Clamping robot and clamping method

Abstract

The present invention discloses a clamping robot and a clamping method, which belong to the technical field of clamping robots, and include a main body module and a clamping claw module, wherein the main body module includes an electrically-controlled slide rail, an electrically-controlled movable seat is arranged on the electrically-controlled slide rail, a mechanical arm is fixedly installed on the front end surface of the electrically-controlled movable seat, one end of the mechanical arm is fixedly connected with a connecting plate, and the bottom of the connecting plate is fixedly connected with a top plate, and through the arrangement of a four-claw clamping assembly, a rack, a hollow arm, a driving assembly, a pressurizing assembly, a supporting assembly and a gear, after the four-claw clamping assembly clamps a smooth and flat object, the device can lift the bottom of the object and press and limit the top of the object, so that the smooth and flat object can be clamped more stably by the four-claw clamping assembly, thereby avoiding shaking and falling during the process of the clamping robot moving and transporting the object, and improving the clamping effect of the clamping robot.

Description

Technical Field

[0001] The present invention relates to the technical field of clamping robots, and more specifically, to a clamping robot and a clamping method. Background Art

[0002] A gripper is a device that holds an object and manipulates it. It can hold and release an object while performing certain actions. Sports equipment often imitates the movement of the human body. In the case of a gripper, it imitates the movement of the fingers. Currently, grippers are used in various fields, and gripper robots are a more intelligent gripping device.

[0003] According to the search, the publication number is CN107020643A, the object clamping part and the robot include a body, a motor mounted on the body, a worm is fixed on the output shaft of the motor, and two sets of transmission mechanisms are arranged in cooperation with the worm, each set of transmission mechanisms includes a turbine, a crank, a connecting rod, and an end block, the turbine is arranged in cooperation with the worm, and is rotatably connected to the body through a first rotating shaft, one end of the crank is fixedly connected to the turbine, the other end of the crank is rotatably connected to the first connecting part of the end block through a second rotating shaft, one end of the connecting rod is rotatably connected to the body through a third rotating shaft, and the other end of the connecting rod is rotatably connected to the second connecting part of the end block through a fourth rotating shaft, and the projections of the first rotating shaft, the second rotating shaft, the third rotating shaft, and the fourth rotating shaft in the axial direction constitute a parallelogram. After the object clamping part of the present invention is installed on the robot, its center of gravity will not deviate from the base, and no linear guide rails or long worm mechanisms are required, and the volume is small, which is conducive to fine work.

[0004] With respect to the above-mentioned related technologies, the inventors believe that, although the above-mentioned clamping robot can realize the overall clamping action and has the characteristics of small size, etc., when its clamping claws are facing objects with relatively flat surfaces during operation, although it can realize a certain degree of clamping action, due to the relatively smooth and flat surfaces of some objects and the limitations of the materials, the clamping force should not be too large, which may easily damage the objects, and it is difficult to obtain a good limiting effect on the bottom and top of the objects. Therefore, if there is shaking during the movement and transportation of the clamping robot, the flat objects are easy to shake or slide and fall on the robot's clamping claws. For this reason, we propose a clamping robot and a clamping method. Summary of the invention

[0005] In order to solve the above problems, the present invention provides a clamping robot and a clamping method, which adopt the following technical solutions:

[0006] A clamping robot comprises a main body module and a clamping claw module, wherein the main body module comprises an electrically controlled slide rail, an electrically controlled movable seat is arranged on the electrically controlled slide rail, a mechanical arm is fixedly installed on the front end surface of the electrically controlled movable seat, one end of the mechanical arm is fixedly connected to a connecting plate, the bottom of the connecting plate is fixedly connected to a top plate, the clamping claw module comprises a four-claw clamping assembly arranged at the bottom of the top plate, the outer surface of the top plate is annular and has four mounting grooves at equal distances, the insides of the four mounting grooves are all rotatably connected with gears, the outer surfaces of the four gears are all fixedly connected with hollow arms, a driving assembly is arranged on the top of the top plate, four slide grooves are arranged on the top of the top plate, the insides of the four slide grooves are all slidably connected with racks, the four racks are respectively meshed with four gears, the driving assembly is connected to the tops of the four racks, two support assemblies and a pressurizing assembly are arranged inside the four hollow arms, the four pressurizing assemblies are respectively located between two of the support assemblies, and the four pressurizing assemblies are respectively connected to two of the support assemblies, and a locking assembly is arranged on the eight support assemblies.

[0007] Furthermore, the driving assembly includes a second motor fixedly connected at the top center of the top plate, the output shaft of the second motor is fixedly connected to a second threaded rod, the outer surface of the second threaded rod is threadedly connected to a lifting block, the outer surface of the lifting block is hinged with four second connecting arms, and one end of the four second connecting arms is respectively hinged to the top of four racks.

