Grabbing device for robot and grabbing method of grabbing device

Abstract

The invention relates to the technical field of robot grabbing, and discloses a grabbing device for a robot and a grabbing method.The grabbing device comprises a grabbing component, the grabbing component further comprises a base, the top of the base is rotationally connected with three mechanical arms, and the mechanical arms are arranged on the base; the extrusion force between the object block and the movable long column is utilized, the part is provided with a multilateral fixing plate, the movable long column and a movable short rod, after the mechanical arms are started, the mechanical arms can rotate on the surface of the base, the three mechanical arms can move to approach the object block, and the object block can move to the object block; after the object block is in contact with the rubber semicircular block, the movable long column can move upwards, at the moment, the small fixing plate can move upwards, the three movable short rods rotationally connected with the small fixing plate can contract, and the contracted movable short rods can drive the three movable long rods to contract.

Description

Technical Field

[0001] The present invention relates to the field of robot grasping technology, in particular to a grasping device for a robot and a grasping method thereof. Background Art

[0002] Robots are multi-joint manipulators or multi-degree-of-freedom machine devices that are widely used in the field. They have a certain degree of automation and can achieve various processing and manufacturing functions by relying on their own power and control capabilities. Robots are widely used in various fields such as electronics, logistics, and chemical industry.

[0003] When a robot grabs an object, the grabbing device is usually a splint. During the grabbing and moving process, the splint needs to exert a large pressure on the object to grab the object. Excessive pressure will cause the object itself to be squeezed and damaged. When the splint reduces the squeezing force, the object may fall off during the movement. To solve this problem, the following solution is proposed. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a grasping device for a robot, comprising a grasping component, the grasping component also comprising a base, the top of the base is rotatably connected to a mechanical arm, three mechanical arms are provided, the surface of one end of the mechanical arm away from the base is fixedly connected to a support column, and the bottom of the support column is fixedly connected to a fixing plate;

[0005] The calibration component also includes a toothed plate, a gear is meshedly connected to the surface of the toothed plate, a movable cylindrical rod is rotatably connected to the inner wall of the gear, a movable shaft block is fixedly connected to the end of the movable cylindrical rod, and a support block is rotatably connected to the surface of the movable cylindrical rod;

[0006] The fixed component also includes a fixed round block, the surface of the fixed round block is fixedly connected with a fixed short block, a movable cylinder is arranged directly above the fixed short block, the middle part of the movable cylinder is rotatably connected with a fixed short plate, and the inner wall of the fixed short plate is fixedly connected with a fixed cylindrical rod.

[0007] Preferably, the grasping component also includes a polygonal fixing plate fixedly connected to the bottom of the fixing plate, and the inner wall of the polygonal fixing plate is slidably connected with a movable long column, which penetrates the fixing plate and extends to the end of the supporting column; the end of the movable long column away from the supporting column is fixedly connected with a rubber semicircular block. The present invention utilizes the extrusion force between the object and the movable long column. The component is provided with a polygonal fixing plate, a movable long column and a movable short rod. When the robotic arm is started, the robotic arm will rotate on the surface of the base, and the three robotic arms will move to approach the object. When the object contacts the rubber semicircular block, the movable long column will move upward.

[0008] Preferably, the grasping component also includes a movable long rod rotatably connected to the surface of the multilateral fixed plate, the end of the movable long rod away from the multilateral fixed plate is rotatably connected to a movable circular short column, the top of the movable circular short column is fixedly connected to an anti-skid plate, the surface of the movable long rod is fixedly connected to a bent spring, and the end of the bent spring away from the movable long rod is fixedly connected to the surface of the movable circular short column. At this time, the small fixed plate will move upward, and the three movable short rods rotatably connected to the small fixed plate will contract, and the contracted movable short rods will drive the three movable long rods to contract, and the object is grasped during the contraction of the movable long rod. In this process, the grasping force generated by the extrusion will not cause damage to the object itself.

