An intelligent robot grasping device for industrial production transportation

Abstract

The present invention discloses an intelligent robot grasping device for industrial production transportation, which relates to the technical field of robots. The present invention includes a mounting disc; a mounting groove is formed on the bottom surface of the mounting disc; a disc is rotatably arranged in the mounting groove; a plurality of tracks are formed on the surface of the disc; the tracks include Track 1, Track 2 and Track 3; 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 grasping assembly is arranged on the inner wall of the first U-shaped plate; a main grasping assembly is arranged on the inner wall of the second U-shaped plate. By providing Track 1, Track 2 and Track 3 which are interconnected for the operation of the main grasping assembly and the auxiliary grasping assembly, the main grasping assembly and the auxiliary grasping assembly will not cross each other during operation. At the same time, the main grasping assembly can work alone or work together with the auxiliary grasping assembly, expanding the range of grasping objects.

Description

Technical Field

[0001] The present invention belongs to the technical field of robotics, and particularly relates to a grasping device for an intelligent robot for industrial production transportation. Background Art

[0002] Robots are now used more and more widely in human production. There are mechanical hands completely driven by controllers. A mechanical hand is an automatic operating device that can imitate some action functions of human hands and arms, and is used to grasp, transport objects or operate tools according to a fixed program. Its characteristic is that it can complete various expected operations through programming, and it combines the respective advantages of humans and mechanical hands in terms of structure and performance.

[0003] After retrieval, the patent with the publication number CN111890405B discloses a soft grasping hand and a grasping robot. The patent includes a mounting frame, a connecting disk, a driving motor, a motor base, a grasping belt net, a lead screw, a plurality of active arms and transmission arms. The bottom end of each transmission arm is hinged to the outer wall of the corresponding active arm. The driving motor drives the connecting disk to move along the lead screw, and the connecting disk drives each transmission arm and each active arm to rotate, so that each active arm drives the lower part of the grasping belt net to unfold or close. This soft grasping hand solves the technical problems that the traditional rigid grasping hand has poor grasping effect on vulnerable and fragile items, and has poor grasping adaptability to items of different shapes and sizes.

[0004] However, the active arms and transmission arms of this soft grasping hand operate synchronously and cannot work independently. The rotation of the active arm will definitely drive the rotation of the transmission arm, which in turn adds an extra layer of restriction to each other between the active arm and the transmission arm, thereby restricting the grasping upper limit.

[0005] Therefore, we provide a grasping device for an intelligent robot for industrial production transportation to solve the above problems. Summary of the Invention

[0006] The purpose of the present invention is to provide a grasping device for an intelligent robot for industrial production transportation. By setting track one, track two and track three that are interconnected, the active grasping component runs in track two and track three, and the auxiliary grasping component runs in track one and track two. And when the active grasping component and the auxiliary grasping component run in the corresponding tracks, there will be no phenomenon of cross operation. At the same time, the active grasping component can work alone or work together with the auxiliary grasping component, expanding the range of grasping objects, and solving the problem that the active arms and transmission arms of the existing grasping hands operate synchronously and cannot work independently. The rotation of the active arm will definitely drive the rotation of the transmission arm, which in turn adds an extra layer of restriction to each other between the active arm and the transmission arm, thereby restricting the grasping upper limit.

[0007] To solve the above technical problems, the present invention is realized through the following technical solutions:

[0008] The present invention relates to a grasping device for an intelligent robot in industrial production transportation, including a mounting plate; an installation groove is formed on the bottom surface of the mounting plate; a disc is rotatably arranged through the inner top surface of the installation groove; a plurality of tracks are uniformly formed through the surface of the disc in a circumferential array; the tracks include a track one, a track two and a track three; both ends of the track two are arc-connected to the track one and the track three respectively; the track one and the track three are coaxial with the disc; the radius of the track one is smaller than the radius of the track three; a plurality of first adjusting shafts and second adjusting shafts are slidably arranged on the inner top surface of the mounting plate; the first adjusting shafts and the second adjusting shafts are arranged alternately; the first adjusting shaft is adapted to the inner walls of the track one and the track two; the second adjusting shaft is adapted to the inner walls of the track two and the track three; 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 grasping component is arranged on the inner wall of the first U-shaped plate; a main grasping component is arranged on the inner wall of the second U-shaped plate.

