Grabbing device of industrial robot

Abstract

The invention discloses a grabbing device of an industrial robot, and relates to the technical field of industrial robots. Comprising a supporting piece, a fixing frame arranged on the surface of the supporting piece, a lead screw piece arranged in the supporting piece in a penetrating mode, a movable piece arranged on the outer side of the lead screw piece, a connecting piece linked with the movable piece, a rotating shaft piece arranged in the fixing frame and hinged to one end of the connecting piece, and a first rotating piece arranged on the outer side of the rotating shaft piece. And the second rotating piece is matched with the first rotating piece. The device has the beneficial effects that the pawl is matched with the locking wheel, so that the clamping jaw located on the outer side of the rod part of the second rotating piece can be locked; the clamping jaw is fixed in a clamping jaw locking mode, the stability in the carrying process can be remarkably enhanced, it is guaranteed that goods are not prone to sliding off even if the robot bumps or inclines in the moving process, and therefore safety is improved, and accident risks are reduced.

Description

Technical Field

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

[0002] The application of industrial robots in the field of handling has greatly improved production efficiency and logistics speed, especially when handling heavy objects, dangerous goods or tasks requiring high precision. By being equipped with various special clamps, industrial robots can flexibly cope with goods of different shapes and sizes, and achieve accurate and fast handling.

[0003] At present, when industrial robots are used to transport goods, clamps are usually used to fix items. However, when faced with smooth and curved pipe-like goods, due to the wide variety of goods, the existing clamp design often cannot provide sufficient stability. Especially during the transportation process, if the clamp is tilted, the pipe can easily slip out of the clamp, which not only reduces the transportation efficiency but also may cause safety hazards. Summary of the invention

[0004] In view of the above problems or problems existing in the prior art, the present invention is proposed.

[0005] Therefore, an object of the present invention is to provide a gripping device for an industrial robot, which is designed to solve the problem that the existing industrial robots have unstable clamping and pose a major safety hazard during the process of transporting pipes.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions: A grasping device of an industrial robot, comprising: a transmission unit, including a support member, a fixing frame arranged on the surface of the support member, a screw member passing through the support member, a movable member arranged outside the screw member, a connecting member linked with the movable member, a rotating shaft member arranged inside the fixing frame and hinged to one end of the connecting member, a first rotating member arranged outside the rotating shaft member, and a second rotating member adapted to the first rotating member;

[0007] The limiting unit includes a movable sleeve rod arranged at the end of the movable part, a fixed column arranged on the side wall of the movable part, a support plate arranged on the inner side of the fixed frame, a slider arranged inside the support plate, a rotatable pawl arranged inside the slider, a locking wheel arranged at the end of the second rotating part, and a limiting block arranged on the inner side of the fixed column.

[0008] As a preferred solution of the gripping device of the industrial robot of the present invention, wherein: the screw rod and the movable part are threadedly connected;

[0009] A protrusion is provided on one side of the movable part close to the surface of the supporting part;

[0010] The surface of the support member is provided with a slide rail adapted to the protrusion;

[0011] The protrusion cooperates with the slide rail, so that the rotation of the screw rod can drive the movable part to reciprocate along the axis direction of the screw rod.

[0012] As a preferred solution of the gripping device of the industrial robot of the present invention, wherein: the axis of the rotating shaft is perpendicular to the axis of the screw rod;

[0013] The rotating shaft member and the movable member are linked to each other through the connecting member;

[0014] The movable member moves in a linear direction to drive the rotating shaft member hinged to the connecting member to rotate.

[0015] As a preferred solution of the gripping device of the industrial robot of the present invention, wherein: the rotating shaft member and the first rotating member are interference fit;

[0016] The axis of the second rotating member is perpendicular to the axis of the first rotating member, and the second rotating member is disposed inside the fixing frame;

[0017] The number of the fixing frames is at least two, and the fixing frames are symmetrically arranged on both sides of the screw rod;

[0018] A clamping claw W is disposed on the outer side of the rod portion of the second rotating member.

[0019] As a preferred solution of the gripping device of the industrial robot of the present invention, wherein: the movable member further comprises an annular groove arranged at the end thereof;

[0020] The sleeve rod comprises a sliding rod arranged at its end, and hinge seats symmetrically arranged on both sides thereof;

[0021] The hinge seat is hinged to one end of the connecting member;

[0022] The sliding rod is movably located inside the annular groove.