[0008] By adopting the above technical solution, four hollow arms can be driven to rotate and approach an object at the same time.

[0009] Furthermore, the pressurizing assembly includes a first movable block slidably connected to one of the hollow arms, the top of the first movable block is fixedly connected to a pressurizing cylinder, the interior of the pressurizing cylinder is movably connected to a first piston rod, one end of the first piston rod extends to the outside of the pressurizing cylinder and passes through the first movable block, one end of the first piston rod is threadedly connected to a first adjusting screw, one end of the first adjusting screw is movably connected to a ball, the outer surface of the first movable block is threadedly connected to a first bolt, and a first spring is fixedly connected between the top of the first piston rod and the top of the inner wall of the pressurizing cylinder.

[0010] By adopting the above technical solution, the two supporting components are pressurized simultaneously by the pressurizing component coming into contact with the object.

[0011] Furthermore, the support assembly includes an adjustment block movably connected to one of the hollow arms, the adjustment block is movably connected to a rotating wheel inside, the rotating wheel is fixedly connected to a piston cylinder inside, the piston cylinder passes through the rotating wheel, the piston cylinder is movably connected to a second piston rod inside, one end of the second piston rod extends to the outside of the piston cylinder, one end of the second piston rod is threadedly connected to a second adjustment screw, a connecting tube is fixedly connected between the outer surface of the piston cylinder and the pressure cylinder, a second spring is fixedly connected between the top of the second piston rod and the top of the inner wall of the piston cylinder, and a second bolt is threadedly connected to the outer surface of the adjustment block.

[0012] By adopting the above technical solution, the bottom of the object is lifted by the support assembly, and the top of the object is limited.

[0013] Furthermore, the support assembly also includes a movable shaft fixedly connected to one end of the second adjustment screw, the outer surface of the movable shaft is movably connected to a support seat, and a torsion spring is fixedly connected between the support seat and both ends of the movable shaft.

[0014] By adopting the above technical solution, the support seat is in contact with the object, thereby supporting the object.

[0015] Furthermore, hydraulic oil is arranged between the pressure cylinder and the connecting tube and the inside of the piston cylinder. The hydraulic oil inside the pressure cylinder is located at the top of the first piston rod, the hydraulic oil inside the piston cylinder is located at the top of the second piston rod, and the second spring and the first spring are both located inside the hydraulic oil.

[0016] By adopting the above technical solution, the four movable rods are pushed to move by hydraulic oil.

[0017] Furthermore, the locking assembly includes a plurality of locking holes that are equidistantly arranged in a ring shape on the outer surface of the rotating wheel, one end of each of the adjustment blocks is movably connected to a locking rod, one end of the locking rod extends to the interior of the adjustment block and is movably inserted into the interior of one of the locking holes, and a return spring is fixedly connected between the other end of the locking rod and the outer surface of the adjustment block, and the return spring is located outside the locking rod.

[0018] By adopting the above technical solution, the supporting directions of the two supporting assemblies can be adjusted.

[0019] Furthermore, the clamping jaw module also includes a plurality of limiting holes, which are respectively arranged in a straight line and at equal distances on the outer surfaces of the four hollow arms, and the first bolt and the second bolt are respectively located inside two of the limiting holes.

[0020] By adopting the above technical solution, the positions of the pressurizing component and the supporting component can be adjusted, thereby being able to adapt to more types of objects.

[0021] Furthermore, the four-claw clamping assembly includes a mounting base fixedly connected to the bottom of the top plate, the outer surface of the mounting base is annular and equidistantly hinged with eight movable arms, a clamping claw is movably connected between one end of every two of the movable arms, the four clamping claws are staggered with four hollow arms, and the four movable arms are hinged with a first connecting arm, the inside of the mounting base is fixedly connected to a first motor, the output shaft of the first motor extends to the bottom of the mounting base and is fixedly connected to a first threaded rod, the outer surface of the first threaded rod is fixedly connected to a first connecting block, and one end of the four first connecting arms are hinged to the outer surface of the first connecting block.

[0022] By adopting the above technical solution, a four-claw clamping effect can be achieved, so that fast clamping can be achieved when facing normal objects.

