Grabbing structure for industrial robot

Abstract

The invention is applicable to the technical field of industrial robots, and provides a grabbing structure for an industrial robot, which comprises a mounting shell and a grabbing disc, and further comprises a steering assembly for driving the grabbing disc to rotate; the grabbing and clamping assembly comprises a sliding seat, a grabbing plate and a telescopic cylinder C; the grabbing control assembly is used for controlling the two grabbing and clamping assemblies to get close to each other or get away from each other, and is further used for controlling and adjusting the grabbing force of the grabbing plate and keeping a stable clamping state after grabbing; and the auxiliary bearing and fixing assembly is used for being matched with the grabbing and clamping assembly to carry out auxiliary bearing and fixing on the articles. By flexibly adjusting the angle of the grabbing plate, the grabbing force and the direction of the clamping opening and combining with the auxiliary bearing and fixing assembly, the clamping stability and reliability of objects in different shapes are remarkably improved.

Description

Technical Field

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

[0002] Industrial robots are machines that can automatically perform tasks in industrial environments. They are usually designed to perform tasks that are repetitive, require high precision, or are too dangerous for humans. The application of industrial robots is very wide, covering many industries such as automobile manufacturing, electronic assembly, food processing, and pharmaceuticals.

[0003] In the structure of industrial robots, a gripping structure for objects is indispensable. However, the existing gripping structure is unable to stably and reliably grip objects of different shapes due to limitations in gripping angle, gripping force and clamping direction, as well as the lack of auxiliary supporting structures.

[0004] Therefore, in view of the above situation, there is an urgent need to develop a grasping structure for industrial robots to overcome the shortcomings in current practical applications. Summary of the invention

[0005] The object of the present invention is to provide a grasping structure for an industrial robot, aiming to solve the problems mentioned in the above background technology.

[0006] The present invention is implemented as follows: a gripping structure for an industrial robot, comprising a mounting shell and a gripping plate mounted at an open end thereof, and further comprising: A steering assembly is installed on the inner side of the mounting shell, and the steering assembly is used to drive the grabbing plate to rotate; A grabbing and clamping assembly, wherein two sliding openings are provided on the grabbing plate, and the grabbing and clamping assembly comprises a sliding seat slidably mounted on the sliding openings, a grabbing plate is hinged on the sliding seat, and a telescopic cylinder C is fixed on the side away from the two grabbing plates, and the other end of the telescopic cylinder C is correspondingly fixed on the sliding seat, and the telescopic cylinder C is used to control and adjust the angle of the grabbing plate relative to the grabbing plate; A grab control component is also installed on the inner side of the mounting shell, and the grab control component is used to control the two grab clamping components to move closer to or farther from each other. The grab control component is also used to control and adjust the grab force of the grab plate and maintain a stable clamping state after grabbing; Auxiliary support and fixing assembly: an auxiliary support and fixing assembly is also installed on the outside of the mounting shell, and the auxiliary support and fixing assembly is used to cooperate with the grabbing and clamping assembly to perform auxiliary support and fixation of articles.

[0007] According to a further technical solution, the mounting shell and the grabbing plate are rotatably connected, an anti-slip ring is fixed to the outer side of the grabbing plate, and an annular groove rotatably connected to the anti-slip ring is formed at the open end of the mounting shell.

[0008] A further technical solution, the auxiliary supporting and fixing assembly includes a telescopic cylinder A, a cylinder bracket A, a telescopic cylinder B, a fixed plate, a connecting plate, an elastic telescopic positioning rod, an arc plate and a ring. A ring is provided on the outer side of the mounting shell for sliding movement. A plurality of telescopic cylinders A are circumferentially distributed and fixed on the side of the ring away from the grabbing plate. The telescopic cylinder A is also connected and fixed to the mounting shell through the cylinder bracket A. Two arc plates slidably connected to the outer wall of the mounting shell are evenly distributed and fixed on the side of the ring close to the grabbing plate. A plurality of elastic telescopic positioning rods are evenly distributed and slidably installed on the arc plate. The cylinder body of the elastic telescopic positioning rod is fixedly connected to the connecting plate. A telescopic cylinder B is also fixed on the outer side of the arc plate. The end of the telescopic core shaft of the telescopic cylinder B is fixedly connected to the connecting plate through the fixed plate.