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

[0010] The present invention is further configured as: the auxiliary grasping component 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 is meshed and matched with the rack; a toggle rod is rotatably arranged on the circumferential surface of the fixed shaft; a first grasping rod is fixed on the bottom surface of the toggle rod; the circumferential surface of the cam is adapted to the surface of the toggle rod.

[0011] The present invention is further configured as: a plurality of T-shaped chutes are formed on the side surface of the polygonal plate; the number of the T-shaped chutes is the same as the number of the first U-shaped plates; an adjusting plate is rotatably arranged on the side surface of the toggle rod; a connecting block is fixed on the side surface of the adjusting plate; a sliding shaft slidably matched with the T-shaped chute is fixed on the side surface of the connecting block.

[0012] The present invention is further configured as: the main grasping component 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 grasping rod is fixed on the bottom surface of the C-shaped plate; fixing plates are fixed on both sides of the arc-shaped plate; the second grasping rod is rotatably arranged between the fixing plates of adjacent arc-shaped plates.

[0013] The present invention is further configured as follows: a plurality of first T-shaped guiding grooves and second T-shaped guiding grooves are uniformly formed in the top surface of the installation groove; the first T-shaped guiding grooves and the second T-shaped guiding grooves are arranged alternately; a first slider slidably engaged with the first T-shaped guiding groove is provided on the bottom surface of the first adjusting shaft; and a second slider slidably engaged with the second T-shaped guiding groove is provided 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 gripping rod; the clamping plate is made of an anti-slip material; and a supporting plate is fixed to the bottom surface of the second gripping rod.

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

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

[0017] 1. The present invention is provided with interconnected track one, track two and track three. The active grasping assembly operates in track two and track three, and the auxiliary grasping assembly operates in track one and track two. Moreover, when the active grasping assembly and the auxiliary grasping assembly operate in the corresponding tracks, no cross-operation phenomenon will occur. At the same time, the active grasping assembly can work independently or work together with the auxiliary grasping assembly, expanding the range of grasping objects.

[0018] 2. Since the auxiliary grasping assembly does not move when the active grasping assembly operates in the track, the angle of rotation of the disc can be changed according to the size of the grasped item, so that the sliding distance of the second adjusting shaft is also different, and thus the inward contraction and grasping force of the auxiliary grasping assembly are also different, enabling the grasping of items of different volumes and expanding the universal range of grasping.

[0019] 3. The operation of the active grasping assembly and the auxiliary grasping assembly of the present invention is driven by the same driving force, saving costs compared to using driving devices separately for the two.

[0020] Of course, it is not necessary for any product implementing the present invention to achieve all the above-mentioned advantages simultaneously. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for describing the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention, and those of ordinary skill in the art can obtain other drawings without creative efforts based on these drawings.

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

[0023] Figure 2 is the top view of the present invention Figure 1 .

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

[0025] Figure 4 is a schematic structural view of the initial state when the auxiliary grasping component of the present invention works.

[0026] Figure 5 is the Figure 4 bottom view of the present invention.

[0027] Figure 6 is the Figure 5 enlarged view of area A of the present invention.

[0028] Figure 7 is a schematic structural view of a certain state during the working process of the auxiliary grasping component of the present invention.

[0029] Figure 8 is the Figure 7 bottom view of the present invention.

[0030] Figure 9 is the Figure 8 enlarged view of area B of the present invention.

[0031] Figure 10 is a schematic structural view of the initial state when the active grasping component of the present invention works alone.

[0032] Figure 11 is the Figure 10 bottom view of the present invention.