[0009] Preferably, the grasping component also includes a movable short rod rotatably connected to the middle of the movable long rod, and the end of the movable short rod away from the movable long rod is rotatably connected to a small fixed plate, the inner wall of the small fixed plate is fixedly connected to the surface of the movable long column, the number of the movable long rods is set to be several and they are symmetrically arranged with the movable long column as the center. The present invention utilizes the telescopic tension generated by the bending spring, and the component is provided with a bending spring and a movable circular short column. Before the movable long column contacts the object, the movable circular short column will first contact the object. During the contact process, the bending spring is subjected to the extrusion force and contracts, and the movable circular short column will continue to move toward the bottom of the object. When it moves to the bottom of the object, the extrusion force exerted on the bending spring disappears and rebounds. The anti-slip plate movable circular short column grasps the bottom of the object under the action of the bending spring, and the anti-slip plate arranged on the top of the movable circular short column prevents the object from sliding and falling, causing loss of raw materials. The device avoids the possibility that the object may not be subjected to sufficient friction and fall during the grasping process.

[0010] Preferably, the calibration component also includes a semicircular short column fixedly connected to the surface of the robotic arm, a short spring fixedly connected to the surface of the semicircular short column, an end of the short spring away from the semicircular short column fixedly connected to a movable bent rod, and a movable long column fixedly connected to the surface of the toothed plate. The present invention utilizes the kinetic energy generated by the meshing between the toothed plate and the gear. The component is provided with a toothed plate, a gear, a movable cylindrical rod and a movable bent rod. In the process of the movable long column moving upward, the toothed plate on the surface of the movable long column will move upward, driving the gear to rotate, the movable cylindrical rod provided on the inner wall of the gear will rotate, and the movable shaft block at the end of the movable cylindrical rod will also rotate. The rotating movable shaft block will drive the movable bent rod to move, and the semicircular short column and the short spring provided in the middle of the movable bent rod fix the movable bent rod to prevent the movable bent rod from moving randomly and affecting efficiency.

[0011] Preferably, the calibration component also includes a toothed plate fixedly connected to the surface of the fixed plate, a slider is slidably connected to the inner wall of the fixed frame, a long spring is fixedly connected to the surface of the slider, and one end of the long spring away from the slider is fixedly connected to the inner wall of the fixed frame.

[0012] Preferably, the calibration component also includes a rubber movable rod fixedly connected to the surface of the slider, the surface of the rubber movable rod is provided with a bending frame, the surface of the bending frame is fixedly connected to the surface of the fixed frame, the bottom of the slider is fixedly connected to a fixed long rod, the top of the fixed long rod is fixedly connected to a fixed rubber plate, the slider is pushed at the end of the movable bending rod away from the movable bending rod, the moving rubber movable rod pushes the second slider under the action of the bending frame, then the slider drives the fixed long rod at the bottom to slide, and the fixed rubber plate fixed at the bottom of the fixed long rod slides, this process pushes the grasped object, and calibration is performed when the grasped object is offset, thereby avoiding the falling of the object due to the offset of the object during the grasping process.

[0013] Preferably, the fixing component further includes a thin spring fixedly connected to the surface of the fixing plate, one end of the thin spring away from the fixing plate is fixedly connected to the movable cylinder, the end of the movable cylinder is fixedly connected to an L-shaped rod, and the surface of the L-shaped rod is fixedly connected to a U-shaped rubber plate. The present invention utilizes the thrust of the fixed short block, and the component is provided with a fixed round block, a fixed short block and a movable cylinder. In the process of the movable long column moving upward, the fixed round block fixed on the surface will be driven to move, and the fixed short block fixed on the surface of the fixed round block will move upward. In the process of the fixed short block moving upward, a thrust is generated on the movable cylinder, and the movable cylinder is rotatably connected to the surface of the fixed short plate. The thin spring arranged on the surface of the movable cylinder is stretched by the thrust, and the L-shaped rod connected to the bottom of the movable cylinder slides, and the U-shaped rubber plate connected to the L-shaped rod moves, and the moving U-shaped rubber plate contacts the object block, and the U-shaped rubber plate will squeeze the object block by sufficient thrust, and the U-shaped rubber plate itself will stretch by being squeezed, and this process will increase the contact surface with the object block, thereby greatly improving the fixing effect on the object block.