[0023] As a preferred solution of the gripping device of the industrial robot of the present invention, wherein: the support plate includes a slide groove opened inside the support plate, and a first spring arranged inside the support plate;

[0024] The slider is located inside the slide groove, and the slider slides along the inner wall of the slide groove;

[0025] The end of the first spring contacts the side wall of the slider.

[0026] As a preferred solution of the gripping device of the industrial robot of the present invention, the ratchet is located inside the slider and can rotate.

[0027] The ratchet pawl can limit the rotation direction of the locking wheel;

[0028] The locking wheel comprises a smooth portion arranged on its side wall, and a toothed portion arranged on its side wall;

[0029] The pawl is insertable into the tooth gap.

[0030] As a preferred solution of the gripping device of the industrial robot of the present invention, wherein: a second spring is provided at the end of the limit block, and the second spring conflicts with the end of the limit block;

[0031] The limiting block passes through the fixing column and extends to the outside thereof;

[0032] The end of the limit block contacts the second contact surface M2 of the slider, thereby enabling the end of the locking wheel to be immersed in the inner side of the fixing column.

[0033] As a preferred solution of the gripping device of the industrial robot of the present invention, wherein: the annular groove has a space inside for the sliding rod to move horizontally;

[0034] The limit block can drive the slider to move, thereby achieving the staggered positions of the pawl and the locking wheel, and the annular groove has a space inside for the sliding rod to move horizontally;

[0035] The limit block can drive the slider to move, thereby achieving the staggered positions of the pawl and the locking wheel.

[0036] As a preferred solution of the gripping device of the industrial robot of the present invention, wherein: the first contact surface M1 of the limit block can contact with the end of the slider;

[0037] The pawl corresponds to the position of the smooth portion.

[0038] The beneficial effects of the present invention are as follows: the present invention can lock the clamp located on the outside of the rod portion of the second rotating member by cooperating between the arranged ratchet and the locking wheel; fixing the clamp by means of clamp locking can significantly enhance the stability during the handling process, ensuring that even if the robot encounters bumps or tilts during movement, the goods are not likely to slip, thereby improving safety and reducing the risk of accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0040] Figure 1 It is a schematic diagram of the general assembly structure of the present invention.

[0041] Figure 2 It is a schematic diagram of the structure of the grabbing device of the present invention.

[0042] Figure 3 It is a schematic diagram of the connection structure between the movable part and the sleeve rod of the present invention.

[0043] Figure 4 It is a schematic diagram of the explosion structure of the limiting unit of the present invention.

[0044] Figure 5 It is a partial cross-sectional view of the movable part of the present invention.

[0045] Figure 6 For the present invention Figure 5 A partial enlarged view of point A.

[0046] Figure 7 It is a partial cross-sectional view of the support plate of the present invention.

[0047] In the figure: 1, transmission unit; 11, support member; 111, slide rail; 12, fixed frame; 13, screw member; 14, movable member; 141, protrusion; 142, annular groove; 15, connecting member; 16, rotating shaft member; 17, first rotating member; 18, second rotating member; 2, limiting unit; 21, sleeve rod; 211, sliding rod; 212, hinge seat; 22, fixed column; 23, support plate; 231, slide groove; 232, first spring; 24, slider; 25, pawl; 26, locking wheel; 261, smooth part; 262, toothed part; 27, limiting block; 271, second spring. DETAILED DESCRIPTION

[0048] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0049] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0050] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor is it a separate or selective embodiment that is mutually exclusive with other embodiments.

[0051] Example 1

[0052] Reference Figure 1 to Figure 3 , which is the first embodiment of the present invention, and this embodiment provides a grasping device of an industrial robot, which includes a transmission unit 1, including a support member 11, a fixing frame 12 arranged on the surface of the support member 11, a screw member 13 passing through the inside of the support member 11, a movable member 14 arranged on the outside of the screw member 13, a connecting member 15 linked to the movable member 14, a rotating shaft member 16 arranged inside the fixing frame 12 and hinged to one end of the connecting member 15, a first rotating member 17 arranged on the outside of the rotating shaft member 16, and a second rotating member 18 adapted to the first rotating member 17.