[0033] Figure 12 is the Figure 11 enlarged view of area C of the present invention.

[0034] Figure 13 is a schematic structural view of a certain state during the working process when the active grasping component of the present invention works alone.

[0035] Figure 14 is the Figure 13 bottom view of the present invention.

[0036] Figure 15 is the Figure 14 enlarged view of area D of the present invention.

[0037] Figure 16 is a schematic structural view of the mounting plate of the present invention.

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

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

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

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

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

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

[0044] Figure 23 For the present invention Figure 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 Figures 1-23, the present invention is an intelligent robot grasping device for industrial production transportation, including a mounting plate 1; a mounting groove 2 is opened on the bottom surface of the mounting plate 1; a disc 3 is rotatably arranged through the inner top surface of the mounting groove 2; a plurality of tracks 4 are uniformly and throughly opened on the surface of the disc 3 in a circumferential array; the track 4 includes a track one 5, a track two 6 and a track three 7; both ends of the track two 6 are arc-connected to the track one 5 and the track three 7 respectively; the track one 5 and the track three 7 are coaxial with the disc 3; the radius of the track one 5 is smaller than the radius of the track three 7; a plurality of first adjusting shafts 8 and second adjusting shafts 9 are slidably arranged on the inner top surface of the mounting plate 1; the first adjusting shafts 8 and the second adjusting shafts 9 are arranged alternately; the first adjusting shaft 8 is adapted to the inner walls of the track one 5 and the track two 6; the second adjusting shaft 9 is adapted to the inner walls of the track two 6 and the track three 7; a first U-shaped plate 10 is fixed to one end of the first adjusting shaft 8; a second U-shaped plate 11 is fixed to one end of the second adjusting shaft 9; an auxiliary grasping assembly is arranged on the inner wall of the first U-shaped plate 10; a main grasping assembly is arranged on the inner wall of the second U-shaped plate 11.

[0049] Specifically, a plurality of first T-shaped guiding grooves 28 and second T-shaped guiding grooves 29 are uniformly opened on the inner top surface of the mounting groove 2; the first T-shaped guiding grooves 28 and the second T-shaped guiding grooves 29 are arranged alternately; a first slider 30 that is slidably matched with the first T-shaped guiding groove 28 is arranged on the bottom surface of the first adjusting shaft 8; a second slider 31 that is slidably matched with the second T-shaped guiding 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; the output end of the servo motor 34 is fixedly connected to the disc 3; 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, both the auxiliary grasping assembly and the main grasping assembly are in a relaxed state. The main grasping assembly can work alone or work together with the auxiliary grasping assembly. The following takes Figure 5 the perspective as the front view perspective to separately describe the process of the main grasping assembly working alone and the process of the main grasping assembly and the auxiliary grasping assembly working together.

[0052] When the main grasping assembly works alone: In the initial state, all the first adjusting shafts 8 are close to each other, all the first adjusting shafts 8 are located on the side of the track one 5 away from the track two 6, and all the second adjusting shafts 9 are located at the turning points of the track one 5 and the track two 6.

[0053] Then, turn on the servo motor 34 to drive the disc 3 to rotate counterclockwise along the inner top surface of the installation groove 2. Further, the second adjustment shaft 9 is driven by the inner wall of the second track 6, driving the second slider 31 to slide outward away from the center of the disc 3 along the second T-shaped guide groove 29 to expand outward. When the second adjustment shaft 9 moves to the turning point of the second track 6 and the third track 7, the second slider 31 can no longer expand outward. At the same time, during the process of the second adjustment shaft 9 expanding from the inside out, the position of the first adjustment shaft 8 changes from the side of the first track 5 away from the second track 6 to the turning point of the first track 5 and the second track 6. Since the first track 5 and the disc 3 are coaxial, the disc 3 will not drive the first slider 30 to slide during rotation, that is, the first adjustment shaft 8 remains stationary. Further, the first U-shaped plate 10 remains stationary, and further, the auxiliary grasping assembly remains in a relaxed state and does not move. The second adjustment shaft 9 expands outward and moves, driving the second U-shaped plate 11 to expand outward and move, and further driving the active grasping assembly to grasp the item. When moving the item, turn off the servo motor 34, and the active grasping assembly remains grasping and does not move. Since the active grasping assembly does not move when running in the second track 6, the rotation angle of the disc 3 can be changed according to the size of the grasped item. Further, the sliding distance of the second adjustment shaft 9 is also different, and further, the inward contraction and grasping force of the auxiliary grasping assembly is also different.