[0014] A grasping method for a grasping device of a robot comprises the following steps:

[0015] S1: When the robot arm is started, it will rotate on the surface of the base, and the three robot arms will move to approach the object. When the object contacts the rubber semicircular block, the movable long column will move upward;

[0016] S2: At this time, the small fixed plate will move upward, and the three movable short rods rotatably connected to the small fixed plate will shrink, and the shrinking movable short rods will drive the three movable long rods to shrink.

[0017] S3: Before the movable long column contacts the object, the movable round short column will contact the object first. During the contact process, the bending spring will contract due to the extrusion force, and the movable round short column will continue to move downward to the object.

[0018] The present invention has the following beneficial effects:

[0019] (1) The present invention utilizes the squeezing force between the object and the movable long column. The component is provided with a multilateral fixed plate, a movable long column and a movable short rod. When the robot arm is started, the robot arm will rotate on the surface of the base, and the three robot arms will move to approach the object. When the object contacts the rubber semicircular block, the movable long column will move upward. At this time, the small fixed plate will move upward, and the three movable short rods rotatably connected to the small fixed plate will shrink. The shrinking movable short rod will drive the three movable long rods to shrink. In the process of shrinking the movable long rod, the object is grasped. In this process, the grasping force generated by the squeezing will not cause damage to the object itself.

[0020] (2) The present invention utilizes the telescopic tension generated by the bending spring. The component is provided with a bending spring and a movable circular short column. Before the movable long column contacts the object, the movable circular short column will first contact the object. During the contact process, the bending spring is squeezed and contracts. The movable circular short column will continue to move to the bottom of the object. When it moves to the bottom of the object, the squeezing force on the bending spring disappears and the movable circular short column rebounds. The anti-slip plate movable circular short column grabs the bottom of the object under the action of the bending spring. The anti-slip plate arranged on the top of the movable circular short column prevents the object from sliding and falling, causing loss of raw materials. The device avoids the possibility that the object may not be subjected to sufficient friction and fall during the grabbing process.

[0021] (3) The present invention utilizes the kinetic energy generated by the meshing between the tooth plate and the gear. The component is provided with a tooth plate, a gear, a movable cylindrical rod and a movable curved rod. When the movable long column moves upward, the tooth plate on the surface of the movable long column will move upward, driving the gear to rotate. The movable cylindrical rod provided on the inner wall of the gear will rotate. The movable shaft block at the end of the movable cylindrical rod will also rotate. The rotating movable shaft block will drive the movable curved rod to move. The semicircular short column and the short spring provided in the middle of the movable curved rod fix the movable curved rod to prevent the movable curved rod from moving randomly and affecting the efficiency. The end of the movable curved rod away from the movable curved rod will push the slider. The movable rubber movable rod will push the second slider under the action of the bending frame. Then the slider will drive the fixed long rod at the bottom to slide. The fixed rubber plate fixed at the bottom of the fixed long rod will slide. This process will push the grasped object. When the grasped object is offset, it will be calibrated to prevent the object from falling due to the offset during the grasping process.

[0022] (4) The present invention utilizes the thrust of the fixed short block. The component is provided with a fixed round block, a fixed short block and a movable cylinder. When the movable long column moves upward, the fixed round block fixed on the surface will be driven to move, and the fixed short block fixed on the surface of the fixed round block will move upward. When the fixed short block moves upward, a thrust is generated on the movable cylinder. The movable cylinder is rotatably connected to the surface of the fixed short plate. The fine spring provided on the surface of the movable cylinder is stretched by the thrust. The L-shaped rod connected to the bottom of the movable cylinder slides, and the U-shaped rubber plate connected to the L-shaped rod moves. The moving U-shaped rubber plate contacts the object. When subjected to sufficient thrust, the U-shaped rubber plate squeezes the object. The U-shaped rubber plate itself stretches when squeezed. This process increases the contact surface with the object, thereby greatly improving the fixing effect on the object. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] 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.