[0053] In this embodiment, the support member 11 adopts a structure in which two side vertical plates support the top horizontal plate; the screw rod member 13 passes through the two side vertical plates and extends to their outside; and a flange for connecting to the robot arm Q is provided on the surface of the support member 11 away from the screw rod member 13; and the support member 11 and the robot arm Q are connected to the robot arm by bolts passing through the flange.

[0054] It should be noted that the end of the screw member 13 is connected to the drive motor through a linkage device, and the screw member 13 can be driven to rotate by rotating the output end of the motor; in this example, the linkage device uses a pulley drive to connect the motor and the screw member 13.

[0055] The movable part 14 is arranged on the outside of the screw rod part 13, and the screw rod part 13 and the movable part 14 are threadedly matched. The end of the movable part 14 is arranged on a protrusion that can limit the movable part 14, and the protrusion can contact the surface of the support part 11, thereby ensuring that the movable part 14 can move along the horizontal straight line direction; then when the screw rod part 13 rotates, the movable part 14 can be driven to perform reciprocating linear motion along the axial direction of the screw rod part 13.

[0056] The fixed frame 12 adopts an "I"-shaped structure, and the rotating shaft 16 passes through the upper and lower sides of the fixed frame 12 and is perpendicular to the surface of the support member 11; and the rotating shaft 16 is connected to the first rotating member 17 by a connecting key; the second rotating member 18 is horizontally arranged at the center position of the fixed frame 12, and the second rotating member 18 passes through the fixed frame 12 and extends to its outside; the first rotating member 17 is perpendicular to the second rotating member 18, the first rotating member 17 includes a rod portion and a bevel gear portion, and the bevel gear portion of the second rotating member 18 is meshed with the first rotating member 17, and the rotation of the first rotating member 17 can drive the second rotating member 18 to rotate.

[0057] The movable member 14 and the connecting member 15 are linked to each other. When the movable member 14 moves along a straight line, the connecting member 15 can be driven to flip the moving angle. The other end of the connecting member 15 is connected to the rotating shaft member 16. When the connecting member 15 rotates a certain angle, the rotating shaft member 16 can be driven to rotate along its axial direction. The rotation of the rotating shaft member 16 can drive the first rotating member 17 to rotate.

[0058] A clamping claw is arranged at the center of the fixing frame 12 outside the rod of the second rotating member 18 , and the clamping claw can rotate along with the rotation of the second rotating member 18 . The rod of the second rotating member 18 and the clamping claw are connected and fixed by a connecting key.

[0059] Furthermore, the limiting unit 2 includes a movable sleeve rod 21 arranged at the end of the movable part 14, a fixed column 22 arranged on the side wall of the movable part 14, a support plate 23 arranged on the inner side of the fixed frame 12, a slider 24 arranged inside the support plate 23, a rotatable pawl 25 arranged on the inner side of the slider 24, a locking wheel 26 arranged at the end of the second rotating part 18, and a limiting block 27 arranged on the inner side of the fixed column 22.

[0060] In this embodiment, a sleeve rod 21 is provided at the end of the movable member 14, and the sleeve rod 21 is sleeved on the outside of the screw member 13. When the movable member 14 moves in the horizontal direction, the sleeve rod 21 can be pushed to move synchronously.

[0061] The sleeve rod 21 is hinged and rotated with one end of the connecting member 15. During the movement of the sleeve rod 21, the connecting member 15 can be driven to flip and move at an angle. The flipping of the connecting member 15 can drive the rotating shaft member 16 to rotate, thereby driving the second rotating member 18 to flip, thereby realizing the flipping and grasping action of the clamp W.

[0062] The fixing column 22 can be fixed to the side wall of the sleeve rod 21 by bolt connection; then the sleeve rod 21 is moved to drive the fixing column 22 to move; and the support plate 23 is a plate-like structure, and the support plate 23 can be fixed to the side wall of the fixing frame 12 by bolts.

[0063] The slider 24 is arranged inside the slot opened inside the support plate 23, and the slider 24 can slide along the inside of the slot; and the pawl 25 is arranged inside the slider 24 and can rotate, and the pawl 25 is connected to a rotating shaft, and the rotating shaft passes through the slider 24 and extends to its outside; a torsion spring is arranged on the outside of the pawl 25, and the pawl 25 can be pushed to reset by the arranged torsion spring.

