A gripping device for an industrial robot

Abstract

This invention discloses a gripping device for an industrial robot, relating to the field of industrial robot technology. It includes a transmission unit comprising a support member, a fixed frame disposed on the surface of the support member, a lead screw member passing through the support member, a movable member disposed on the outside of the lead screw member, a connecting member linked to the movable member, a rotating shaft member disposed inside the fixed frame and hinged to one end of the connecting member, a first rotating member disposed on the outside of the rotating shaft member, and a second rotating member adapted to the first rotating member. The beneficial effect of this invention is that the gripper located on the outside of the rod of the second rotating member can be locked by the cooperation between the pawl and the locking wheel; fixing the gripper by locking it significantly enhances stability during handling, ensuring that even if the robot encounters bumps or tilts during movement, the goods are less likely to slip, thereby improving safety and reducing the risk of accidents.

Description

Technical Field

[0001] This invention relates to the field of industrial robot technology, and in particular to a gripping device for an industrial robot. Background Technology

[0002] The application of industrial robots in the field of material handling has greatly improved production efficiency and logistics speed, especially when handling heavy objects, hazardous materials or tasks requiring high precision. By being equipped with various special grippers, industrial robots can flexibly handle goods of different shapes and sizes, achieving precise and rapid handling.

[0003] Currently, when using industrial robots to handle goods, clamps are usually used to secure items. However, when dealing with smooth and curved pipes, due to the wide variety of goods, existing clamp designs often fail to provide sufficient stability. In particular, if the clamp tilts during handling, the pipes can easily slip out of the clamp, which not only reduces handling efficiency but may also cause safety hazards. Summary of the Invention

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

[0005] Therefore, the purpose of this invention is to provide a gripping device for industrial robots, which solves the problem of unstable gripping and significant safety hazards in existing industrial robots during pipe handling.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a gripping device for an industrial robot, comprising a transmission unit including a support member, a fixed frame disposed on the surface of the support member, a lead screw member passing through the inside of the support member, a movable member disposed on the outside of the lead screw member, a connecting member linked with the movable member, a rotating shaft member disposed inside the fixed frame and hinged to one end of the connecting member, a first rotating member disposed on the outside of the rotating shaft member, and a second rotating member adapted to the first rotating member;

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

[0008] In a preferred embodiment of the gripping device for the industrial robot of the present invention, the lead screw and the moving part are threadedly connected.

[0009] The movable part has a protrusion on the side near the surface of the support member;

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

[0011] The protrusion engages with the slide rail, thereby enabling the rotation of the lead screw to drive the movable part to reciprocate along the axis of the lead screw.

[0012] In a preferred embodiment of the gripping device for the industrial robot of the present invention, the axis of the rotating shaft is perpendicular to the axis of the lead screw.

[0013] The rotating shaft and the moving part are linked together by the connecting member;

[0014] The movement of the movable component in a straight line can drive the rotating shaft, which is hinged to the connecting component, to rotate.

[0015] In a preferred embodiment of the gripping device for the industrial robot of the present invention, the rotating shaft and the first rotating component are interference-fitted.

[0016] The axis of the second rotating member is perpendicular to the axis of the first rotating member, and the second rotating member passes through the inner side of the fixed frame;

[0017] The number of fixing brackets is at least two sets, and the fixing brackets are symmetrically arranged on both sides of the lead screw component;

[0018] The second rotating member has a gripper W on the outer side of the rod portion.

[0019] In a preferred embodiment of the gripping device for the industrial robot of the present invention, the movable part further includes an annular groove disposed at its end.

[0020] The sleeve includes a sliding rod disposed at its end and hinge seats symmetrically disposed on both sides thereon;

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

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

[0023] As a preferred embodiment of the gripping device of the industrial robot of the present invention, the support plate includes a groove formed therein and a first spring disposed inside the support plate.

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

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

[0026] In a preferred embodiment of the gripping device for the industrial robot described in this invention, the pawl is located inside the slider and is rotatable.

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

[0028] The locking wheel includes a smooth portion disposed on its side wall and a toothed portion disposed on its side wall;

[0029] The pawl can be inserted into the gap between the teeth.

[0030] In a preferred embodiment of the gripping device for the industrial robot of the present invention, a second spring is provided at the end of the limiting block, and the second spring abuts against the end of the limiting block.

[0031] The limiting block penetrates the fixing post and extends to its outer side;

[0032] The end of the limiting block and the second contact surface M2 of the slider are used to make the end of the locking wheel submerged into the inner side of the fixing column.