[0024] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0025] Figure 2 Another structural cross-sectional diagram of the present invention as a whole;

[0026] Figure 3 This is a schematic diagram of the grabbing structure of the present invention;

[0027] Figure 4 For the present invention Figure 3 A is a schematic diagram of an enlarged view of middle A;

[0028] Figure 5 It is a schematic diagram of the structure of the calibration component of the present invention;

[0029] Figure 6 For the present invention Figure 5 Schematic diagram of the enlarged view of B;

[0030] Figure 7 It is another structural schematic diagram of the calibration component of the present invention;

[0031] Figure 8 It is a schematic diagram of the structure of the fixing component of the present invention;

[0032] Fig. 9 For the present invention Figure 8 Enlarged view of middle C;

[0033] Fig.10 It is a schematic diagram of the working process of the present invention.

[0034] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0035] In the figure: 1. Grasping component; 2. Calibration component; 3. Fixing component; 101. Base; 102. Robotic arm; 103. Support column; 104. Fixing plate; 105. Multi-sided fixing plate; 106. Movable long column; 107. Rubber semicircular block; 108. Movable long rod; 109. Small fixing plate; 110. Movable short rod; 111. Bending spring; 112. Anti-skid plate; 113. Movable short round column; 201. Tooth plate; 202. Gear; 203. Movable cylindrical rod; 204. Support Block; 205, movable bending rod; 206, movable shaft block; 207, semicircular short column; 208, short spring; 210, fixed frame; 211, slider; 212, long spring; 213, rubber movable rod; 214, bending frame; 215, fixed long rod; 216, fixed rubber plate; 301, fixed round block; 302, fixed short block; 303, fixed short plate; 304, thin spring; 305, fixed cylindrical rod; 306, movable cylinder; 307, L-shaped rod; 308, U-shaped rubber plate. DETAILED DESCRIPTION

[0036] 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.

[0037] For example, see Figure 1 - Figure 3 The present invention is a grasping device for a robot, comprising a grasping component 1, the grasping component 1 also comprising a base 101, the top of the base 101 is rotatably connected to a mechanical arm 102, three mechanical arms 102 are provided, one end surface of the mechanical arm 102 away from the base 101 is fixedly connected to a support column 103, and the bottom of the support column 103 is fixedly connected to a fixing plate 104;

[0038] The calibration component 2 also includes a tooth plate 201, the surface of the tooth plate 201 is meshingly connected with a gear 202, the inner wall of the gear 202 is rotatably connected with a movable cylindrical rod 203, the end of the movable cylindrical rod 203 is fixedly connected with a movable shaft block 206, and the surface of the movable cylindrical rod 203 is rotatably connected with a support block 204.

[0039] The fixed component 3 also includes a fixed round block 301, a fixed short block 302 is fixedly connected to the surface of the fixed round block 301, a movable cylinder 306 is arranged directly above the fixed short block 302, a fixed short plate 303 is rotatably connected to the middle of the movable cylinder 306, and a fixed cylindrical rod 305 is fixedly connected to the inner wall of the fixed short plate 303.

[0040] The grasping component 1 also includes a multilateral fixing plate 105 fixedly connected to the bottom of the fixing plate 104, and the inner wall of the multilateral fixing plate 105 is slidably connected with a movable long column 106, which penetrates the fixing plate 104 and extends to the end of the supporting column 103; the end of the movable long column 106 away from the supporting column 103 is fixedly connected with a rubber semicircular block 107. The present invention utilizes the squeezing force between the object and the movable long column 106. The component is provided with a multilateral fixing plate 105, a movable long column 106 and a movable short rod 110. When the robot arm 102 is started, the robot arm 102 will rotate on the surface of the base 101, and the three robot arms 102 will move to approach the object. When the object contacts the rubber semicircular block 107, the movable long column 106 will move upward.