[0023] The clamping method of the clamping robot comprises the following steps:

[0024] S1. Adjustment preparation step: by pushing the first moving block and the adjustment block, the positions of the pressurizing assembly and the supporting assembly can be adjusted. Then, the first bolt and the second bolt are rotated into the two limiting holes respectively, and the positions of the pressurizing assembly and the supporting assembly can be locked, so that the positions of the pressurizing assembly and the supporting assembly can be adjusted, which is convenient for adapting to objects of different sizes. The rotating wheel can be rotated inside the adjustment block, so that the angle of the piston cylinder can be changed, thereby changing the supporting direction of the second piston rod and the second adjusting screw. After confirming the direction, the locking rod is inserted into one of the locking holes to lock the direction of the second piston rod and the second adjusting screw, so that the second piston rod and the second adjusting screw have more supporting directions, which is convenient for supporting different objects. By rotating the first adjusting screw and the two second adjusting screws, their initial lengths can be adjusted, so that objects of more shapes can be supported, further improving the scope of application of the clamping robot;

[0025] S2, preliminary clamping step: by turning on the first motor to drive the first threaded rod to rotate, the first threaded rod will drive the first connection block to rise, thereby pulling the movable arm through the four first connection arms, so that the four clamping claws initially clamp the clamped object, and the object is lifted by the mechanical arm;

[0026] S3, auxiliary step: turn on the second motor to drive the second threaded rod to rotate and drive the lifting block to descend, the lifting block will drive the second connecting arm to push the rack, the four racks respectively drive the four gears, the four gears will drive the four hollow arms to swing, so that the ball contacts the outer surface of the clamped object, and as the hollow arms gradually approach, the ball will roll on the outer surface of the object, and push the first piston rod to move inside the pressure cylinder and compress the first spring, so that the hydraulic oil inside the pressure cylinder is pressed into the two piston cylinders through the connecting pipe, so that the hydraulic oil pushes the two second piston rods to move, so that the two second piston rods extend and drive the second adjustment screw to move, the two second adjustment screws respectively drive the two support seats to contact the top and bottom of the object front and back or at the same time, the support seats can rotate to close to the object, so that the clamping robot can support the object through eight support assemblies, the four support assemblies at the bottom lift the object to prevent the object from falling, and the four support assemblies at the top of the object press and limit the object, so that the object is more stable during the clamping and transportation process;

[0027] S4, conveying step: the electrically-controlled moving seat moves on the electrically-controlled slide rail, so that the clamping claw module drives the clamped object to move.

[0028] In summary, the present invention includes the following beneficial technical effects:

[0029] (1) The present invention arranges a four-claw clamping assembly, a rack, a hollow arm, a driving assembly, a pressurizing assembly, a supporting assembly and a gear, so that after the four-claw clamping assembly clamps a smooth and flat object, the device can lift the bottom of the object and press and limit the top of the object, so that the smooth and flat object can be clamped more stably by the four-claw clamping assembly, avoiding the shaking and falling of the clamping robot during the movement and transportation of the object, thereby improving the clamping effect of the clamping robot;

[0030] (2) The present invention arranges the second adjusting screw, the first adjusting screw, the rotating wheel, the locking hole, the locking rod, the limiting hole, the first bolt and the second bolt so that the positions of the pressurizing assembly and the supporting assembly can be adjusted, thereby being able to adapt to objects of different sizes, and the lengths of the second adjusting screw and the first adjusting screw can be adjusted by rotating them, and the rotating wheel can flexibly adjust the supporting direction, thereby being able to adapt to supporting objects of more shapes, further improving the scope of application of the clamping robot;

[0031] (3) The present invention arranges the movable arm, the clamping claw, the first connecting arm, the first threaded rod, the first connecting block and the first motor so that the clamping robot does not need to open the driving assembly when it needs to clamp a normal object, so that the clamping claws approaching each other in four directions can quickly clamp ordinary objects, thereby improving the clamping efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0033] Figure 2 It is a structural schematic diagram of the clamping claw module of the present invention;

[0034] Figure 3 It is a bottom view structural schematic diagram of the clamping claw module of the present invention;

[0035] Figure 4 It is a schematic diagram of the structure of the driving assembly of the present invention;

[0036] Figure 5 It is a structural schematic diagram of the four-claw clamping assembly of the present invention;

[0037] Figure 6 It is a schematic diagram of the structure of the pressurizing assembly and the supporting assembly of the present invention;

[0038] Figure 7 For the present invention Figure 1 The enlarged structural diagram at A in the middle;

[0039] Figure 8 For the present invention Figure 6 Enlarged structural diagram at B in the middle.

[0040] Description of the numbers in the figure:

[0041] 100, main body module; 110, electric control slide rail; 120, electric control moving seat; 130, mechanical arm; 140, connecting plate; 150, top plate;

[0042] 200, clamping claw module; 210, four-claw clamping assembly; 211, movable arm; 212, clamping claw; 213, first connecting arm; 214, first motor; 215, first threaded rod; 216, first connecting block; 220, rack; 230, hollow arm; 240, driving assembly; 241, second motor; 242, second threaded rod; 243, lifting block; 244, second connecting arm; 250, pressurizing assembly; 251, pressurizing cylinder; 252, first piston rod; 253, The first adjusting screw; 254, ball; 255, first spring; 256, first bolt; 260, support assembly; 261, adjustment block; 262, rotating wheel; 263, piston cylinder; 264, second piston rod; 265, connecting tube; 266, second adjusting screw; 267, movable shaft; 268, support seat; 269, torsion spring; 270, gear; 280, limit hole; 290, locking assembly; 291, locking hole; 292, locking rod; 293, reset spring. DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention; it is obvious that the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments, and all other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making creative work are within the scope of protection of the present invention.