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

[0034] The limiting block can drive the slider to move, thereby realizing that the pawl and the locking wheel are misaligned. The annular groove has space inside for the sliding rod to move horizontally.

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

[0036] In a preferred embodiment of the gripping device for the industrial robot described in this invention, the first contact surface M1 of the limiting block is capable of contacting the end of the slider.

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

[0038] The beneficial effects of the present invention are as follows: The present invention locks the gripper located on the outside of the second rotating member rod by means of the cooperation between the pawl and the locking wheel; the gripper is fixed by means of gripper locking, which can significantly enhance the stability during the handling process, and ensure that the goods are not easy to slip off even if the robot encounters bumps or tilts during the movement, thereby improving safety and reducing the risk of accidents. Attached Figure Description

[0039] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

[0041] Figure 2 This is a schematic diagram of the gripping device of the present invention.

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

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

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

[0045] Figure 6 For the present invention Figure 5 A magnified view of part A.

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

[0047] In the diagram: 1. Transmission unit; 11. Support component; 111. Slide rail; 12. Fixing frame; 13. Lead screw component; 14. Moving component; 141. Protrusion; 142. Annular groove; 15. Connecting component; 16. Rotating shaft component; 17. First rotating component; 18. Second rotating component; 2. Limiting unit; 21. Sleeve rod; 211. Sliding rod; 212. Hinge seat; 22. Fixing 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 Implementation

[0048] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0049] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0050] Secondly, the term "an 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 phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single embodiment or an embodiment selectively excluded from other embodiments.

[0051] Example 1

[0052] Reference Figures 1-3 This is the first embodiment of the present invention. This embodiment provides a gripping device for an industrial robot, which includes a transmission unit 1, including a support member 11, a fixed frame 12 disposed on the surface of the support member 11, a lead screw member 13 passing through the inside of the support member 11, a movable member 14 disposed on the outside of the lead screw member 13, a connecting member 15 linked with the movable member 14, a rotating shaft member 16 disposed inside the fixed frame 12 and hinged to one end of the connecting member 15, a first rotating member 17 disposed 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 the top horizontal plate is supported by two side upright plates; the lead screw 13 passes through the two side upright plates and extends to their outer side; and the surface of the support member 11 away from the lead screw 13 is provided with a flange for connecting the robotic arm Q; and the support member 11 and the robotic arm Q are connected to the robotic arm by bolts through the flange.

[0054] It should be noted that the end of the lead screw 13 is connected to the drive motor through a linkage device. The rotation of the motor output end can drive the lead screw 13 to rotate. In this example, the linkage device uses a belt pulley drive to connect the motor and the lead screw 13.

[0055] The movable part 14 is located outside the lead screw 13, and the lead screw 13 and the movable part 14 are threaded together. The end of the movable part 14 is provided with a protrusion that can limit the movement of the movable part 14. The protrusion can contact the surface of the support 11, thereby ensuring that the movable part 14 can move along the horizontal straight line. Then, when the lead screw 13 rotates, it can drive the movable part 14 to reciprocate linearly along the axis of the lead screw 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; the rotating shaft 16 is connected to the first rotating member 17 by a connecting key; the second rotating member 18 is horizontally arranged along the center position of the fixed frame 12, and the second rotating member 18 passes through the fixed frame 12 and extends to its outer side; the first rotating member 17 and the second rotating member 18 are perpendicular to each other, the first rotating member 17 is composed of a rod part and a bevel gear part, and the bevel gear part of the second rotating member 18 meshes 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 part 14 and the connecting part 15 are linked together. When the movable part 14 moves along a straight line, it can drive the connecting part 15 to rotate and move by an angle. The other end of the connecting part 15 is connected to the rotating shaft 16. When the connecting part 15 rotates at a certain angle, it can drive the rotating shaft 16 to rotate along its axis. The rotation of the rotating shaft 16 can drive the first rotating part 17 to rotate.

[0058] A gripper is provided on the outer side of the rod of the second rotating member 18 at the center position inside the fixed frame 12. The gripper can rotate with the rotation of the second rotating member 18. The rod of the second rotating member 18 and the gripper are connected and fixed by a connecting key.

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

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

[0061] The sleeve 21 is hinged to one end of the connector 15 and rotates. During the movement of the sleeve 21, the connector 15 can be rotated and moved by an angle. The rotation of the connector 15 can drive the rotating shaft 16 to rotate, thereby driving the second rotating part 18 to rotate, thus realizing the action of the gripper W to rotate and grasp.