[0064] The locking wheel 26 is disposed at one end of the rod portion of the second rotating member 18 , and the locking wheel 26 and the second rotating member 18 are fixed by bolt connection; the position of the locking wheel 26 corresponds to the position of the pawl 25 .

[0065] When the second rotating member 18 drives the clamping jaw W to rotate inward to achieve the grasping action, the locking wheel 26 can continuously squeeze the pawl 25, and the pawl 25 does not limit the rotation of the locking wheel 26 at this time; and when the second rotating member 18 drives the clamping jaw W to rotate outward to achieve the opening action, the pawl 25 will cooperate with the tooth gap of the locking wheel 26 and limit the locking wheel 26, thereby ensuring that the clamping jaw W will not loosen in the clamping state.

[0066] When in use, the motor starts to drive the screw rod 13 to rotate. While the screw rod 13 rotates, it drives the movable member 14 to move along the axial direction of the screw rod 13. The movable member 14 can drive the connecting member 15 linked with it to rotate. While the connecting member 15 rotates, it drives the rotating shaft member 16 hinged at the other end to rotate. The rotation of the rotating shaft member 16 can drive the first rotating member 17 to rotate; the rotation of the first rotating member 17 can drive the second rotating member 18 to rotate, and the rotation of the second rotating member 18 drives the clamping claw W arranged on the outer side of its rod to rotate; thereby, the two groups of clamps W can be brought closer to each other and the grasping action can be completed; the second rotating member 18 drives the locking wheel 26 to rotate during the rotation process, and the locking wheel 26 continuously squeezes the ratchet 25 during the rotation process, and under the action of the torsion spring, the ratchet 25 swings back and forth to reset; and when the clamping claw W is clamped, the second rotating member 18 can be effectively prevented from rotating in the opposite direction through the limiting of the locking wheel 26 by the ratchet 25, thereby ensuring the stability of the clamping claw W.

[0067] In summary, the present invention can lock the claw located on the outside of the rod portion of the second rotating member by cooperating between the arranged pawl and the locking wheel; fixing the claw by means of claw locking can significantly enhance the stability during the transportation process, ensuring that even if the robot encounters bumps or tilts during movement, the goods are not likely to slip, thereby improving safety and reducing the risk of accidents.

[0068] Example 2

[0069] Reference Figure 1 to Figure 4, which is the second embodiment of the present invention, and which is different from the first embodiment in that: it also includes: a threaded connection between the screw member 13 and the movable member 14; a protrusion 141 is provided on the side of the movable member 14 close to the surface of the support member 11; a slide rail 111 adapted to the protrusion 141 is provided on the surface of the support member 11; the protrusion 141 cooperates with the slide rail 111, so that the rotation of the screw member 13 can drive the movable member 14 to reciprocate along the axial direction of the screw member 13.

[0070] In this embodiment, the outer sides of the two ends of the screw rod 13 are respectively provided with a left-handed thread structure and a right-handed thread structure; and the outer side of the screw rod 13 is provided with two groups of movable parts 14 that are compatible with the thread structure of the screw rod 13, and the two groups of movable parts 14 are symmetrically arranged; the rotation of the screw rod 13 can simultaneously drive the two groups of movable parts 14 to move along the horizontal direction.

[0071] A protrusion 141 is provided on the side wall of the movable part 14 close to the surface of the support part 11, and a slide rail 111 adapted to the protrusion 141 is provided on the surface of the support part 11; and the protrusion 141 is located inside the slide rail 111 and slides; through the cooperation between the provided protrusion 141 and the slide rail 111, the rotation of the screw rod part 13 can drive the movable part 14 to move in the horizontal direction.

[0072] Furthermore, the axis of the rotating shaft 16 is perpendicular to the axis of the screw rod 13; the rotating shaft 16 and the movable member 14 are linked via the connecting member 15; the movable member 14 moves in a linear direction to drive the rotating shaft 16 hinged to the connecting member 15 to rotate.

[0073] In this embodiment, the rotating shaft member 16 includes a vertical rod inserted into the interior of the fixed frame 12, and a connecting sleeve sleeved on the outside of the vertical rod; and the connecting sleeve of the rotating shaft member 16 is hinged and rotated with one end of the connecting member 15, and when the end of the connecting member 15 moves, the rotating shaft member 16 can be driven to rotate; thereby, when the movable member 14 moves in the horizontal direction, the rotating shaft member 16 can be driven to rotate a certain angle.