[0044] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top / bottom" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0045] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "mounted / connected", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0046] The following is combined with Figure 1-8 The present invention is described in further detail.

[0047] See also Figure 1-8The clamping robot includes a main body module 100 and a clamping claw module 200. The main body module 100 includes an electric-controlled slide rail 110, on which an electric-controlled movable seat 120 is arranged. A mechanical arm 130 is fixedly installed on the front end surface of the electric-controlled movable seat 120. One end of the mechanical arm 130 is fixedly connected to a connecting plate 140, and the bottom of the connecting plate 140 is fixedly connected to a top plate 150. The clamping claw module 200 includes a four-claw clamping assembly 210 arranged at the bottom of the top plate 150. The outer surface of the top plate 150 is annular and has four mounting grooves at equal distances. The insides of the four mounting grooves are all rotatably connected to gears 270. The outer surfaces of the four gears 270 are fixed A hollow arm 230 is fixedly connected, a driving assembly 240 is arranged on the top of the top plate 150, four slide grooves are opened on the top of the top plate 150, racks 220 are slidably connected inside the four slide grooves, the four racks 220 are respectively meshed with four gears 270, the driving assembly 240 is connected to the tops of the four racks 220, two support assemblies 260 and a pressurizing assembly 250 are arranged inside the four hollow arms 230, the four pressurizing assemblies 250 are respectively located between two of the support assemblies 260, and the four pressurizing assemblies 250 are respectively connected to two of the support assemblies 260, and the eight support assemblies 260 are each provided with a locking assembly 290.

[0048] During use, the electrically controlled movable seat 120 can be driven to change its position by moving on the electrically controlled slide rail 110, so that the clamping claw module 200 is located above the clamped object. Subsequently, the mechanical arm 130 drives the four-claw clamping assembly 210 to descend to the outside of the clamped object. The clamped object is initially clamped by opening the four-claw clamping assembly 210, and the object is lifted by the mechanical arm 130. After lifting, the driving assembly 240 is opened, and the driving assembly 240 will drive the four racks 220 to move. The four racks 220 respectively transmit four gears 270. The four gears 270 will drive the four pressurizing components 250 to contact the outer surface of the clamped object, and as the hollow arm 230 gradually approaches, the pressurizing components 250 pressurize the two support components 260, so that the two support components 260 extend and contact the top and bottom of the object respectively, so that the eight support components 260 support the object, and the four support components 260 at the bottom lift the object to prevent the object from falling, and the four support components 260 at the top of the object press and limit the object, so that the object is more stable during the clamping and transportation process.

[0049] The driving assembly 240 includes a second motor 241 fixedly connected to the top center of the top plate 150, the output shaft of the second motor 241 is fixedly connected to the second threaded rod 242, the outer surface of the second threaded rod 242 is threadedly connected to the lifting block 243, the outer surface of the lifting block 243 is hinged with four second connecting arms 244, one end of the four second connecting arms 244 is respectively hinged to the top of the four racks 220, the pressurizing assembly 250 includes a first moving block slidably connected to the inside of one of the hollow arms 230, the top of the first moving block is fixedly connected to the pressurizing cylinder 251, the inner movable part of the pressurizing cylinder 251 The first piston rod 252 is movably connected to the first moving block, one end of the first piston rod 252 extends to the outside of the pressure cylinder 251 and passes through the first moving block, one end of the first piston rod 252 is threadedly connected to the first adjusting screw 253, one end of the first adjusting screw 253 is movably connected to the ball 254, the outer surface of the first moving block is threadedly connected to the first bolt 256, the top of the first piston rod 252 and the top of the inner wall of the pressure cylinder 251 are fixedly connected with a first spring 255, the support assembly 260 includes an adjusting block 261 movably connected to the inside of one of the hollow arms 230, and the inner part of the adjusting block 261 is movably connected to the inner wall of the pressure cylinder 251. The rotating wheel 262 is movably connected to the rotating wheel 262, and the piston cylinder 263 is fixedly connected to the inside of the rotating wheel 262. The piston cylinder 263 penetrates the rotating wheel 262, and the second piston rod 264 is movably connected to the inside of the piston cylinder 263. One end of the second piston rod 264 extends to the outside of the piston cylinder 263, and one end of the second piston rod 264 is threadedly connected to the second adjusting screw 266. A connecting tube 265 is fixedly connected between the outer surface of the piston cylinder 263 and the pressurizing cylinder 251, and a second spring is fixedly connected between the top of the second piston rod 264 and the top of the inner wall of the piston cylinder 263. The outer surface of the adjusting block 261 is threadedly connected to The second bolt, the support assembly 260 also includes a movable shaft 267 fixedly connected to one end of the second adjusting screw 266, and the outer surface of the movable shaft 267 is movably connected to a support seat 268, and a torsion spring 269 is fixedly connected between the support seat 268 and both ends of the movable shaft 267, and hydraulic oil is arranged between the pressure cylinder 251 and the connecting tube 265 and the inside of the piston cylinder 263, the hydraulic oil inside the pressure cylinder 251 is located at the top of the first piston rod 252, and the hydraulic oil inside the piston cylinder 263 is located at the top of the second piston rod 264, and the second spring and the first spring 255 are both located inside the hydraulic oil.