[0009] According to a further technical solution, the elastic telescopic positioning rod is arranged parallel to the surface of the grabbing plate, and the telescopic end of the elastic telescopic positioning rod is rounded; and the telescopic cylinder B is parallel to the elastic telescopic positioning rod.

[0010] A further technical solution is that the two sliding openings are evenly distributed circumferentially on the grabbing plate and are opened through, the sliding seat adopts an H-shaped structure, the middle part of the sliding seat is slidably connected to the sliding opening, and the two sides of the sliding seat are slidably connected to the two side surfaces of the grabbing plate; the telescopic cylinder C adopts an arc structure, and the center of the telescopic cylinder C is located on the axis of the grabbing plate and the sliding seat hinge shaft; an anti-slip pad is also fixed to the side surface where the two grabbing plates are close to each other.

[0011] A further technical solution is that the grabbing control assembly includes a transmission shaft rotatably mounted in the middle of the grabbing disk, a worm wheel is fixed on the transmission shaft, a worm is meshingly connected to one side of the worm wheel, the worm is fixed to the worm shaft, support plates are rotatably mounted on both ends of the worm shaft, the support plates are fixedly connected to the grabbing disk, a grabbing motor connected to the support plate in a transmission manner is also fixed on one of the support plates; a rack mounting rod is also fixed on one side of the two slides away from the grabbing plates, a grabbing rack is fixed on the rack mounting rod, a worm wheel meshingly connected to both grabbing racks is rotatably mounted on the transmission shaft; the A cylinder bracket B is also fixed on the grabbing plate, and a telescopic cylinder E coaxial with the transmission shaft is fixed on the cylinder bracket B. An inner ridge rod slidably connected to the transmission shaft is rotatably installed at the end of the telescopic core shaft of the telescopic cylinder E, and a plurality of transmission blocks are slidably installed on the side wall of the transmission shaft corresponding to the circumferential distribution of the grabbing gear; a fixed block is also fixed on the side of the inner end of the transmission block away from the inner ridge rod, and an elastic column is fixed between the fixed block and the inner wall of the transmission shaft; when the telescopic cylinder E is extended, the inner ridge rod pushes the transmission block to move, and adjusts the abutment force of the transmission block on the grabbing gear, thereby controlling the grabbing force of the grabbing plate.

[0012] A further technical solution is that a friction layer A is provided on the inner wall of the grabbing gear, and a friction layer B is provided on the outer end of the transmission block; the inner end of the transmission block is inclined toward the center of the transmission shaft on the side away from the inner edge rod, and the end of the inner edge rod is also provided with a conical head that cooperates with the inner end of the transmission block.

[0013] A further technical solution is that the steering assembly includes a ring plate fixed to the outer ring of the grabbing disk, and a steering gear ring is fixed to the inner side of one end of the ring plate away from the grabbing disk; a motor seat is fixed inside the mounting shell, a steering motor is fixed on the motor seat, and a steering gear meshingly connected to the steering gear ring is fixed to the output end of the steering motor.

[0014] According to a further technical solution, a brake layer is fixed to the inner end of the mounting shell, a telescopic cylinder F is fixed to the cylinder bracket B, and a brake disc is fixed to the end of the telescopic core shaft of the telescopic cylinder F so as to be able to abut and fix with the brake layer.

[0015] According to a further technical solution, the middle portion of the mounting shell is hingedly connected to the end of the robot arm, and a telescopic cylinder D is also hingedly connected to the robot arm, and the other end of the telescopic cylinder D is hingedly connected to the outer ring of the mounting shell.

[0016] The present invention provides a gripping structure for an industrial robot, which has the following beneficial effects: Through the arrangement of the grabbing and clamping components, not only can the slide seat move stably, but the angle of the grabbing plate can also be adjusted by the telescopic cylinder C according to the shape of the object, thereby improving the reliability of clamping.

[0017] During the clamping operation, the two grabbing and clamping components can be controlled to move closer or farther away from each other through the grabbing control component. The grabbing control component can also control and adjust the grabbing force of the grabbing plate and maintain a stable clamping state after grabbing, so that the object is reliably clamped.

[0018] In addition, the steering assembly can drive the grabbing plate to rotate, change the angle of the two grabbing plate clamps, and enable the grabbing plate to better cooperate with the auxiliary support and fixing assembly, thereby achieving the purpose of auxiliary support and fixation of items by the auxiliary support and fixing assembly and the grabbing and clamping assembly.