[0074] Furthermore, the rotating shaft 16 and the first rotating member 17 are interference fit; the axis of the second rotating member 18 is perpendicular to the axis of the first rotating member 17, and the second rotating member 18 is passed through the inner side of the fixed frame 12; the number of the fixed frames 12 is at least two groups, and the fixed frames 12 are symmetrically arranged on both sides of the screw member 13; a clamping claw W is arranged on the outer side of the rod portion of the second rotating member 18.

[0075] In this embodiment, the first rotating member 17 and the vertical rod of the rotating shaft member 16 are connected by interference fit, and when the rotating shaft member 16 rotates, the first rotating member 17 can be driven to rotate.

[0076] The second rotating member 18 is perpendicular to the movement axis of the first rotating member 17, so that horizontal rotation can be converted into vertical rotation; and the second rotating member 18 passes through the fixed frame 12 and extends to its outside, and the second rotating member 18 can be located inside the fixed frame 12 and rotate.

[0077] There are at least two sets of fixing frames 12 , and the two sets of fixing frames 12 are symmetrically arranged on both sides of the screw rod 13 , so that the two sets of clamping jaws W can cooperate with each other, thereby completing the grasping action of the pipe.

[0078] The clamping jaw W is sleeved on the outside of the rod of the second rotating member 18 , and the clamping jaw W and the second rotating member 18 are interference fit, so the rotation of the second rotating member 18 can drive the clamping jaw W to rotate synchronously.

[0079] Two sets of threaded structures are arranged on the outside of the screw rod 13. When the screw rod 13 rotates, the two sets of clamps W can be driven to cooperate with each other at the same time, so that the pipe can be clamped more stably. There are two sets of supporting points on the outside of the pipe, which can effectively prevent the pipe from flipping inside the clamps W, thereby ensuring that the pipe can be clamped more stably during the grasping process.

[0080] Preferably, a single screw member 13 can simultaneously drive two sets of jaw W assemblies to cooperate and clamp the pipe at two locations on the side wall of the pipe at the same time; at this time, only one driving device is needed to drive the screw member 13 to rotate, thereby effectively saving the cost of setting up and manufacturing.

[0081] When in use, the motor drives the screw rod 13 to rotate, which can drive the two groups of movable parts 14 arranged on its outside to move; the movable part 14 moves, and at the same time, it can drive the two groups of connecting parts 15 linked with it to move, and the movement of the connecting part 15 can drive the rotating shaft part 16 hinged thereto to rotate, and the rotation of the rotating shaft part 16 drives the first rotating part 17 to rotate, and the rotation of the first rotating part 17 can drive the second rotating part 18 engaged with it to rotate, and the rotation of the second rotating part 18 drives the clamping claws W arranged on its outside to flip, and the clamping claws W symmetrically arranged on both sides of the screw rod 13 are close to each other, so as to complete the grabbing action of the pipeline, and the two groups of movable parts 14 move at the same time, which can drive the two groups of clamping claws W to clamp the pipeline at two positions on the outer wall of the pipeline, so as to stably support the pipeline, and ensure that the pipeline will not be located inside the clamping claws W and rotate out of the clamping claws W during transportation.

[0082] Example 3

[0083] Reference Figure 1 to Figure 7, which is the third embodiment of the present invention, and is different from the previous two embodiments in that: the movable member 14 also includes an annular groove 142 arranged at its end; the sleeve rod 21 includes a sliding rod 211 arranged at its end, and hinge seats 212 symmetrically arranged on both sides thereof; the hinge seat 212 is hinged to one end of the connecting member 15; the sliding rod 211 is movable inside the annular groove 142.

[0084] In this embodiment, the movable part 14 is provided with an annular groove 142 along the axial direction of the screw rod part 13, and the cross-section of the annular groove 142 is a "convex" shaped structure. A sleeve rod 21 is provided at the end of the movable part 14, and the end face of the sleeve rod 21 is connected to a sliding rod 211, and the sliding rod 211 is located inside the annular groove 142 and can move.

