixed to the inner wall of the arc plate 13; a polygonal plate 15 is fixed between each rack 14; and a fixed shaft 16 is fixed to the side of the rack 14.

[0064] Specifically, the auxiliary grabbing assembly includes a gear 17 and a cam 18 rotatably arranged on the inner wall of the first U-shaped plate 10; the gear 17 and the cam 18 are coaxial; the gear 17 is meshed with the rack 14; a toggle rod 19 is rotatably arranged on the side surface of the fixed shaft 16; a first grabbing rod 20 is fixed to the bottom surface of the toggle rod 19; and the side surface of the cam 18 is adapted to the surface of the toggle rod 19.

[0065] Furthermore, a plurality of T-shaped slots 21 are provided on the side of the polygonal plate 15; the number of the T-shaped slots 21 is the same as the number of the first U-shaped plate 10; an adjustment plate 22 is rotatably provided on the side of the toggle rod 19; a connecting block 23 is fixed on the side of the adjusting plate 22; a sliding shaft 24 that slides with the T-shaped slot 21 is fixed on the side of the connecting block 23.

[0066] Furthermore, the active grabbing assembly includes a third U-shaped plate 35 rotatably arranged on the inner wall of the second U-shaped plate 11; a C-shaped plate 25 is rotatably arranged on the inner wall of the third U-shaped plate 35; a second grabbing rod 26 is fixed to the bottom surface of the C-shaped plate 25; fixed plates 27 are fixed on both sides of the arc-shaped plate 13; and the second grabbing rod 26 is rotatably arranged between the fixed plates 27 between adjacent arc-shaped plates 13.

[0067] Furthermore, a clamping plate 32 is fixed to the side of the first grab bar 20 ; the clamping plate 32 is made of anti-slip material; and a supporting plate 33 is fixed to the bottom surface of the second grab bar 26 .

[0068] The operation process of this embodiment is as follows:

[0069] The process of the active grasping component grasping an object is as follows: when the second adjusting shaft 9 is running in the track 2 6 and is pushed by the track 2 6, when the second adjusting shaft 9 slides in the direction away from the center of the disk 3, it drives the second U-shaped plate 11 to expand outward, and then drives the third U-shaped plate 35 to rotate along the inner wall of the second U-shaped plate 11, and then drives the C-shaped plate 25 to rotate clockwise along the inner wall of the third U-shaped plate 35, and then drives the second grasping rod 26 to rotate and fold downward along the fixed plate 27, and then drives the support plate 33 to fold downward, and then all the second grasping rods 26 are close to each other to grasp the object.

[0070] When the second adjustment shaft 9 slides in the direction close to the center of the disk 3, it drives the second U-shaped plate 11 to contract inward, thereby driving the third U-shaped plate 35 to rotate along the inner wall of the second U-shaped plate 11, thereby driving the C-shaped plate 25 to rotate counterclockwise along the inner wall of the third U-shaped plate 35, thereby driving the second grab bar 26 to rotate and fold upward along the fixed plate 27, thereby driving the support plate 33 to fold upward, and thereby all the second grab bars 26 move away from each other to relax the items.

[0071] The process of the auxiliary grasping assembly grasping an object is as follows: in the initial state, the first adjustment shaft 10 is located on the side close to the center of the disc 3, the protruding part of the cam 18 is vertically downward and in contact with the toggle rod 19, at this time, the side of the toggle rod 19 in contact with the cam 18 is lower than the other side, and the sliding shaft 24 is located at the lowest side of the T-shaped slide groove 21 on the polygonal plate 15, and then the first grasping rod 20 is in a state of being folded upward and stretched open.

[0072] When the first adjusting shaft 8 slides in the direction away from the center of the disk 3, the first U-shaped plate 10 is driven to expand outward, thereby driving the gear 17 to rotate one circle along the rack 14 from the side of the rack 14 close to the center of the disk 3 to the side away from the center of the disk 3, thereby driving the cam 18 to rotate one circle, so that the protruding part of the cam 18 rotates one circle from the side close to the center of the disk 3 to the side away from the center of the disk 3, and then the toggle rod 19 rotates along the fixed shaft 16, and then the side of the toggle rod 19 that is initially low becomes higher and the side of the toggle rod 19 that is initially high becomes lower. During the rotation of the toggle rod 19, the adjusting plate 22 rotates, thereby driving the connecting block 23 to rotate, and then driving the sliding shaft 24 to slide upward along the inner wall of the T-shaped slide groove 21. The side of the toggle rod 19 that is initially high becomes lower, driving the first grabbing rod 20 to rotate and fold downward, and then the first grabbing rod 20 is in a state of folding downward and shrinking to grab items.

[0073] In this embodiment, the movement of the first U-shaped plate 10 and the first U-shaped plate 11 drives the expansion and contraction of the auxiliary grasping component and the active grasping component, and the third U-shaped plate 35 and the C-shaped plate 25 cooperate to change the flipping angle of the C-shaped plate 25, thereby realizing the grasping and releasing of the active grasping component, and the gear 17 and the rack 14 cooperate to change the contact position of the protruding part of the cam 18 and the toggle rod 19, thereby realizing the grasping and releasing of the auxiliary grasping component.