[0019] In summary, the present invention significantly improves the clamping stability and reliability of objects of different shapes by flexibly adjusting the gripping plate angle, gripping force and clamping direction in combination with auxiliary supporting and fixing components. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram of the three-dimensional structure of a grasping structure for an industrial robot provided in an embodiment of the present invention; Figure 2 for Figure 1 Another perspective structural diagram of; Figure 3 for Figure 1 A schematic diagram of a partial cross-sectional structure; Figure 4 for Figure 3 A schematic diagram of the enlarged structure of part A; Figure 5 for Figure 3 A schematic diagram of the enlarged structure of part B; Figure 6 for Figure 5 A schematic diagram of the enlarged structure of the middle C part; Figure 7 A schematic diagram of the three-dimensional structure of a gripping plate and components mounted thereon in a gripping structure for an industrial robot provided by an embodiment of the present invention; Figure 8 for Figure 7 Another perspective structural diagram of .

[0021] In the figure: 1-robot arm, 2-mounting shell, 3-telescopic cylinder A, 4-cylinder bracket A, 5-telescopic cylinder B, 6-fixed plate, 7-connecting plate, 8-elastic telescopic positioning rod, 9-arc plate, 10-sliding seat, 11-telescopic cylinder C, 12-grabbing plate, 13-anti-slip pad, 14-sliding mouth, 15-grabbing plate, 16-ring, 17-telescopic cylinder D, 18-motor seat, 19-adjustment motor, 20-adjustment gear, 21-ring plate, 22-adjustment Gear ring, 23-anti-slip ring, 24-annular groove, 25-brake layer, 26-telescopic cylinder E, 27-cylinder bracket B, 28-inner rib rod, 29-transmission shaft, 30-worm, 31-worm wheel, 32-grabbing gear, 33-transmission block, 34-elastic column, 35-fixing block, 36-conical head, 37-brake disc, 38-telescopic cylinder F, 39-rack mounting rod, 40-grabbing rack, 41-support plate, 42-grabbing motor, 43-worm shaft. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0023] The specific implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0024] like Figure 1-8 As shown, a gripping structure for an industrial robot provided by an embodiment of the present invention includes a mounting shell 2 and a gripping plate 15 mounted at its open end, and further includes: A steering assembly is installed on the inner side of the mounting shell 2, and the steering assembly is used to drive the grabbing plate 15 to rotate; A grabbing and clamping assembly, wherein two sliding openings 14 are provided on the grabbing plate 15, and the grabbing and clamping assembly comprises a slide seat 10 slidably mounted on the sliding opening 14, a grabbing plate 12 is hinged on the slide seat 10, a telescopic cylinder C11 is fixed to the side away from the two grabbing plates 12, and the other end of the telescopic cylinder C11 is correspondingly fixed to the slide seat 10, and the telescopic cylinder C11 is used to control and adjust the angle of the grabbing plate 12 relative to the grabbing plate 15; A grab control component is also installed on the inner side of the mounting shell 2. The grab control component is used to control the two grab clamping components to move closer to or farther from each other. The grab control component is also used to control and adjust the grab force of the grab plate 12 and maintain a stable clamping state after grabbing. Auxiliary support and fixing component: an auxiliary support and fixing component is also installed on the outer side of the mounting shell 2, and the auxiliary support and fixing component is used to cooperate with the grabbing and clamping component to perform auxiliary support and fixation of articles.

[0025] In the embodiment of the present invention, through the arrangement of the grabbing and clamping components, not only the slide 10 can move stably, but also the angle of the grabbing plate 12 can be adjusted by the telescopic cylinder C11 according to the shape of the object, thereby improving the reliability of clamping; during the clamping operation, the two grabbing and clamping components can be controlled to move closer or farther from each other through the grabbing control component, and the grabbing control component can also control and adjust the grabbing force of the grabbing plate 12 and maintain a stable clamping state after grabbing, so that the object is reliably clamped. In addition, the grabbing plate 15 can be driven to rotate through the steering component to change the angle of the clamping mouth of the two grabbing plates 12, and the grabbing plate 12 can be better matched with the auxiliary support and fixing component, that is, the purpose of the auxiliary support and fixing component and the grabbing and clamping component cooperating to perform auxiliary support and fixing of the object is achieved.

[0026] like Figure 1-4 As shown, as a preferred embodiment of the present invention, the mounting shell 2 and the grabbing plate 15 are rotatably connected, an anti-slip ring 23 is fixed to the outer side of the grabbing plate 15, and an annular groove 24 rotatably connected to the anti-slip ring 23 is provided at the open end of the mounting shell 2, thereby improving the rotation stability and reliability of the grabbing plate 15.