[0085] It should be noted that both ends of the side walls of the sleeve rod 21 are connected with hinge seats 212, and the hinge seats 212 are hinged to one end of the connecting member 15. When the sleeve rod 21 moves with the movable member 14, the hinge seats 212 drive the connecting member 15 to move and cause the connecting member 15 to flip the moving angle. The rotation of the connecting member 15 can drive the rotating shaft member 16 to rotate, thereby achieving linkage between the movable member 14 and the rotating shaft member 16.

[0086] Furthermore, the support plate 23 is fixed inside the fixing frame 12, and a slide groove 231 is provided inside the support plate 23; two groups of slides are provided on the side wall of the slider 24, so that the slider 24 can slide along the inside of the slide groove 231; at the same time, the slider 24 is limited by the slide groove 231, thereby ensuring that the slider 24 will not detach from the inside of the slide groove 231.

[0087] A circular hole is provided inside the support plate 23, and a first spring 232 is provided inside the circular hole. The elastic potential energy released by the first spring 232 can push the slider 24 to be tightly attached to the inner wall of the slide groove 231 away from one end of the first spring 232; at this time, the position of the pawl 25 provided inside the slider 24 corresponds to the position of the locking wheel 26; the rotation of the clamping claw W will be limited by the pawl 25 when it is opened, thereby ensuring that the clamping claw W can firmly clamp the pipe.

[0088] The first spring 232 is located inside the circular hole. When the first spring 232 is compressed, it contacts the inner wall of the circular hole. This effectively prevents the first spring 232 from being subjected to excessive force during the compression and energy storage process, causing the first spring 232 to exceed the range of its elastic deformation.

[0089] Furthermore, the pawl 25 is rotatably located inside the slider 24, and the pawl 25 can limit the rotation direction of the locking wheel 26; the locking wheel 26 includes a smooth portion 261 arranged on its side wall, and a toothed portion 262 arranged on its side wall; the pawl 25 can be inserted into the gap of the toothed portion 262.

[0090] In this embodiment, the ends of the pawl 25 are connected to rotating shafts on both sides, and a torsion spring is provided on the outer side of the rotating shaft. The torsional force of the torsion spring can drive the pawl 25 to flip, so that the pawl 25 can be inserted into the tooth gap between the tooth portions 262; and a fixing rod is provided on one side of the end of the locking wheel 26, and the locking wheel 26 and the second rotating member 18 can be connected and fixed by the fixing rod.

[0091] The tooth portion 262 adopts a three-fifths gear structure, and its setting angle is adapted to the angle at which the clamping claw W can rotate to clamp the pipe; when the clamping claw W completes clamping the pipe, the position of the tooth portion 262 corresponds to the position of the pawl 25.

[0092] When the clamp W is opened, when the clamp W is opened to an appropriate position, the locking wheel 26 rotates. At this time, the smooth portion 261 corresponds to the position of the pawl 25 along the moving direction of the slide groove 231, and the first spring 232 pushes the pawl 25 to move to a position intersecting with the locking wheel 26, so that the pawl 25 continues to play a role in limiting the reverse rotation of the locking wheel 26.

[0093] Furthermore, a second spring 271 is provided at the end of the limit block 27, and the second spring 271 is in conflict with the end of the limit block 27; the limit block 27 passes through the fixed column 22 and extends to the outside thereof; the end of the limit block 27 is in contact with the second contact surface M2 of the slider 24, thereby realizing that the end of the locking wheel 26 is immersed in the inner side of the fixed column 22.

[0094] It should be noted that the second spring 271 releases elastic potential energy to push the limit block 27 to penetrate the fixed column 22 and extend to the outside thereof, and the end of the limit block 27 is an inclined first contact surface M1; the limit block 27 can move with the movement of the fixed column 22.

[0095] When the movable member 14 moves in the direction close to the rotating shaft member 16, the movement of the movable member 14 can drive the fixed column 22 to move, and the movement of the fixed column 22 drives the limit block 27 to move; during the movement of the limit block 27, its end portion contacts and is squeezed by the second contact surface M2 of the slider 24, so that the limit block 27 contracts toward the inside of the fixed column 22 and compresses the second spring 271 to store energy; then, with the continuous movement of the movable member 14, the limit block 27 moves to the other side of the slider 24; during the movement of the movable member 14, the movement of the movable member 14 can drive the sleeve rod 21 to move, and the movement of the sleeve rod 21 drives the connecting member 15 to rotate, and the rotation of the connecting member 15 can drive the second rotating member 18 to flip, and the locking wheel 26 connected to the end of the second rotating member 18 rotates synchronously with the second rotating member 18, and the locking wheel 26 is not limited by the pawl 25 in this rotation direction; as the second rotating member 18 continues to rotate, it drives the clamping claw W to approach the pipeline and clamp the pipeline.