[0050] The second motor 241 is turned on to drive the second threaded rod 242 to rotate and drive the lifting block 243 to descend. The lifting block 243 will drive the second connecting arm 244 to push the rack 220. The four racks 220 respectively drive the four gears 270. The four gears 270 will drive the four hollow arms 230 to swing, so that the ball 254 contacts the outer surface of the clamped object. As the hollow arms 230 gradually approach, the ball 254 will roll on the outer surface of the object and push the first piston rod 252 to move inside the pressurizing cylinder 251 and compress the first spring 255, so that the pressurizing cylinder 251 is pressed. The hydraulic oil inside 51 is pressed into the two piston cylinders 263 through the connecting tube 265, so that the hydraulic oil pushes the two second piston rods 264 to move, so that the two second piston rods 264 extend and drive the second adjusting screws 266 to move, and the two second adjusting screws 266 respectively drive the two support seats 268 to contact the top and bottom of the object front and back or simultaneously, and the support seats 268 can rotate to fit the object, so that the clamping robot can support the object through eight support assemblies 260, and the four support assemblies 260 at the bottom lift the object to prevent the object from falling.

[0051] The locking assembly 290 includes a plurality of locking holes 291 which are equidistantly arranged in a circular shape on the outer surface of the rotating wheel 262, a locking rod 292 is movably connected to one end of the plurality of adjustment blocks 261, one end of the locking rod 292 extends to the interior of the adjustment block 261 and is movably inserted into the interior of one of the locking holes 291, a reset spring 293 is fixedly connected between the other end of the locking rod 292 and the outer surface of the adjustment block 261, and the reset spring 293 is located outside the locking rod 292, the clamp module 200 also includes a plurality of limiting holes 280, and the plurality of limiting holes 280 are respectively equidistantly arranged in a straight line on the outer surfaces of the four hollow arms 230, and the first bolt 256 and the second bolt are respectively located inside two of the limiting holes 280.

[0052] The first moving block and the adjustment block 261 can move inside the hollow arm 230 to adjust the positions of the pressurizing assembly 250 and the supporting assembly 260. Then, the first bolt 256 and the second bolt are respectively rotated into the interior of two of the limiting holes 280 to lock the positions of the pressurizing assembly 250 and the supporting assembly 260, so that the positions of the pressurizing assembly 250 and the supporting assembly 260 can be adjusted to facilitate adaptation to objects of different sizes. The rotating wheel 262 can rotate inside the adjustment block 261 to change the angle of the piston cylinder 263, thereby changing the supporting direction of the second piston rod 264 and the second adjusting screw 266. After confirming the direction, the locking rod 292 is inserted into one of the locking holes 291 to lock the direction of the second piston rod 264 and the second adjusting screw 266.

[0053] The four-claw clamping assembly 210 includes a mounting base fixedly connected to the bottom of the top plate 150, the outer surface of the mounting base is annular and has eight movable arms 211 hinged at equal distances, a clamping claw 212 is movably connected between one end of every two movable arms 211, the four clamping claws 212 are staggered with the four hollow arms 230, wherein the four movable arms 211 are hinged with a first connecting arm 213, the inside of the mounting base is fixedly connected with a first motor 214, the output shaft of the first motor 214 extends to the bottom of the mounting base and is fixedly connected with a first threaded rod 215, the outer surface of the first threaded rod 215 is fixedly connected with a first connecting block 216, and one end of the four first connecting arms 213 are hinged to the outer surface of the first connecting block 216.

[0054] The first motor 214 is turned on to drive the first threaded rod 215 to rotate. The first threaded rod 215 will drive the first connecting block 216 to rise, thereby pulling four of the movable arms 211 through the four first connecting arms 213, so that the eight movable arms 211 drive the four clamping claws 212 to initially clamp the clamped object.