[0027] The auxiliary supporting and fixing assembly includes a telescopic cylinder A3, a cylinder bracket A4, a telescopic cylinder B5, a fixed plate 6, a connecting plate 7, an elastic telescopic positioning rod 8, an arc plate 9 and a collar 16. The outer side of the mounting shell 2 is slidably provided with a collar 16. A plurality of telescopic cylinders A3 are circumferentially distributed and fixed on the side of the collar 16 away from the grab plate 12. The telescopic cylinder A3 is also connected and fixed to the mounting shell 2 through the cylinder bracket A4. Two arc plates 9 slidably connected to the outer wall of the mounting shell 2 are evenly distributed and fixed on the side of the collar 16 close to the grab plate 12. A plurality of elastic telescopic positioning rods 8 are evenly distributed and slidably installed on the arc plate 9. The elastic telescopic positioning rod 8 is arranged parallel to the surface of the grab plate 15. The telescopic end of the elastic telescopic positioning rod 8 is chamfered. The cylinder body of the elastic telescopic positioning rod 8 is fixedly connected to the connecting plate 7. A telescopic cylinder B5 parallel to the elastic telescopic positioning rod 8 is also fixed on the outer side of the arc plate 9. The end of the telescopic core shaft of the telescopic cylinder B5 is fixedly connected to the connecting plate 7 through the fixed plate 6.

[0028] It should be noted that the figure only shows one row of elastic telescopic positioning rods 8, and a suitable number of rows can be arranged as needed; there is no limitation on the structure of the elastic telescopic positioning rods 8, as long as they can be elastically telescopic.

[0029] When in use, according to the position of the object clamped by the grab plate 12, the position of the ring 16 can be controlled by the telescopic cylinder A3, thereby adjusting the position of the arc plate 9, so that the elastic telescopic positioning rod 8 is adapted to the object clamping position, and then the connecting plate 7 is driven to move by the telescopic cylinder B5, so that the elastic telescopic positioning rod 8 slides along the arc plate 9, and the telescopic end of the elastic telescopic positioning rod 8 elastically abuts against the surface of the object and adapts to the surface of the object to shrink, thereby achieving the purpose of adaptive auxiliary support and fixation of the object.

[0030] like Figure 1-8 As shown, as a preferred embodiment of the present invention, the two sliding openings 14 are evenly distributed circumferentially on the grabbing plate 15 and are opened through, the sliding seat 10 adopts an H-shaped structure, the middle part of the sliding seat 10 is slidably connected to the sliding opening 14, and the two sides of the sliding seat 10 are slidably connected to the two side surfaces of the grabbing plate 15, which is stable and reliable.

[0031] The telescopic cylinder C11 adopts an arc-shaped structure, and the center of the telescopic cylinder C11 is located on the axis of the articulation axis of the grab plate 12 and the slide seat 10, which is conducive to the telescopic cylinder C11 to stably support and adjust the angle of the grab plate 12.

[0032] An anti-skid pad 13 is also fixed to the adjacent side of the two grab plates 12 , so as to improve the reliability of clamping objects.