[0096] Furthermore, the annular groove 142 has a space inside for the sliding rod 211 to move horizontally; the limit block 27 can drive the sliding block 24 to move, thereby achieving the position staggered between the pawl 25 and the locking wheel 26.

[0097] In this embodiment, there is a longer distance inside the annular groove 142, so that the sliding rod 211 can be located inside the annular groove 142 and move; the sliding rod 211 includes a limiting end with a larger diameter and a connecting end that passes through the annular groove 142, and the limiting end can be located inside the annular groove 142 and move a distance L1.

[0098] Preferably, the elastic coefficient K1 of the second spring 271 is greater than the elastic coefficient K2 of the first spring 232; under the same pressure, the deformation amount of the first spring 232 being compressed is X1, and the deformation amount of the second spring 271 is X2; X2 is greater than X1; thereby satisfying that when the limit block 27 moves, the slider 24 can be driven to move together.

[0099] When the clamping jaws W need to be driven to open gradually, the screw rod 13 rotates to drive the movable member 14 to move; since the bottom of the limit end of the hinge seat 212 contacts the bottom wall of the annular groove 142, the movement of the movable member 14 will not drive the hinge seat 212 to move; the movement of the movable member 14 drives the limit block 27 provided inside the fixed column 22 to move, and at this time, the first contact surface M1 of the limit block 27 contacts the end of the slider 24, and the limit block 27 moves while pushing the slider 24 to slide along the inside of the slide groove 231, and the slider 24 moves and compresses the first spring 232 to store energy; as the slider 24 The movement of the pawl 25 connected to its inner side can cause the position of the locking wheel 26 to be staggered; then the reverse rotation of the locking wheel 26 will not be interfered by the pawl 25; when the positions of the pawl 25 and the locking wheel 26 are staggered, the limiting end of the sliding rod 211 contacts the end surface of the annular groove 142 close to the opening, so that the movement of the movable member 14 can drive the sleeve rod 21 to move, and then the movement of the movable member 14 can drive the second rotating member 18 to rotate, and at this time, the positions of the pawl 25 and the locking wheel 26 are staggered, so that the reverse rotation of the second rotating member 18 is no longer restricted.

[0100] As the movable member 14 continues to move, the second rotating member 18 rotates to open the clamping claw W. During the movement, the movable member 14 drives the limit block 27 to continuously squeeze the slider 24 to move, so that the slider 24 slides along the inside of the slide groove 231, and the slider 24 moves toward the side close to the first spring 232 and contacts the inner wall of the slide groove 231. The slider 24 can be limited by the inner wall of the slide groove 231, so that the slider 24 no longer moves when squeezed by the limit block 27. At this time, the movable member 14 continues to drive the limit block 27 to move, and the first contact surface M1 of the limit block 27 is squeezed by the end of the slider 24 and shrinks to the inside of the fixed column 22. While the limit block 27 shrinks, it squeezes the first spring 232 and contacts the inner wall of the slide groove 231. The second spring 271 is compressed to store energy. When the movable part 14 drives the limit block 27 to move to the other side of the slider 24, the position of the limit block 27 is staggered with the slider 24; the first spring 232 is no longer squeezed by the outer wall, and the first spring 232 releases elastic potential energy to push the slider 24 to move, so that the slider 24 moves to the position of the inner wall on the other side of the slide groove 231, and the slider 24 drives the pawl 25 to move to the position corresponding to the locking wheel 26, and at this time the pawl 25 corresponds to the smooth part 261; so that the rotation of the locking wheel 26 does not interfere with the movement of the pawl 25, so that the next time the clamp W clamps the pipe, the pawl 25 cooperates with the locking wheel 26 to achieve locking and fixing of the clamp W.