[0055] The clamping method of the clamping robot comprises the following steps:

[0056] S1. Adjustment preparation step: By pushing the first moving block and the adjustment block 261, the positions of the pressurizing assembly 250 and the supporting assembly 260 can be adjusted. Then, the first bolt 256 and the second bolt are rotated into the inside of two of the limiting holes 280 respectively, and the positions of the pressurizing assembly 250 and the supporting assembly 260 can be locked, so that the positions of the pressurizing assembly 250 and the supporting assembly 260 can be adjusted to facilitate the adaptation of objects of different sizes. The rotating wheel 262 can be rotated inside the adjustment block 261, so as to change the angle of the piston cylinder 263. , thereby changing the supporting direction of the second piston rod 264 and the second adjusting screw 266. After confirming the direction, the locking rod 292 is inserted into one of the locking holes 291 to lock the direction of the second piston rod 264 and the second adjusting screw 266. Thus, the second piston rod 264 and the second adjusting screw 266 have more supporting directions, which is convenient for supporting different objects. By rotating the first adjusting screw 253 and the two second adjusting screws 266, their initial lengths can be adjusted, so that objects of more shapes can be supported, further improving the applicable scope of the clamping robot.

[0057] S2, preliminary clamping step: by turning on the first motor 214 to drive the first threaded rod 215 to rotate, the first threaded rod 215 will drive the first connection block 216 to rise, thereby pulling the movable arm 211 through the four first connection arms 213, so that the four clamping claws 212 preliminarily clamp the clamped object, and the object is lifted by the mechanical arm 130;

[0058] S3, auxiliary step: turn on the second motor 241 to drive the second threaded rod 242 to rotate and drive the lifting block 243 to descend, the lifting block 243 will drive the second connecting arm 244 to push the rack 220, the four racks 220 respectively drive the four gears 270, the four gears 270 will drive the four hollow arms 230 to swing, so that the ball 254 contacts the outer surface of the clamped object, and as the hollow arms 230 gradually approach, the ball 254 will roll on the outer surface of the object and push the first piston rod 252 to move inside the pressure cylinder 251 and compress the first spring 255, so that the hydraulic oil inside the pressure cylinder 251 is pressed into the two through the connecting tube 265. The piston cylinder 263 allows the hydraulic oil to push the two second piston rods 264 to move, so that the two second piston rods 264 extend and drive the second adjustment screw 266 to move, and the two second adjustment screws 266 respectively drive the two support seats 268 to contact the top and bottom of the object front and back or simultaneously, and the support seats 268 can rotate to fit the object tightly, so that the clamping robot can support the object through eight support assemblies 260, and the four support assemblies 260 at the bottom lift the object to prevent the object from falling, and the four support assemblies 260 at the top of the object press and limit the object, so that the object is more stable during the clamping and transportation process;

[0059] S4, transporting step: the electrically-controlled movable seat 120 moves on the electrically-controlled slide rail 110, so that the clamping claw module 200 drives the clamped object to move.

[0060] The implementation principle of the embodiment of the present invention is as follows: during use, the electrically controlled movable seat 120 can be driven to change its position by moving on the electrically controlled slide rail 110, so that the clamping claw module 200 is located above the clamped object, and then the mechanical arm 130 drives the four clamping claws 212 to descend to the outside of the clamped object, and the first threaded rod 215 is driven to rotate by turning on the first motor 214. The first threaded rod 215 will drive the first connecting block 216 to rise, thereby pulling the movable arm 211 through the four first connecting arms 213, so that the four clamping claws 212 preliminarily clamp the clamped object, and the mechanical arm 130 is used to lift the object, and after lifting, the second motor 241 is turned on to drive the second threaded rod 242 to rotate the transmission lifting block 24 3 descends, the lifting block 243 will drive the second connecting arm 244 to push the rack 220, the four racks 220 respectively transmit the four gears 270, the four gears 270 will drive the four hollow arms 230 to swing, so that the ball 254 contacts the outer surface of the clamped object, and as the hollow arms 230 gradually approach, the ball 254 will roll on the outer surface of the object and push the first piston rod 252 to move inside the pressure cylinder 251 and compress the first spring 255, so that the hydraulic oil inside the pressure cylinder 251 is pressed into the two piston cylinders 263 through the connecting pipe 265, so that the hydraulic oil pushes the two second piston rods 264 to move, so that the two second piston rods 264 extend and drive the second adjusting screws 266 to move, and the two second adjusting screws 266 are separated The two support seats 268 are driven to contact the top and bottom of the object front and back or simultaneously. The support seats 268 can be rotated to fit the object, so that the clamping robot can support the object through eight support assemblies 260. The four support assemblies 260 at the bottom lift the object to prevent it from falling, and the four support assemblies 260 at the top of the object press and limit the object, so that the object is more stable during the clamping and transportation process. The first moving block and the adjustment block 261 can move inside the hollow arm 230 to adjust the position of the pressurizing assembly 250 and the support assembly 260. Then, the first bolt 256 and the second bolt are rotated into the inside of two of the limiting holes 280 respectively, so as to adjust the pressurizing assembly 250 and the support assembly The position of the pressure assembly 250 and the support assembly 260 can be locked, so that the positions of the pressure assembly 250 and the support assembly 260 can be adjusted to facilitate the adaptation of objects of different sizes, and the rotating wheel 262 can be rotated inside the adjusting block 261, so as to change the angle of the piston cylinder 263, thereby changing the supporting direction of the second piston rod 264 and the second adjusting screw 266. After confirming the direction, the locking rod 292 is inserted into one of the locking holes 291 to lock the direction of the second piston rod 264 and the second adjusting screw 266, so that the second piston rod 264 and the second adjusting screw 266 have more supporting directions, which is convenient for the support requirements of different objects, and the initial length can be adjusted by rotating the first adjusting screw 253 and the two second adjusting screws 266.This allows it to accommodate objects of more shapes for support, further increasing the scope of application of the gripping robot.