[0054] When it is necessary to put down the item, turn on the servo motor 34 to drive the disc 3 to rotate clockwise along the inner top surface of the installation groove 2. Further, the second adjustment shaft 9 is driven by the inner wall of the second track 6, driving the second slider 31 to slide inward toward the center of the disc 3 along the second T-shaped guide groove 29 to contract inward. When the second adjustment shaft 9 moves to the turning point of the first track 5 and the second track 6, the second slider 31 can no longer contract inward. At the same time, during the process of the second adjustment shaft 9 contracting from the outside in, the position of the first adjustment shaft 8 changes from the turning point of the first track 5 and the second track 6 to the side of the first track 5 away from the second track 6. The second adjustment shaft 9 contracts inward and moves, driving the second U-shaped plate 11 to contract inward and move, and further driving the active grasping assembly to relax and put down the item.

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

[0056] Then, turn on the servo motor 34 to drive the disc 3 to rotate counterclockwise along the inner top surface of the installation groove 2. As a result, the second adjusting shaft 9 is driven by the inner wall of the second track 6, driving the second slider 31 to slide away from the center of the disc 3 along the second T-shaped guiding groove 29 to expand outward. When the second adjusting shaft 9 moves to the turning point of the second track 6 and the third track 7, the second slider 31 can no longer expand outward. The outward expansion movement of the second adjusting shaft 9 drives the second U-shaped plate 11 to expand outward, thereby driving the active grasping component to grasp the item.

[0057] Then continue to rotate the disc 3 counterclockwise. The second adjusting shaft 9 enters the third track 7 and finally stops on the side of the third track 7 away from the second track 6. Since the third track 7 and the disc 3 are coaxial, during the rotation of the disc 3, the second slider 31 will not be driven to slide, and thus the active grasping component maintains the grasping action.

[0058] At the same time, during the process that the second adjusting shaft 9 expands from the inside to the outside and remains in the third track 7, the position of the first adjusting shaft 8 changes from the side of the first track 5 away from the second track 6 to the turning point of the first track 5 and the second track 6 and finally enters the second track 6. When the first adjusting shaft 8 is in the first track 5, the first slider 30 remains stationary, that is, the first adjusting shaft 8 remains stationary. When the first adjusting shaft 8 enters the second track 6 from the turning point of the first track 5 and the second track 6, the first adjusting shaft 8 is driven by the inner wall of the second track 6, driving the first slider 30 to slide away from the center of the disc 3 along the first T-shaped guiding groove 28 to expand outward.

[0059] When the first adjusting shaft 8 moves to the turning point of the second track 6 and the third track 7, the first slider 30 can no longer expand outward. As a result, the first U-shaped plate 10 remains stationary, and thus the auxiliary grasping component changes from the diastolic state to the grasping state. When moving the item, turn off the servo motor 34, and thus the active grasping component and the auxiliary grasping component maintain the grasping and remain stationary.

[0060] When it is necessary to put down the item, turn on the servo motor 34 to drive the disc 3 to rotate clockwise along the inner top surface of the installation groove 2. As a result, the second adjusting shaft 9 enters the turning point of the second track 6 and the third track 7 from the side of the third track 7 away from the second track 6. During this process, the second adjusting shaft 9 is always located in the third track 7, and thus the active grasping component maintains the grasping state and remains stationary. At the same time, during this process, the first adjusting shaft 8 enters the second track 6 from the turning point of the second track 6 and the third track 7. As a result, the inner wall of the second track 6 pushes the first adjusting shaft 8 to move, driving the first slider 30 to slide inward and contract along the first T-shaped guiding groove 28 toward the center of the disc 3, thereby driving the auxiliary grasping component to expand and separate from the item in contact.