[0033] The structure of the grab control component is as follows: The grabbing control assembly includes a transmission shaft 29 rotatably mounted on the middle of the grabbing disc 15, a worm wheel 31 is fixed on the transmission shaft 29, a worm 30 is meshedly connected to one side of the worm wheel 31, the worm 30 is fixed to the worm shaft 43, support plates 41 are rotatably mounted on both ends of the worm shaft 43, the support plates 41 are fixedly connected to the grabbing disc 15, a grabbing motor 42 which is transmission-connected to the support plate 41 is also fixed on one of the support plates 41; a rack mounting rod 39 is also fixed on the side of the two slides 10 away from the grabbing plate 12, a grabbing rack 40 is fixed on the rack mounting rod 39, a worm wheel 31 which is meshedly connected to both grabbing racks 40 is rotatably mounted on the transmission shaft 29; a cylinder bracket B27 is also fixed on the grabbing disc 15, a cylinder bracket B27 is fixed on the cylinder bracket A telescopic cylinder E26 is coaxial with the moving shaft 29, and an inner rib rod 28 slidably connected to the transmission shaft 29 is rotatably installed at the end of the telescopic core shaft of the telescopic cylinder E26. A plurality of transmission blocks 33 are slidably installed circumferentially on the side wall of the transmission shaft 29 corresponding to the grabbing gear 32. The inner end of the transmission block 33 is inclined toward the center of the transmission shaft 29 on the side away from the inner rib rod 28. The end of the inner rib rod 28 is also provided with a conical head 36 that cooperates with the inner end of the transmission block 33; a fixed block 35 is also fixed on the side of the inner end of the transmission block 33 away from the inner rib rod 28, and an elastic column 34 is fixed between the fixed block 35 and the inner wall of the transmission shaft 29. A spring can also be used to replace the elastic column 34. The elastic column 34 can elastically support the transmission block 33, so that the transmission block 33 is always elastically in contact with the conical head 36. When the telescopic cylinder E26 is extended, the inner edge rod 28 pushes the transmission block 33 to move, and adjusts the abutment force of the transmission block 33 on the grabbing gear 32, thereby controlling the grabbing force of the grabbing plate 12; the elastic column 34 can make the transmission block 33 return to its original position after the inner edge rod 28 contracts, and the reliability is high; the limited worm wheel 31 and worm 30 can self-lock after adjustment, ensuring that the grabbing plate 12 can maintain a stable clamping state after grabbing.

[0034] Preferably, the inner wall of the grabbing gear 32 is provided with a friction layer A, and the outer end of the transmission block 33 is provided with a friction layer B, so as to enhance the reliability of the transmission block 33 in controlling the grabbing force by the abutting force, which will not be elaborated herein.

[0035] like Figure 1-5 As shown in Figures 7-8, as a preferred embodiment of the present invention, the steering assembly includes a ring plate 21 fixed to the outer ring of the grabbing disc 15, and a steering ring gear 22 is fixed to the inner side of one end of the ring plate 21 away from the grabbing disc 15; a motor seat 18 is fixed inside the mounting shell 2, and a steering motor 19 is fixed on the motor seat 18, and a steering gear 20 meshingly connected to the steering ring gear 22 is fixed at the output end of the steering motor 19. Starting the steering motor 19 can drive the steering gear 20 to rotate, thereby utilizing the steering gear 20 to drive the steering ring gear 22 to rotate, thereby realizing the steering adjustment of the ring plate 21 and the grabbing disc 15 as a whole.

[0036] In one embodiment, a brake layer 25 is also fixed to the inner end of the mounting shell 2, and a telescopic cylinder F38 is also fixed to the cylinder bracket B27. A brake disc 37 that can be abutted and fixed with the brake layer 25 is fixed to the end of the telescopic core shaft of the telescopic cylinder F38. The brake disc 37 is driven by the telescopic cylinder F38 to abut and fix with the brake layer 25, thereby ensuring the stability of the grabbing plate 15, so that the grabbing plate 15 remains stable after adjusting the direction. The cylinder bracket B27 serves as a mounting support component for the telescopic cylinder E26 and the telescopic cylinder F38, which is multi-purpose, compact and reliable.

[0037] like Figure 1 and 2 As shown, as a preferred embodiment of the present invention, the middle part of the mounting shell 2 is hingedly connected to the end of the robot arm 1, and a telescopic cylinder D17 is also hingedly connected to the robot arm 1, and the other end of the telescopic cylinder D17 is hingedly connected to the outer ring of the mounting shell 2. There is no limitation on the robot arm 1, which can be moved flexibly. The angle of the mounting shell 2 can be controlled by the telescopic cylinder D17 to meet the demand of the grabbing plate 12 to flexibly grab objects.

[0038] The above embodiment of the present invention provides a grasping structure for an industrial robot, and its working principle is to achieve efficient and stable grasping and placement of objects of different shapes and sizes through a series of components working together, as follows: The ring plate 21 and the turning gear ring 22 installed on the outer ring of the grabbing plate 15, as well as the turning motor 19 and the turning gear 20 in the mounting shell 2, can realize the overall rotation of the grabbing plate 15 and adjust the direction of the clamping mouth of the grabbing plate 12 to meet the needs of grabbing objects in different directions. The brake disc 37 is driven by the telescopic cylinder F38 to abut and fix with the brake layer 25, so that the stability of the grabbing plate 15 can be ensured, so that the grabbing plate 15 remains stable after the direction is adjusted.