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

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

[0064] The locking wheel 26 is located at one end of the rod of the second rotating member 18, and the locking wheel 26 is fixed to the second rotating member 18 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 gripper W to rotate inward to achieve the gripping action, the locking wheel 26 can continuously squeeze the pawl 25. At this time, the pawl 25 does not limit the rotation of the locking wheel 26. However, when the second rotating member 18 drives the gripper W to rotate outward to achieve the opening action, the pawl 25 will engage with the teeth of the locking wheel 26 and limit the locking wheel 26, thereby ensuring that the gripper W will not loosen in the gripping state.

[0066] In use, the motor starts and drives the lead screw 13 to rotate. Simultaneously, the rotation of the lead screw 13 drives the movable part 14 to move along the axis of the lead screw 13. The movement of the movable part 14 drives the connecting part 15, which is linked to it, to rotate. The rotation of the connecting part 15, in turn, drives the rotating shaft 16, which is hinged to its other end, to rotate. The rotation of the rotating shaft 16 drives the first rotating part 17 to rotate. The rotation of the first rotating part 17 drives the second rotating part 18 to rotate. The rotation of the second rotating part 18 drives the gripper W, located on the outer side of its rod, to rotate. This allows the two sets of grippers W to be brought closer together and complete the gripping action. During the rotation of the second rotating part 18, the locking wheel 26 rotates. The locking wheel 26 continuously presses against the pawl 25 during rotation, and under the action of the torsion spring, the pawl 25 swings back and forth to reset. After the gripper W has finished gripping, the pawl 25 limits the locking wheel 26, effectively preventing the second rotating part 18 from rotating in the opposite direction, thus ensuring the stability of the gripper W.

[0067] In summary, the present invention locks the gripper located on the outside of the second rotating member rod by cooperating with the pawl and the locking wheel. By fixing the gripper by locking, the stability during the handling process can be significantly enhanced, ensuring that the goods are not easy to slip off even if the robot encounters bumps or tilts during movement, thereby improving safety and reducing the risk of accidents.

[0068] Example 2

[0069] Reference Figures 1-4This is the second embodiment of the present invention, which differs from the first embodiment in that it further includes a threaded connection between the lead screw 13 and the movable member 14; a protrusion 141 is provided on the side of the movable member 14 near 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, thereby enabling the rotation of the lead screw 13 to drive the movable member 14 to reciprocate along the axial direction of the lead screw 13.

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

[0071] The movable part 14 has a protrusion 141 on the side wall near the surface of the support 11, and the surface of the support 11 has a slide rail 111 that is adapted to the protrusion 141; the protrusion 141 slides inside the slide rail 111; through the cooperation between the protrusion 141 and the slide rail 111, the rotation of the lead screw 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 lead screw 13; the rotating shaft 16 and the movable part 14 are linked together through the connecting part 15; the movement of the movable part 14 in a straight line can drive the rotating shaft 16, which is hinged to the connecting part 15, to rotate.

[0073] In this embodiment, the rotating shaft 16 includes a vertical rod passing through the inside 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 16 is hinged to one end of the connecting member 15 for rotation, so that the rotating shaft 16 can be driven to rotate when the end of the connecting member 15 moves; thus, the rotating shaft 16 can be driven to rotate a certain angle when the movable member 14 moves along the horizontal direction.

[0074] Furthermore, the rotating shaft 16 is interference-fitted with the first rotating member 17; 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 passes through the inner side of the fixed frame 12; the number of fixed frames 12 is at least two sets, and the fixed frames 12 are symmetrically arranged on both sides of the lead screw 13; a gripper W is provided on the outer side of the rod of the second rotating member 18.

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

[0076] The second rotating member 18 is perpendicular to the axis of motion of the first rotating member 17, thereby converting the horizontal rotation into the vertical rotation; and the second rotating member 18 passes through the fixed frame 12 and extends to its outer side, and the second rotating member 18 can rotate inside the fixed frame 12.

[0077] The number of fixing brackets 12 is at least two sets, and the two sets of fixing brackets 12 are symmetrically arranged on both sides of the screw component 13, so that the two sets of grippers W can cooperate and thus complete the gripping action of the pipe.

[0078] The gripper W is sleeved on the outside of the rod of the second rotating member 18, and there is an interference fit between the gripper W and the second rotating member 18. The rotation of the second rotating member 18 can drive the gripper W to rotate synchronously.