[0061] Then continue to rotate the disc 3 clockwise. At this time, the second adjusting shaft 9 enters the second track 6 from the turning point of the second track 6 and the third track 7. Then, the inner wall of the second track 6 pushes the second adjusting shaft 9 to slide, thereby driving the second slider 31 to slide inwards towards the center of the disc 3 along the second T-shaped guiding groove 29. When the second adjusting shaft 9 moves to the turning point of the second track 6 and the third track 7, the second slider 31 can no longer contract inwards. The inward contraction movement of the second adjusting shaft 9 drives the second U-shaped plate 11 to move inwards, thereby driving the active grasping assembly to put down the item. During the process of the second adjusting shaft 9 sliding inwards and contracting within the second track 6, the first adjusting shaft 8 enters the first track 5 from the turning point of the first track 5 and the second track 6.

[0062] In this embodiment, by providing the interconnected first track 5, second track 6, and third track 7, the active grasping assembly operates within the second track 6 and the third track 7, and the auxiliary grasping assembly operates within the first track 5 and the second track 6. Moreover, when the active grasping assembly and the auxiliary grasping assembly operate in their respective tracks, there will be no phenomenon of cross-operation. At the same time, the active grasping assembly can work independently or work together with the auxiliary grasping assembly, expanding the range of objects to be grasped. At the same time, the operation of the active grasping assembly and the auxiliary grasping assembly is driven by the same driving force, saving costs compared to using driving devices separately for the two.

[0063] Specific Embodiment Two. Please refer to Figures 1-23 , on the basis of Specific Embodiment One, a plurality of connecting shafts 12 are evenly and fixedly arranged in a circumferential array on the bottom surface of the mounting disc 1; arc-shaped plates 13 are fixedly arranged at the bottom ends of the connecting shafts 12; racks 14 are fixedly arranged on the inner walls of the arc-shaped plates 13; a polygonal plate 15 is fixedly arranged between the racks 14; fixing shafts 16 are fixedly arranged on the sides of the racks 14.

[0064] Specifically, the auxiliary grasping 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 and matched with the rack 14; a shifting rod 19 is rotatably arranged on the circumferential surface of the fixing shaft 16; a first grasping rod 20 is fixedly arranged on the bottom surface of the shifting rod 19; the circumferential surface of the cam 18 is adapted to the surface of the shifting rod 19.

[0065] Furthermore, a plurality of T-shaped sliding grooves 21 are formed on the side surface of the polygonal plate 15; the number of T-shaped sliding grooves 21 is the same as the number of first U-shaped plates 10; an adjusting plate 22 is rotatably arranged on the side surface of the shifting rod 19; a connecting block 23 is fixedly arranged on the side surface of the adjusting plate 22; a sliding shaft 24 that is slidably engaged with the T-shaped sliding groove 21 is fixedly arranged on the side surface 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 a direction away from the center of the disk 3, it drives the first U-shaped plate 10 to expand outwards, and then drives 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, and then drives 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 drives the lever 19 to rotate along the fixed shaft 16. As a result, the initially lower side of the lever 19 becomes higher, and the initially higher side of the lever 19 becomes lower. During the rotation of the lever 19, the adjusting plate 22 rotates, and then drives the connecting block 23 to rotate, and then drives the sliding shaft 24 to slide upwards along the inner wall of the T-shaped chute 21. The fact that the initially higher side of the lever 19 becomes lower drives the first gripping rod 20 to rotate downwards and fold, and then the first gripping rod 20 is in a state of folding downwards and contracting to grip an object.