[0061] The above are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A gripping robot, comprising a main body module (100) and a gripper module (200), characterized in that: The main body module (100) comprises an electrically controlled slide rail (110), an electrically controlled movable seat (120) is arranged on the electrically controlled slide rail (110), a mechanical arm (130) is fixedly mounted on the front end surface of the electrically controlled movable seat (120), one end of the mechanical arm (130) is fixedly connected to a connecting plate (140), and the bottom of the connecting plate (140) is fixedly connected to a top plate (150); The clamping claw module (200) comprises a four-claw clamping assembly (210) arranged at the bottom of the top plate (150); the outer surface of the top plate (150) is provided with four mounting grooves in an annular shape and at equal distances; the insides of the four mounting grooves are all rotatably connected to gears (270); the outer surfaces of the four gears (270) are all fixedly connected to hollow arms (230); the top of the top plate (150) is provided with a driving assembly (240); the top of the top plate (150) is provided with four sliding grooves; the insides of the four sliding grooves are all slidably connected to racks (220) , the four racks (220) are respectively meshed with four gears (270), the driving assembly (240) is connected to the tops of the four racks (220), two support assemblies (260) and a pressurizing assembly (250) are each provided inside the four hollow arms (230), the four pressurizing assemblies (250) are respectively located between two of the support assemblies (260), and the four pressurizing assemblies (250) are respectively connected to two of the support assemblies (260), and the eight support assemblies (260) are each provided with a locking assembly (290); The pressurizing assembly (250) includes a first moving block slidably connected inside one of the hollow arms (230), the top of the first moving block is fixedly connected to a pressurizing cylinder (251), the inside of the pressurizing cylinder (251) is movably connected to a first piston rod (252), one end of the first piston rod (252) extends to the outside of the pressurizing cylinder (251) and passes through the first moving block, one end of the first piston rod (252) is threadedly connected to a first adjusting screw (253), one end of the first adjusting screw (253) is movably connected to a ball (254), the outer surface of the first moving block is threadedly connected to a first bolt (256), and a first spring (255) is fixedly connected between the top of the first piston rod (252) and the top of the inner wall of the pressurizing cylinder (251); The support assembly (260) comprises an adjustment block (261) movably connected inside one of the hollow arms (230); a rotating wheel (262) is movably connected inside the adjustment block (261); a piston cylinder (263) is fixedly connected inside the rotating wheel (262); the piston cylinder (263) passes through the rotating wheel (262); a second piston rod (264) is movably connected inside the piston cylinder (263); one end of the second piston rod (264) extends to the outside of the piston cylinder (263); one end of the second piston rod (264) is threadedly connected to a second adjustment screw (266); a connecting tube (265) is fixedly connected between the outer surface of the piston cylinder (263) and the pressure cylinder (251); a second spring is fixedly connected between the top end of the second piston rod (264) and the top of the inner wall of the piston cylinder (263); and a second bolt is threadedly connected to the outer surface of the adjustment block (261); The locking assembly (290) comprises a plurality of locking holes (291) which are arranged in an annular shape and at equal distances on the outer surface of the rotating wheel (262); one end of each of the plurality of adjusting blocks (261) is movably connected to a locking rod (292); one end of the locking rod (292) extends into the interior of the adjusting block (261) and is movably inserted into the interior of one of the locking holes (291); a return spring (293) is fixedly connected between the other end of the locking rod (292) and the outer surface of the adjusting block (261); and the return spring (293) is located outside the locking rod (292).

2. The gripping robot according to claim 1, characterized in that: The driving assembly (240) comprises a second motor (241) fixedly connected to the top center of the top plate (150); the output shaft of the second motor (241) is fixedly connected to a second threaded rod (242); the outer surface of the second threaded rod (242) is threadedly connected to a lifting block (243); the outer surface of the lifting block (243) is hinged with four second connecting arms (244); one end of the four second connecting arms (244) is respectively hinged to the top of four racks (220).