[0041] The grasping component 1 also includes a movable long rod 108 rotatably connected to the surface of the multilateral fixed plate 105, the end of the movable long rod 108 away from the multilateral fixed plate 105 is rotatably connected to a movable short circular column 113, the top of the movable short circular column 113 is fixedly connected to an anti-slip plate 112, the surface of the movable long rod 108 is fixedly connected to a bent spring 111, and the end of the bent spring 111 away from the movable long rod 108 is fixedly connected to the surface of the movable short circular column 113. At this time, the small fixed plate 109 will move upward, and the three movable short rods 110 rotatably connected to the small fixed plate 109 will shrink. The shrinking movable short rods 110 will drive the three movable long rods 108 to shrink, and the object will be grasped during the shrinkage of the movable long rod 108. During this process, the grasping force generated by the extrusion will not cause damage to the object itself.

[0042] The grabbing component 1 also includes a movable short rod 110 rotatably connected to the middle of the movable long rod 108, and one end of the movable short rod 110 away from the movable long rod 108 is rotatably connected to a small fixed plate 109, and the inner wall of the small fixed plate 109 is fixedly connected to the surface of the movable long column 106. The number of movable long rods 108 is set to be several and is symmetrically arranged with the movable long column 106 as the center. The present invention utilizes the telescopic tension generated by the bending spring 111. The component is provided with a bending spring 111 and a movable round short column 113. Before the movable long column 106 contacts the object, the movable round short The column 113 will first come into contact with the object, during which time the curved spring 111 will contract due to the squeezing force, and the movable circular short column 113 will continue to move downward toward the bottom of the object. When it reaches the bottom of the object, the squeezing force on the curved spring 111 disappears and the curved spring rebounds. The anti-slip plate movable circular short column 113 grabs the bottom of the object under the action of the curved spring 111, and the anti-slip plate 112 arranged on the top of the movable circular short column 113 prevents the object from sliding and falling, causing loss of raw materials. This device prevents the object from falling due to insufficient friction during the grabbing process.

[0043] For example 2, please refer to Figure 4 - Figure 8 The present invention is a grasping device for a robot. On the basis of the first embodiment, the calibration component 2 further includes a semicircular short column 207 fixedly connected to the surface of the robot arm 102, a short spring 208 is fixedly connected to the surface of the semicircular short column 207, an end of the short spring 208 away from the semicircular short column 207 is fixedly connected to a movable curved rod 205, and a movable long column 106 is fixedly connected to the surface of the tooth plate 201. The present invention utilizes the kinetic energy generated by the meshing between the tooth plate 201 and the gear 202. The component is provided with a tooth plate 201, a gear 202, a movable cylindrical rod 203 and a movable curved rod 205. During the upward movement of the movable long column 106, the tooth plate 201 on the surface of the movable long column 106 will move upward, driving the gear 202 to rotate, the movable cylindrical rod 203 set on the inner wall of the gear 202 will rotate, and the movable shaft block 206 at the end of the movable cylindrical rod 203 will also rotate. The rotating movable shaft block 206 will drive the movable bent rod 205 to move. The semicircular short column 207 and the short spring 208 set in the middle of the movable bent rod 205 fix the movable bent rod 205, thereby preventing the movable bent rod 205 from moving randomly and affecting efficiency.

[0044] The calibration component 2 also includes a toothed plate 201 fixedly connected to the surface of the fixed plate 104, a slider 211 is slidably connected to the inner wall of the fixed frame 210, a long spring 212 is fixedly connected to the surface of the slider 211, and the end of the long spring 212 away from the slider 211 is fixedly connected to the inner wall of the fixed frame 210.