[0039] Each grab plate 12 slides in the slide 14 on the grab plate 15 through the slide seat 10, and the angle of the grab plate 12 relative to the grab plate 15 is controlled by the telescopic cylinder C11. The angle of the grab plate 12 can be adjusted according to the specific shape of the object to improve the accuracy and stability of clamping.

[0040] Through the mechanical transmission structure composed of the transmission shaft 29, the worm wheel 31, the worm 30 and other components, as well as the telescopic cylinder E26 and the inner edge rod 28 and other elements, the distance between the two grabbing and clamping components (i.e., the opening and closing between the grabbing plates 12) and the magnitude of the force applied to the object by the grabbing plates 12 can be controlled, ensuring that the force during the grabbing process is controllable, avoiding damage to the object while ensuring sufficient clamping force.

[0041] The auxiliary support and fixing assembly is composed of a telescopic cylinder A3, an arc plate 9, an elastic telescopic positioning rod 8, etc., which can provide additional support and fixing during the grasping process, especially when handling heavier or complex-shaped objects, helping to improve the stability and safety of grasping.

[0042] In summary, the grasping structure for industrial robots realizes the effective grasping of various types of objects, which not only improves work efficiency but also enhances the flexibility and adaptability of the system.

[0043] The PLC controller disclosed in the prior art can be used to control each component. The model and circuit connection of each component are not specifically limited and can be flexibly set in actual application.

[0044] The circuits, electronic components and modules involved are all prior art and can be fully implemented by those skilled in the art. Needless to say, the content protected by the present invention does not involve improvements to software and methods.

[0045] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0046] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A gripping structure for an industrial robot, comprising a mounting shell (2) and a gripping plate (15) mounted at its open end, characterized in that: Also includes: A steering assembly, wherein the inner side of the mounting shell (2) is provided with a steering assembly, and the steering assembly is used to drive the grabbing plate (15) to rotate; A grabbing and clamping assembly, wherein two sliding openings (14) are provided on the grabbing plate (15), and the grabbing and clamping assembly comprises a slide seat (10) slidably mounted on the sliding opening (14), a grabbing plate (12) being hingedly connected to the slide seat (10), a telescopic cylinder C (11) being fixed on the side away from the two grabbing plates (12), the other end of the telescopic cylinder C (11) being correspondingly fixed on the slide seat (10), and the telescopic cylinder C (11) being used to control and adjust the angle of the grabbing plate (12) relative to the grabbing plate (15); A grab control component, wherein the inner side of the mounting shell (2) is also provided with a grab control component, the grab control component is used to control the two grab clamping components to move closer to or farther from each other, and the grab control component is also used to control and adjust the grab force of the grab plate (12) and maintain a stable clamping state after grabbing; An auxiliary support and fixing component is also installed on the outside of the mounting shell (2), and the auxiliary support and fixing component is used to cooperate with the grabbing and clamping component to perform auxiliary support and fixing of objects.

2. The gripping structure for an industrial robot according to claim 1, characterized in that: The mounting shell (2) and the grabbing plate (15) are rotatably connected; An anti-slip ring (23) is fixed on the outer side of the grabbing plate (15), and an annular groove (24) rotatably connected to the anti-slip ring (23) is formed at the open end of the mounting shell (2).

3. The gripping structure for an industrial robot according to claim 1, characterized in that: The auxiliary support fixing assembly comprises a telescopic cylinder A (3), a cylinder bracket A (4), a telescopic cylinder B (5), a fixing plate (6), a connecting plate (7), an elastic telescopic positioning rod (8), an arc plate (9) and a collar (16); A collar (16) is slidably provided on the outer side of the mounting shell (2); a plurality of telescopic cylinders A (3) are circumferentially distributed and fixed on a side of the collar (16) away from the grab plate (12); the telescopic cylinders A (3) are also connected and fixed to the mounting shell (2) via a cylinder bracket A (4); Two arc-shaped plates (9) slidably connected to the outer wall of the mounting shell (2) are evenly distributed and fixed on one side of the collar (16) close to the grab plate (12), and a plurality of elastic telescopic positioning rods (8) are evenly distributed and slidably installed on the arc-shaped plates (9), and the cylinders of the elastic telescopic positioning rods (8) are fixedly connected to the connecting plate (7); A telescopic cylinder B (5) is also fixed to the outside of the arc-shaped plate (9), and the end of the telescopic core shaft of the telescopic cylinder B (5) is fixedly connected to the connecting plate (7) via a fixing plate (6).