[0079] Furthermore, the lead screw 13 has two sets of threaded structures on its outer side. When the lead screw 13 rotates, it can simultaneously drive the two sets of grippers W to cooperate, which can make the clamping of the pipe more stable. In addition, there are two sets of support points on the outside of the pipe, which can effectively prevent the pipe from flipping inside the grippers W, ensuring that the pipe can be clamped more stably during the gripping process.

[0080] Preferably, a single lead screw 13 can simultaneously drive two sets of gripper W assemblies to clamp the pipe at two locations on the pipe sidewall at the same time. In this case, only one drive device is needed to drive the lead screw 13 to rotate, thereby effectively saving on the cost of setting and manufacturing.

[0081] In use, the motor drives the lead screw 13 to rotate, which in turn moves the two sets of movable parts 14 on its outer side. The movement of the movable parts 14 can also move the two sets of connecting parts 15 linked to it. The movement of the connecting parts 15 can drive the rotating shaft 16 hinged to it to rotate. The rotation of the rotating shaft 16 can drive the first rotating part 17 to rotate. The rotation of the first rotating part 17 can drive the second rotating part 18 meshing with it to rotate. The rotation of the second rotating part 18 can cause the gripper W on its outer side to flip. The grippers W symmetrically arranged on both sides of the lead screw 13 move closer to each other, thereby completing the gripping action of the pipe. The simultaneous movement of the two sets of movable parts 14 can drive the two sets of grippers W to clamp the pipe at two positions on the outer wall of the pipe, thereby providing stable support for the pipe and ensuring that the pipe will not rotate inside the gripper W and disengage from the gripper W during the transfer process.

[0082] Example 3

[0083] Reference Figures 1 to 7This is the third embodiment of the present invention, which differs from the previous two embodiments in that: the movable member 14 further includes an annular groove 142 disposed at its end; the sleeve rod 21 includes a sliding rod 211 disposed at its end, and hinge seats 212 symmetrically disposed on both sides thereon; the hinge seats 212 are 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 lead screw 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 a sliding rod 211 is connected to the end face of the sleeve rod 21. The sliding rod 211 is located inside the annular groove 142 and can move.

[0085] It should be noted that the sleeve rod 21 has hinge seats 212 connected to both ends of its side wall, and the hinge seats 212 are hinged to one end of the connecting member 15. As 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 rotate and move by an angle. The rotation of the connecting member 15 can drive the rotating shaft 16 to rotate, thereby enabling the linkage between the movable member 14 and the rotating shaft 16.

[0086] Furthermore, the support plate 23 is fixed inside the fixing frame 12, and the support plate 23 has a sliding groove 231 inside; the side wall of the slider 24 is provided with two sets of sliders, so that the slider 24 can slide along the inside of the sliding groove 231; at the same time, the sliding groove 231 limits the slider 24, thereby ensuring that the slider 24 will not detach from the inside of the sliding groove 231.

[0087] Furthermore, 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 press against the inner wall of the groove 231 away from 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. When the gripper W is rotated and opened, it will be limited by the pawl 25, thereby ensuring that the gripper W can stably clamp the pipe.

[0088] The first spring 232 is located inside the circular hole. When the first spring 232 is compressed, it comes into contact with 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, thus preventing the first spring 232 from exceeding its elastic deformation range.

[0089] Furthermore, the pawl 25 is rotatable 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 part 261 provided on its side wall and a toothed part 262 provided on its side wall; the pawl 25 can be inserted into the gap of the toothed part 262.

[0090] In this embodiment, the pawl 25 is connected to a rotating shaft on both sides of its end, 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 rotate, so that the pawl 25 can be engaged into the tooth gap between the teeth 262. A fixing rod is provided on one side of the end of the locking wheel 26, and the fixing rod can be used to connect and fix the locking wheel 26 and the second rotating member 18.

[0091] The toothed part 262 adopts a three-fifths gear structure, and its angle is adapted to the angle at which the pawl W can grip the pipe when it rotates; when the pawl W completes to grip the pipe, the position of the toothed part 262 corresponds to the position of the pawl 25.

[0092] When the gripper W opens, and when the gripper W opens to the appropriate position, the locking wheel 26 rotates. At this time, the smooth part 261 and the pawl 25 are positioned in the direction of movement along the slide groove 231. The first spring 232 will push the pawl 25 to move to the position where it intersects with the locking wheel 26, so that the pawl 25 continues to play the role of restricting the reverse rotation of the locking wheel 26.