[0045] The calibration component 2 also includes a rubber movable rod 213 fixedly connected to the surface of the slider 211, and a bending frame 214 is provided on the surface of the rubber movable rod 213. The surface of the bending frame 214 is fixedly connected to the surface of the fixed frame 210, and a fixed long rod 215 is fixedly connected to the bottom of the slider 211, and a fixed rubber plate 216 is fixedly connected to the top of the fixed long rod 215. The slider 211 is pushed at the end of the movable curved rod 205 away from the movable curved rod 205, and the moving rubber movable rod 213 pushes the second slider 211 under the action of the bending frame 214. Then the slider 211 drives the fixed long rod 215 at the bottom to slide, and the fixed rubber plate 216 fixed at the bottom of the fixed long rod 215 slides. This process pushes the clamped object, and calibration is performed when the grasped object is offset, thereby avoiding the falling of the object due to the offset of the object during the grasping process.

[0046] The fixing component 3 also includes a thin spring 304 fixedly connected to the surface of the fixing plate 104, and one end of the thin spring 304 away from the fixing plate 104 is fixedly connected to the movable cylinder 306, and the end of the movable cylinder 306 is fixedly connected to an L-shaped rod 307, and the surface of the L-shaped rod 307 is fixedly connected to a U-shaped rubber plate 308. The present invention utilizes the thrust of the fixed short block 302. The component is provided with a fixed round block 301, a fixed short block 302 and a movable cylinder 306. When the movable long column 106 moves upward, the fixed round block 301 fixed on the surface will be driven to move, and the fixed short block 302 fixed on the surface of the fixed round block 301 will move upward. When the short block 302 moves upward, a thrust is generated on the movable cylinder 306. The movable cylinder 306 is rotatably connected to the surface of the fixed short plate 303. The thin spring 304 arranged on the surface of the movable cylinder 306 is stretched by the thrust. The L-shaped rod 307 connected to the bottom of the movable cylinder 306 slides, and the U-shaped rubber plate 308 connected to the L-shaped rod 307 moves. The moving U-shaped rubber plate 308 contacts the object. When the U-shaped rubber plate 308 is subjected to sufficient thrust, it will squeeze the object. The U-shaped rubber plate 308 itself will stretch when squeezed. This process will increase the contact surface with the object, thereby greatly improving the fixing effect on the object.

[0047] The grasping method of the grasping device of the robot includes the following steps:

[0048] S1: When the robot arm 102 is started, the robot arm 102 will rotate on the surface of the base 101, and the three robot arms 102 will move to approach the object. When the object contacts the rubber semicircular block 107, the movable long column 106 will move upward;

[0049] S2: At this time, the small fixed plate 109 will move upward, and the three movable short rods 110 rotatably connected to the small fixed plate 109 will shrink. The shrinking movable short rods 110 will drive the three movable long rods 108 to shrink.

[0050] S3: Before the movable long column 106 contacts the object, the movable round short column 113 contacts the object first. During the contact, the curved spring 111 contracts due to the squeezing force, and the movable round short column 113 continues to move downward to the object.

[0051] A specific application of this embodiment is: the present invention utilizes the squeezing force between the object and the movable long column 106. The component is provided with a multilateral fixed plate 105, a movable long column 106 and a movable short rod 110. When the robot arm 102 is started, the robot arm 102 will rotate on the surface of the base 101, and the three robot arms 102 will move to approach the object. When the object contacts the rubber semicircular block 107, the movable long column 106 will move upward. At this time, the small fixed plate 109 will move upward, and the three movable short rods 110 rotatably connected to the small fixed plate 109 will shrink. The shrinking movable short rod 110 will drive the three movable long rods 108 to shrink. In the process of shrinking the movable long rod 108, the object is grasped. In this process, the grasping force generated by the squeezing must It will not cause damage to the object itself. The component uses the telescopic tension generated by the bent spring 111. The component is provided with a bent spring 111 and a movable round short column 113. Before the movable long column 106 contacts the object, the movable round short column 113 will first contact the object. During the contact process, the bent spring 111 is squeezed and contracts, and the movable round short column 113 will continue to move downward to the bottom of the object. When it moves to the bottom of the object, the squeezing force on the bent spring 111 disappears and rebounds. The anti-slip plate movable round short column 113 grabs the bottom of the object under the action of the bent spring 111, and the anti-slip plate 112 arranged on the top of the movable round short column 113 prevents the object from sliding and falling, causing loss of raw materials. The device avoids the possibility that the object may not be subjected to sufficient friction and fall during the grabbing process.