[0101] It is important to note that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A grasping device for an industrial robot, characterized in that: include, A transmission unit (1), comprising a support member (11), a fixing frame (12) arranged on the surface of the support member (11), a screw member (13) passing through the interior of the support member (11), a movable member (14) arranged outside the screw member (13), a connecting member (15) linked to the movable member (14), a rotating shaft member (16) arranged inside the fixing frame (12) and hinged to a section of the connecting member (15), a first rotating member (17) arranged outside the rotating shaft member (16), and a second rotating member (18) adapted to the first rotating member (17); The limiting unit (2) comprises a sleeve rod (21) movable at the end of the movable member (14), a fixing column (22) arranged on the side wall of the movable member (14), a support plate (23) arranged on the inner side of the fixing frame (12), a slider (24) arranged inside the support plate (23), a rotatable ratchet (25) arranged inside the slider (24), a locking wheel (26) arranged at the end of the second rotating member (18), and a limiting block (27) arranged on the inner side of the fixing column (22).

2. The gripping device of an industrial robot according to claim 1, characterized in that: The screw rod (13) and the movable member (14) are threadedly connected; A protrusion (141) is provided on one side of the movable member (14) close to the surface of the support member (11); The surface of the support member (11) is provided with a slide rail (111) adapted to the protrusion (141); The protrusion (141) cooperates with the slide rail (111), so that the rotation of the screw rod (13) can drive the movable part (14) to move back and forth along the axis direction of the screw rod (13).

3. The gripping device of an industrial robot according to claim 1 or 2, characterized in that: The axis of the rotating shaft (16) is perpendicular to the axis of the screw rod (13); The rotating shaft member (16) and the movable member (14) are linked to each other via the connecting member (15); The movable member (14) can drive the rotating shaft member (16) hinged to the connecting member (15) to rotate by moving in a linear direction.

4. The gripping device of an industrial robot according to claim 3, characterized in that: The rotating shaft (16) and the first rotating member (17) are in interference fit; The axis of the second rotating member (18) is perpendicular to the axis of the first rotating member (17), and the second rotating member (18) is disposed inside the fixing frame (12); The number of the fixing frames (12) is at least two groups, and the fixing frames (12) are symmetrically arranged on both sides of the screw rod (13); A clamping claw W is arranged on the outer side of the rod portion of the second rotating member (18).

5. The gripping device of an industrial robot according to any one of claims 1, 2 or 4, characterized in that: The movable member (14) further comprises an annular groove (142) arranged at an end thereof; The sleeve rod (21) comprises a sliding rod (211) arranged at its end, and hinge seats (212) symmetrically arranged on both sides thereof; The hinge seat (212) is hinged to one end of the connecting member (15); The sliding rod (211) is movably located inside the annular groove (142).

6. The gripping device of an industrial robot according to claim 5, characterized in that: The support plate (23) comprises a slide groove (231) opened inside the support plate (23), and a first spring (232) arranged inside the support plate (23); The slider (24) is located inside the slide groove (231), and the slider (24) slides along the inner wall of the slide groove (231); The end of the first spring (232) contacts the side wall of the slider (24).

7. The grasping device of an industrial robot according to any one of claims 1, 2, 4 or 6, characterized in that: The ratchet pawl (25) is located inside the slider (24) and is rotatable. The ratchet pawl (25) can limit the rotation direction of the locking wheel (26); The locking wheel (26) comprises a smooth portion (261) arranged on a side wall thereof, and a toothed portion (262) arranged on the side wall thereof; The pawl (25) can be inserted into a gap in the tooth portion (262).

8. The gripping device of an industrial robot according to claim 7, characterized in that: A second spring (271) is provided at the end of the limit block (27), and the second spring (271) is in conflict with the end of the limit block (27); The limiting block (27) passes through the fixing column (22) and extends to the outside thereof; The end of the limit block (27) contacts the second contact surface M2 of the sliding block (24), thereby enabling the end of the locking wheel (26) to be immersed in the inner side of the fixing column (22).

9. The grasping device of an industrial robot according to claim 5, characterized in that: The annular groove (142) has a space inside for the sliding rod (211) to move horizontally; The limit block (27) can drive the slider (24) to move, thereby achieving the positional offset between the pawl (25) and the locking wheel (26).

10. The grasping device of an industrial robot according to claim 7, characterized in that: The first contact surface M1 of the limit block (27) can contact the end of the slider (24); The positions of the ratchet claw (25) and the smooth portion (261) correspond to each other.

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