[0093] Furthermore, a second spring 271 is provided at the end of the limiting block 27, and the second spring 271 abuts against the end of the limiting block 27; the limiting block 27 passes through the fixing post 22 and extends to its outer side; the end of the limiting block 27 abuts against the second contact surface M2 of the slider 24, thereby realizing that the end of the locking wheel 26 is inserted into the inner side of the fixing post 22.

[0094] It should be noted that the second spring 271 releases elastic potential energy to push the limiting block 27 through the fixed post 22 and extend to its outer side, and the end of the limiting block 27 is an inclined first contact surface M1; the limiting block 27 can move with the movement of the fixed post 22.

[0095] When the movable part 14 moves towards the rotating shaft 16, the movement of the movable part 14 can drive the fixed column 22 to move, and the movement of the fixed column 22 can drive the limiting block 27 to move. During the movement, the end of the limiting block 27 contacts the second contact surface M2 of the slider 24 and is squeezed by it, thereby causing the limiting block 27 to contract into the fixed column 22 and compress the second spring 271 to store energy. Then, as the movable part 14 continues to move, the limiting block 27 moves to the other side of the slider 24. During the movement of the movable part 14, the movement of the movable part 14 can drive the sleeve rod 21 to move, and the movement of the sleeve rod 21 can drive the connecting part 15 to rotate. The rotation of the connecting part 15 can drive the second rotating part 18 to flip. The locking wheel 26 connected to the end of the second rotating part 18 rotates synchronously with the second rotating part 18. The locking wheel 26 is not limited by the pawl 25 in this rotation direction. As the second rotating part 18 continues to rotate, the gripper W can approach the pipe and clamp the pipe.

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

[0097] In this embodiment, the annular groove 142 has a relatively long distance inside, which allows the sliding rod 211 to move inside the annular groove 142. The sliding rod 211 includes a limiting end with a larger diameter and a connecting end that passes through the annular groove 142. The limiting end can move a distance L1 inside the annular groove 142.

[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 of the first spring 232 is X1 and the deformation of the second spring 271 is X2; X2 is greater than X1; thus satisfying the condition that when the limiting block 27 moves, it can drive the slider 24 to move together.

[0099] When the gripper W needs to be gradually opened, the screw rod 13 rotates, which can drive the movable part 14 to move. Since the bottom of the limiting end of the hinge seat 212 is in contact with the bottom wall of the annular groove 142, the movement of the movable part 14 will not drive the hinge seat 212 to move. The movement of the movable part 14 drives the limiting block 27 set inside the fixed column 22 to move. At this time, the first contact surface M1 of the limiting block 27 abuts against the end of the slider 24. While the limiting block 27 moves, it pushes the slider 24 to slide along the inside of the groove 231. The slider 24 moves and compresses the first spring 232 to store energy. As the slider 24 moves... The movement of the pawl 25 connected to its inner side can cause the position between the pawl 25 and the locking wheel 26 to be misaligned; then the reverse rotation of the locking wheel 26 will not be interfered with by the pawl 25; when the pawl 25 and the locking wheel 26 are misaligned, the limiting end of the sliding rod 211 contacts the end face of the annular groove 142 near the opening, so that the movement of the movable part 14 can drive the sleeve rod 21 to move, and then the movement of the movable part 14 can drive the second rotating part 18 to rotate. At this time, the position of the pawl 25 and the locking wheel 26 is misaligned, so the reverse rotation of the second rotating part 18 is no longer restricted.

[0100] As the movable component 14 moves continuously, the second rotating component 18 rotates, causing the gripper W to open. During the movement, the movable component 14 drives the limiting block 27 to continuously press the slider 24, causing the slider 24 to slide along the inside of the groove 231 and move towards the side closer to the first spring 232, where it abuts against the inner wall of the groove 231. The inner wall of the groove 231 limits the slider 24, preventing it from moving when pressed by the limiting block 27. At this time, the movable component 14 continues to drive the limiting block 27 to move, and the first contact surface M1 of the limiting block 27 is pressed by the end of the slider 24 and retracts into the fixed post 22. While the limiting block 27 retracts, it also presses the first contact surface M1 of the slider 24. The second spring 271 is compressed and stores energy. When the moving part 14 drives the limiting block 27 to move to the other side of the slider 24, the limiting block 27 and the slider 24 are misaligned. The first spring 232 is no longer squeezed by the outer wall. 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. The slider 24 drives the pawl 25 to move to the position corresponding to the locking wheel 26. At this time, the pawl 25 corresponds to the smooth part 261. This ensures that the rotation of the locking wheel 26 will not interfere with the movement of the pawl 25. This makes it easier for the pawl 25 and the locking wheel 26 to cooperate and lock the pawl W when the pawl W clamps the pipe next time.