4. The gripping structure for an industrial robot according to claim 3, characterized in that: The elastic telescopic positioning rod (8) is arranged parallel to the surface of the grabbing plate (15), and the telescopic end of the elastic telescopic positioning rod (8) is rounded; The telescopic cylinder B (5) is parallel to the elastic telescopic positioning rod (8).

5. The gripping structure for an industrial robot according to claim 1, characterized in that: The two sliding openings (14) are evenly distributed on the circumference of the grabbing plate (15) and are opened through; The slide seat (10) adopts an H-shaped structure, the middle part of the slide seat (10) is slidably connected to the slide opening (14), and the two sides of the slide seat (10) are slidably connected to the two side surfaces of the grab plate (15); The telescopic cylinder C (11) has an arc-shaped structure, and the center of the telescopic cylinder C (11) is located on the axis of the articulated shaft of the grab plate (12) and the slide seat (10); An anti-slip pad (13) is also fixed to the adjacent side of the two grab plates (12).

6. The gripping structure for an industrial robot according to any one of claims 1 to 5, characterized in that: The grab control assembly comprises a transmission shaft (29) rotatably mounted on the middle of the grab plate (15), a worm wheel (31) being fixed on the transmission shaft (29), a worm (30) being meshingly connected to one side of the worm wheel (31), the worm (30) being fixed to a worm shaft (43), support plates (41) being rotatably mounted on both ends of the worm shaft (43), the support plates (41) being fixedly connected to the grab plate (15), and a grab motor (42) being transmission-connected to the support plate (41) being also fixed on one of the support plates (41); A rack mounting rod (39) is also fixed to one side of the two slide seats (10) away from the grabbing plate (12), a grabbing rack (40) is fixed to the rack mounting rod (39), and a worm gear (31) meshingly connected to the two grabbing racks (40) is rotatably mounted on the transmission shaft (29); The grab plate (15) is also fixed with a cylinder bracket B (27), a telescopic cylinder E (26) coaxial with the transmission shaft (29) is fixed to the cylinder bracket B (27), and an inner edge rod (28) slidably connected to the transmission shaft (29) is rotatably mounted on the end of the telescopic core shaft of the telescopic cylinder E (26); A plurality of transmission blocks (33) are slidably mounted on the side wall of the transmission shaft (29) in a circumferentially distributed manner corresponding to the grabbing gear (32); A fixing block (35) is also fixed to the side of the inner end of the transmission block (33) away from the inner edge rod (28), and an elastic column (34) is fixed between the fixing block (35) and the inner wall of the transmission shaft (29); When the telescopic cylinder E (26) is extended, the inner edge rod (28) pushes the transmission block (33) to move, thereby adjusting the abutment force of the transmission block (33) on the grabbing gear (32), thereby controlling the grabbing force of the grabbing plate (12).

7. The gripping structure for an industrial robot according to claim 6, characterized in that: The inner wall of the grabbing gear (32) is provided with a friction layer A, and the outer end of the transmission block (33) is provided with a friction layer B; The inner end of the transmission block (33) is inclined toward the center of the transmission shaft (29) on the side away from the inner edge rod (28), and the end of the inner edge rod (28) is also provided with a conical head (36) that cooperates with the inner end of the transmission block (33).

8. The gripping structure for an industrial robot according to claim 6, characterized in that: The steering assembly comprises a ring plate (21) fixed to the outer ring of the grab plate (15), and a steering gear ring (22) is fixed to the inner side of one end of the ring plate (21) away from the grab plate (15); A motor seat (18) is fixed inside the mounting shell (2), a steering motor (19) is fixed on the motor seat (18), and a steering gear (20) meshingly connected to a steering gear ring (22) is fixed at the output end of the steering motor (19).

9. The gripping structure for an industrial robot according to claim 8, characterized in that: A brake layer (25) is also fixed to the inner end of the mounting shell (2); A telescopic cylinder F (38) is also fixed on the cylinder bracket B (27), and a brake disc (37) capable of abutting and fixing with the brake layer (25) is fixed on the end of the telescopic core shaft of the telescopic cylinder F (38).

10. The gripping structure for an industrial robot according to any one of claims 1 to 5, characterized in that: The middle portion of the mounting shell (2) is hingedly connected to the end of the robot arm (1); The robot arm (1) is also hingedly provided with a telescopic cylinder D (17), and the other end of the telescopic cylinder D (17) is hingedly connected to the outer ring of the mounting shell (2).

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