[0074] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0075] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. An industrial production and transportation intelligent robot grasping device, comprising a mounting plate (1); a mounting groove (2) is provided on the bottom surface of the mounting plate (1); a disc (3) is rotatably arranged on the top surface of the mounting groove (2); the characteristics are: The surface of the disk (3) is evenly provided with a plurality of tracks (4) in a circular array; the tracks (4) include a track 1 (5), a track 2 (6) and a track 3 (7); the two ends of the track 2 (6) are respectively connected to the track 1 (5) and the track 3 (7) in an arc shape; The track 1 (5) and the track 3 (7) are coaxial with the disk (3); the radius of the track 1 (5) is smaller than the radius of the track 3 (7); A plurality of first adjustment shafts (8) and second adjustment shafts (9) are slidably arranged on the inner top surface of the installation plate (1); the first adjustment shafts (8) and the second adjustment shafts (9) are arranged alternately; The first adjustment shaft (8) is adapted to the inner wall of the track 1 (5) and the track 2 (6); the second adjustment shaft (9) is adapted to the inner wall of the track 2 (6) and the track 3 (7); A first U-shaped plate (10) is fixed to one end of the first adjustment shaft (8); a second U-shaped plate (11) is fixed to one end of the second adjustment shaft (9); an auxiliary grasping component is arranged on the inner wall of the first U-shaped plate (10); and an active grasping component is arranged on the inner wall of the second U-shaped plate (11).

2. The industrial production and transportation intelligent robot grasping device according to claim 1 is characterized in that: The bottom surface of the mounting plate (1) is evenly fixed with a plurality of connecting shafts (12) in a circular array; an arc-shaped plate (13) is fixed to the bottom end of each connecting shaft (12); a rack (14) is fixed to the inner wall of the arc-shaped plate (13); a polygonal plate (15) is fixed between each rack (14); and a fixed shaft (16) is fixed to the side of the rack (14).

3. The industrial production and transportation intelligent robot grasping device according to claim 2 is characterized in that: The auxiliary grabbing assembly comprises a gear (17) and a cam (18) rotatably arranged on the inner wall of the first U-shaped plate (10); the gear (17) and the cam (18) are coaxial; the gear (17) and the rack (14) are meshed and matched; a toggle rod (19) is rotatably arranged on the peripheral side of the fixed shaft (16); a first grabbing rod (20) is fixed to the bottom surface of the toggle rod (19); and the peripheral side of the cam (18) is matched with the surface of the toggle rod (19).

4. The industrial production and transportation intelligent robot grasping device according to claim 3 is characterized in that: The side of the polygonal plate (15) is provided with a plurality of T-shaped sliding grooves (21); the number of the T-shaped sliding grooves (21) is the same as the number of the first U-shaped plate (10); an adjusting plate (22) is rotatably provided on the side of the toggle rod (19); a connecting block (23) is fixed on the side of the adjusting plate (22); and a sliding shaft (24) that is slidably matched with the T-shaped sliding groove (21) is fixed on the side of the connecting block (23).

5. The industrial production and transportation intelligent robot grasping device according to claim 2 is characterized in that: The active grabbing assembly comprises a third U-shaped plate (35) rotatably arranged on the inner wall of the second U-shaped plate (11); a C-shaped plate (25) is rotatably arranged on the inner wall of the third U-shaped plate (35); a second grabbing rod (26) is fixed to the bottom surface of the C-shaped plate (25); fixed plates (27) are fixed on both sides of the arc-shaped plate (13); and the second grabbing rod (26) is rotatably arranged between the fixed plates (27) between adjacent arc-shaped plates (13).

6. The industrial production and transportation intelligent robot grasping device according to claim 1 is characterized in that: A plurality of first T-shaped guide grooves (28) and second T-shaped guide grooves (29) are evenly arranged on the inner top surface of the installation groove (2); the first T-shaped guide grooves (28) and the second T-shaped guide grooves (29) are arranged alternately; a first sliding block (30) slidably matched with the first T-shaped guide groove (28) is arranged on the bottom surface of the first adjustment shaft (8); and a second sliding block (31) slidably matched with the second T-shaped guide groove (29) is arranged on the bottom surface of the second adjustment shaft (9).

7. The industrial production and transportation intelligent robot grasping device according to claim 5 is characterized in that: A clamping plate (32) is fixed on the side of the first grab bar (20); the clamping plate (32) is made of anti-slip material; and a supporting plate (33) is fixed on the bottom surface of the second grab bar (26).

8. The industrial production and transportation intelligent robot grasping device according to claim 1 is characterized in that: A servo motor (34) is fixed on the surface of the mounting disk (1); an output end of the servo motor (34) is fixedly connected to the disk (3); and a driving device is connected to the surface of the mounting disk (1).

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