[0052] This component utilizes the kinetic energy generated by the meshing between the tooth plate 201 and the gear 202. The component is provided with a tooth plate 201, a gear 202, a movable cylindrical rod 203 and a movable curved rod 205. When the movable long column 106 moves upward, the tooth plate 201 on the surface of the movable long column 106 will move upward, driving the gear 202 to rotate, the movable cylindrical rod 203 arranged on the inner wall of the gear 202 will rotate, and the movable shaft block 206 at the end of the movable cylindrical rod 203 will also rotate. The rotating movable shaft block 206 will drive the movable curved rod 205 to move, and the semicircular short column 207 and the short spring 207 arranged in the middle of the movable curved rod 205 will rotate. 8 fixes the movable bending rod 205 to prevent the movable bending rod 205 from moving randomly and affecting efficiency. The end of the movable bending rod 205 away from the movable bending rod 205 pushes the slider 211, and the movable rubber movable rod 213 pushes the second slider 211 under the action of the bending frame 214. Then the slider 211 drives the fixed long rod 215 at the bottom to slide, and the fixed rubber plate 216 fixed at the bottom of the fixed long rod 215 slides. This process pushes the clamped object, and when the grasped object is offset, it will be calibrated to prevent the object from falling due to the offset of the object during the grasping process.

[0053] The component utilizes the thrust of the fixed short block 302. The component is provided with a fixed round block 301, a fixed short block 302 and a movable cylinder 306. When the movable long column 106 moves upward, the fixed round block 301 fixed on the surface will be driven to move, and the fixed short block 302 fixed on the surface of the fixed round block 301 will move upward. When the fixed short block 302 moves upward, a thrust is generated on the movable cylinder 306. The movable cylinder 306 is rotatably connected to the surface of the fixed short plate 303. The thin spring 304 arranged on the surface of the movable cylinder 306 is stretched by the thrust, the L-shaped rod 307 connected to the bottom of the movable cylinder 306 slides, and the U-shaped rubber plate 308 connected to the L-shaped rod 307 moves. The moving U-shaped rubber plate 308 contacts the object. When the thrust is sufficient, the U-shaped rubber plate 308 squeezes the object. The U-shaped rubber plate 308 itself stretches when squeezed. This process increases the contact surface with the object, thereby greatly improving the fixing effect on the object.

[0054] 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. A grasping device for a robot, comprising a grasping component (1), the grasping component (1) further comprising a base (101), the top of the base (101) being rotatably connected to a mechanical arm (102), three mechanical arms (102) being provided, one end surface of the mechanical arm (102) away from the base (101) being fixedly connected to a support column (103), the bottom of the support column (103) being fixedly connected to a fixing plate (104), characterized in that: Also includes: A calibration component (2), the calibration component (2) further comprising a toothed plate (201), the surface of the toothed plate (201) being meshingly connected to a gear (202), the inner wall of the gear (202) being rotatably connected to a movable cylindrical rod (203), the end of the movable cylindrical rod (203) being fixedly connected to a movable shaft block (206), and the surface of the movable cylindrical rod (203) being rotatably connected to a support block (204); The fixing component (3) further comprises a fixing round block (301), the surface of the fixing round block (301) being fixedly connected to a fixing short block (302), a movable cylinder (306) being arranged directly above the fixing short block (302), a fixing short plate (303) being rotatably connected to the middle of the movable cylinder (306), and a fixing cylindrical rod (305) being fixedly connected to the inner wall of the fixing short plate (303).