[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 gripping assembly and the active gripping assembly. The cooperation of the third U-shaped plate 35 and the C-shaped plate 25 changes the flipping angle of the C-shaped plate 25, so as to realize the gripping and relaxation of the active gripping assembly. The cooperation of the gear 17 and the rack 14 changes the position where the protruding part of the cam 18 contacts the lever 19, so as to realize the gripping and relaxation of the auxiliary gripping assembly.

[0074] In the description of this specification, the descriptions referring to terms such as "one embodiment", "example", "specific example", etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

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

Claims

1. An intelligent robot grasping device for industrial production transportation, comprising a mounting plate (1); a mounting groove (2) is formed on the bottom surface of the mounting plate (1); a disc (3) is rotatably arranged through the inner top surface of the mounting groove (2); characterized in that: A number of tracks (4) are uniformly and circumferentially arrayed on the surface of the disc (3); the tracks (4) include a first track (5), a second track (6) and a third track (7); both ends of the second track (6) are arc-connected to the first track (5) and the third track (7) respectively; The first track (5) and the third track (7) are coaxial with the disc (3); the radius of the first track (5) is smaller than the radius of the third track (7); A number of first adjusting shafts (8) and second adjusting shafts (9) are slidably arranged on the inner top surface of the mounting plate (1); the first adjusting shafts (8) and the second adjusting shafts (9) are arranged alternately; The first adjusting shaft (8) is adapted to the inner walls of the first track (5) and the second track (6); the second adjusting shaft (9) is adapted to the inner walls of the second track (6) and the third track (7); One end of the first adjusting shaft (8) is fixed with a first U-shaped plate (10); one end of the second adjusting shaft (9) is fixed with a second U-shaped plate (11); an auxiliary grasping assembly is arranged on the inner wall of the first U-shaped plate (10); a main grasping assembly is arranged on the inner wall of the second U-shaped plate (11); A number of connecting shafts (12) are uniformly and circumferentially arrayed and fixed on the bottom surface of the mounting plate (1); the bottom ends of the connecting shafts (12) are fixed with arc-shaped plates (13); a rack (14) is fixed on the inner wall of the arc-shaped plate (13); a polygonal plate (15) is fixed between the racks (14); a fixed shaft (16) is fixed on the side surface of the rack (14); The auxiliary grasping 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 and cooperated with the rack (14); a toggle rod (19) is rotatably arranged on the circumferential surface of the fixed shaft (16); a first grasping rod (20) is fixed on the bottom surface of the toggle rod (19); the circumferential surface of the cam (18) is adapted to the surface of the toggle rod (19); The main grasping 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 grasping rod (26) is fixed on the bottom surface of the C-shaped plate (25); fixing plates (27) are fixed on both sides of the arc-shaped plate (13); the second grasping rod (26) is rotatably arranged between the fixing plates (27) adjacent to the arc-shaped plate (13).

2. The industrial production transportation intelligent robot grasping device according to claim 1, characterized in that, A number of T-shaped sliding grooves (21) are formed on the side surface of the polygonal plate (15); the number of the T-shaped sliding grooves (21) is the same as the number of the first U-shaped plates (10); an adjusting plate (22) is rotatably arranged on the side surface of the toggle rod (19); a connecting block (23) is fixed on the side surface of the adjusting plate (22); a sliding shaft (24) which is slidably matched with the T-shaped sliding groove (21) is fixed on the side surface of the connecting block (23).

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

4. An industrial production transportation intelligent robot grasping device according to claim 1, characterized in that, A clamping plate (32) is fixed to the side surface of the first gripping rod (20); the clamping plate (32) is made of an anti-slip material; a support plate (33) is fixed to the bottom surface of the second gripping rod (26).

5. An industrial production transportation intelligent robot grasping device according to claim 1, characterized in that, A servo motor (34) is fixed to the surface of the mounting disc (1); the output end of the servo motor (34) is fixedly connected to the disc (3); a driving device is connected to the surface of the mounting disc (1).

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