3. The gripping robot according to claim 2, characterized in that: The support assembly (260) further comprises a movable shaft (267) fixedly connected to one end of the second adjustment screw (266), the outer surface of the movable shaft (267) being movably connected to a support seat (268), and a torsion spring (269) being fixedly connected between the support seat (268) and both ends of the movable shaft (267).

4. The gripping robot according to claim 3, characterized in that: Hydraulic oil is arranged between the pressure cylinder (251), the connecting tube (265) and the interior of the piston cylinder (263); the hydraulic oil inside the pressure cylinder (251) is located at the top end of the first piston rod (252); the hydraulic oil inside the piston cylinder (263) is located at the top end of the second piston rod (264); and the second spring and the first spring (255) are both located inside the hydraulic oil.

5. The gripping robot according to claim 4, characterized in that: The clamping jaw module (200) further comprises a plurality of limiting holes (280), wherein the plurality of limiting holes (280) are respectively arranged in a straight line and at equal distances on the outer surfaces of the four hollow arms (230), and the first bolt (256) and the second bolt are respectively located inside two of the limiting holes (280).

6. The gripping robot according to claim 5, characterized in that: The four-claw clamping assembly (210) comprises a mounting seat fixedly connected to the bottom of the top plate (150); the outer surface of the mounting seat is annular and has eight movable arms (211) hinged at equal distances; a clamping claw (212) is movably connected between one end of each two movable arms (211); the four clamping claws (212) and the four hollow arms (230) are staggeredly distributed; the four movable arms (211) are hinged with a first connecting arm (213); the interior of the mounting seat is fixedly connected with a first motor (214); the output shaft of the first motor (214) extends to the bottom of the mounting seat and is fixedly connected with a first threaded rod (215); the outer surface of the first threaded rod (215) is fixedly connected with a first connecting block (216); one end of the four first connecting arms (213) are hinged to the outer surface of the first connecting block (216).

7. A clamping method of a clamping robot, according to claim 6, characterized in that: The following steps are involved: S1. Adjustment preparation step: By pushing the first moving block and the adjusting block (261) to move inside the hollow arm (230), the positions of the pressurizing assembly (250) and the supporting assembly (260) can be adjusted. Then, the first bolt (256) and the second bolt are rotated into the inside of two of the limiting holes (280) to lock the positions of the pressurizing assembly (250) and the supporting assembly (260), so that the positions of the pressurizing assembly (250) and the supporting assembly (260) can be adjusted to facilitate the adaptation of objects of different sizes. The rotating wheel (262) can be rotated inside the adjusting block (261), so that the piston cylinder (263) can be changed. The angle of the second piston rod (264) and the second adjusting screw (266) is adjusted to change the supporting direction of the second piston rod (264) and the second adjusting screw (266). After confirming the direction, the locking rod (292) is inserted into one of the locking holes (291) to lock the direction of the second piston rod (264) and the second adjusting screw (266). Thus, the second piston rod (264) and the second adjusting screw (266) have more supporting directions, which is convenient for supporting different objects. By rotating the first adjusting screw (253) and the two second adjusting screws (266), their initial lengths can be adjusted, so that objects of more shapes can be supported, thereby further improving the scope of application of the clamping robot. S2, preliminary clamping step: by turning on the first motor (214) to drive the first threaded rod (215) to rotate, the first threaded rod (215) will drive the first connecting block (216) to rise, thereby pulling the movable arm (211) through the four first connecting arms (213), so that the four clamping claws (212) preliminarily clamp the clamped object, and the object is lifted by the mechanical arm (130); S3, auxiliary step: turn on the second motor (241) to drive the second threaded rod (242) to rotate and drive the lifting block (243) to descend, the lifting block (243) will drive the second connecting arm (244) to push the rack (220), the four racks (220) respectively drive the four gears (270), the four gears (270) will drive the four hollow arms (230) to swing, so that the ball (254) contacts the outer surface of the clamped object, and as the hollow arms (230) gradually approach, the ball (254) will roll on the outer surface of the object and push the first piston rod (252) to move inside the pressure cylinder (251) and compress the first spring (255), so that the hydraulic oil inside the pressure cylinder (251) passes through the connecting pipe (265) presses two piston cylinders (263) so that the hydraulic oil pushes the two second piston rods (264) to move, so that the two second piston rods (264) extend to drive the second adjustment screws (266) to move, and the two second adjustment screws (266) respectively drive the two support seats (268) to contact the top and bottom of the object front and back or simultaneously, and the support seats (268) can rotate to fit the object tightly, so that the clamping robot can support the object through eight support components (260), the four support components (260) at the bottom lift the object to prevent the object from falling, and the four support components (260) at the top of the object press the object to limit the position, so that the object is more stable during the clamping and transportation process; S4, conveying step: the electrically controlled movable seat (120) moves on the electrically controlled slide rail (110), so that the clamping claw module (200) drives the clamped object to move.

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