2. A gripping device for a robot according to claim 1, characterized in that: The gripping component (1) further comprises a polygonal fixing plate (105) fixedly connected to the bottom of the fixing plate (104); the inner wall of the polygonal fixing plate (105) is slidably connected to a movable long column (106); the movable long column (106) passes through the fixing plate (104) and extends to the end of the supporting column (103); and a rubber semicircular block (107) is fixedly connected to one end of the movable long column (106) away from the supporting column (103).

3. A gripping device for a robot according to claim 2, characterized in that: The gripping component (1) further comprises a movable long rod (108) rotatably connected to the surface of the multilateral fixing plate (105); one end of the movable long rod (108) away from the multilateral fixing plate (105) is rotatably connected to a movable short round column (113); the top of the movable short round column (113) is fixedly connected to an anti-slip plate (112); the surface of the movable long rod (108) is fixedly connected to a bent spring (111); one end of the bent spring (111) away from the movable long rod (108) is fixedly connected to the surface of the movable short round column (113).

4. A gripping device for a robot according to claim 3, characterized in that: The grasping component (1) further comprises a movable short rod (110) rotatably connected to the middle of the movable long rod (108); one end of the movable short rod (110) away from the movable long rod (108) is rotatably connected to a small fixed plate (109); the inner wall of the small fixed plate (109) is fixedly connected to the surface of the movable long column (106); the movable long rods (108) are provided in a plurality and are symmetrically arranged with the movable long column (106) as the center.

5. A gripping device for a robot according to claim 4, characterized in that: The calibration component (2) also includes a semicircular short column (207) fixedly connected to the surface of the robot arm (102), a short spring (208) fixedly connected to the surface of the semicircular short column (207), an end of the short spring (208) away from the semicircular short column (207) fixedly connected to a movable bent rod (205), and a surface of the tooth plate (201) fixedly connected to a movable long column (106).

6. A gripping device for a robot according to claim 5, characterized in that: The calibration component (2) further comprises a toothed plate (201) fixedly connected to the surface of the fixed plate (104); a slider (211) is slidably connected to the inner wall of the fixed frame (210); a long spring (212) is fixedly connected to the surface of the slider (211); and one end of the long spring (212) away from the slider (211) is fixedly connected to the inner wall of the fixed frame (210).

7. A gripping device for a robot according to claim 6, characterized in that: The calibration component (2) further comprises a rubber movable rod (213) fixedly connected to the surface of the slider (211); the surface of the rubber movable rod (213) is provided with a bending frame (214); the surface of the bending frame (214) is fixedly connected to the surface of the fixing frame (210); the bottom of the slider (211) is fixedly connected to a fixed long rod (215); the top of the fixed long rod (215) is fixedly connected to a fixed rubber plate (216).

8. A gripping device for a robot according to claim 7, characterized in that: The fixing component (3) further comprises a thin spring (304) fixedly connected to the surface of the fixing plate (104); one end of the thin spring (304) away from the fixing plate (104) is fixedly connected to a movable cylinder (306); an end of the movable cylinder (306) is fixedly connected to an L-shaped rod (307); and a surface of the L-shaped rod (307) is fixedly connected to a U-shaped rubber plate (308).

9. A grasping method for a grasping device for a robot, using the grasping device for a robot as claimed in claim 8, characterized in that: The following steps are included: S1: When the robot arm (102) is started, the robot arm (102) will rotate on the surface of the base (101), and the three robot arms (102) will move to approach the object. When the object contacts the rubber semicircular block (107), the movable long column (106) will move upward; S2: At this time, the small fixed plate (109) will move upward, and the three movable short rods (110) rotatably connected to the small fixed plate (109) will shrink, and the shrinking movable short rods (110) will drive the three movable long rods (108) to shrink. S3: Before the movable long column (106) contacts the object, the movable round short column (113) contacts the object first. During the contact process, the curved spring (111) contracts due to the squeezing force, and the movable round short column (113) continues to move downward toward the object.

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