[0101] Importantly, the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A gripping device for an industrial robot, characterized in that: include, The transmission unit (1) includes a support member (11), a fixed frame (12) disposed on the surface of the support member (11), a lead screw (13) passing through the inside of the support member (11), a movable member (14) disposed on the outside of the lead screw (13), a connecting member (15) linked with the movable member (14), a rotating shaft (16) disposed inside the fixed frame (12) and hinged to the connecting member (15), a first rotating member (17) disposed on the outside of the rotating shaft (16), and a second rotating member (18) adapted to the first rotating member (17). The limiting unit (2) includes a movable sleeve rod (21) disposed at the end of the movable part (14), a fixed post (22) disposed on the side wall of the movable part (14), a support plate (23) disposed on the inner side of the fixed frame (12), a slider (24) disposed inside the support plate (23), a rotatable pawl (25) disposed on the inner side of the slider (24), a locking wheel (26) disposed at the end of the second rotating part (18), and a limiting block (27) disposed on the inner side of the fixed post (22). The movable part (14) also includes an annular groove (142) disposed at its end. The sleeve (21) includes a sliding rod (211) disposed at its end and hinge seats (212) symmetrically disposed on both sides thereon. The hinge seat (212) is hinged to one end of the connector (15); The sliding rod (211) is movable inside the annular groove (142); The pawl (25) can limit the rotation direction of the locking wheel (26).

2. The gripping device for an industrial robot as described in claim 1, characterized in that: The lead screw (13) and the movable part (14) are threaded together; The movable part (14) has a protrusion (141) on the side near the surface of the support (11). The surface of the support member (11) is provided with a slide rail (111) that is adapted to the protrusion (141). The protrusion (141) cooperates with the slide rail (111), thereby enabling the rotation of the lead screw (13) to drive the movable part (14) to reciprocate along the axis of the lead screw (13).

3. The gripping device for an industrial robot as described in claim 1 or 2, characterized in that: The axis of the rotating shaft (16) is perpendicular to the axis of the lead screw (13); The rotating shaft (16) and the movable part (14) are linked together through the connecting part (15); The movement of the movable part (14) in a straight line can drive the rotating shaft (16) hinged to the connecting part (15) to rotate.

4. The gripping device for an industrial robot as described in claim 3, characterized in that: The rotating shaft (16) and the first rotating component (17) are interference-fitted; 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) passes through the inner side of the fixed frame (12); The number of the fixing brackets (12) is at least two sets, and the fixing brackets (12) are symmetrically arranged on both sides of the lead screw (13); The second rotating member (18) has a gripper W on the outer side of its rod.

5. The gripping device for an industrial robot as described in claim 4, characterized in that: The support plate (23) includes a groove (231) formed therein, and a first spring (232) disposed inside the support plate (23). The slider (24) is located inside the groove (231), and the slider (24) slides along the inner wall of the groove (231); The end of the first spring (232) abuts against the side wall of the slider (24).

6. The gripping device for an industrial robot as described in any one of claims 1, 2, or 4, characterized in that: The pawl (25) is located inside the slider (24) and can rotate; The locking wheel (26) includes a smooth portion (261) disposed on its side wall and a toothed portion (262) disposed on its side wall. The pawl (25) can be inserted into the gap between the teeth (262).

7. The gripping device for an industrial robot as described in claim 6, characterized in that: The end of the limiting block (27) is provided with a second spring (271), and the second spring (271) abuts against the end of the limiting block (27); The limiting block (27) penetrates the fixing post (22) and extends to its outer side; The end of the limiting block (27) and the second contact surface M2 of the slider (24) are so that the end of the locking wheel (26) is inserted into the inside of the fixing post (22).

8. The gripping device for an industrial robot as described in claim 5, characterized in that: The annular groove (142) has space inside for the sliding rod (211) to move horizontally; The limiting block (27) can drive the slider (24) to move, thereby making the pawl (25) and the locking wheel (26) misaligned.

9. The gripping device for an industrial robot as described in claim 7, characterized in that: The first contact surface M1 of the limiting block (27) can abut against the end of the slider (24); The position of the pawl (25) corresponds to that of the smooth part (261).

Images