Grabbing device and industrial robot

Abstract

The invention relates to the field of industrial robots, and discloses a grabbing device which comprises a three-jaw clamp assembly and three abutting assemblies, the three-jaw clamp assembly is provided with three jaw arms capable of synchronously reciprocating in the radial direction, and each abutting assembly comprises a connecting plate, a rubber roller and a driving part. The upper portion of the connecting plate is detachably and fixedly connected to the claw arm, the rubber rollers are rotatably connected to the connecting plate, the roller surfaces of the rubber rollers protrude in the axis direction of the three-claw clamp assembly, and the driving piece is arranged on the outer side of the connecting plate and used for driving the first rubber roller to rotate. And the three-jaw clamp assembly and each driving piece are connected with a controller and are controlled by the controller to synchronously act. Compared with the prior art, the top surface of an object does not need to be adsorbed with a suction cup, the object with the uneven top surface or the hollowed-out object can be grabbed, and the grabbing application range is wider.

Description

Technical Field

[0001] The present invention relates to the field of industrial robots, more specifically, it relates to a grasping device. The present invention also relates to an industrial robot. Background Art

[0002] During the processing, assembly or packaging of products, it is often necessary to grab and transfer related objects to other locations for the next process. With the development of technology, many industrial robots and special grabbing devices are now used to complete the transfer of objects. For example, the Chinese patent document with the authorization announcement number CN220922438U, named a clamping fixture for robots, discloses a clamping fixture using at least two sets of low-connection components and suction cup components. When in use, the driving member drives the low-connection component to clamp the object, and the telescopic cylinder drives the suction cup component to move down to absorb the object. At this time, the object is fixed and then transferred using a manipulator or robot. The clamping fixture can be normally clamped for objects with regular sides and flat top surfaces, but the suction cup component can only absorb objects with flat and relatively smooth top surfaces. If the top surface of the object is uneven or hollow, such as a tubular object, it cannot be normally adsorbed and fixed, and the scope of application of the grab is small. Summary of the invention

[0003] In view of the above-mentioned deficiencies in the prior art, an object of the present invention is to provide a grasping device which can be used to grasp objects with uneven top surfaces or hollows and has a wide grasping application range.

[0004] The above technical objectives of the present invention are achieved through the following technical solutions:

[0005] The camming device according to claim 1, wherein the three-jaw clamp assembly has three claw arms that can synchronously reciprocate in a radial direction, and also includes three groups of abutment assemblies, each group of the abutment assemblies includes a connecting plate, a rubber roller and a driving member, the upper part of the connecting plate is detachably and fixedly connected to the claw arm, the rubber roller is rotatably connected to the connecting plate and the roller surface of the rubber roller protrudes toward the axis direction of the three-jaw clamp assembly, the driving member is arranged on the outer side of the connecting plate, and is used to drive the first rubber roller to rotate, the three-jaw clamp assembly and each of the driving members are connected to a controller and are controlled by the controller to perform synchronous actions; and when the three claw arms synchronously approach each other in a radial direction so that the rubber roller abuts against the side of an object, the driving member drives the rubber roller to rotate forward so that the object moves upward for a distance; when approaching the top of a to-be-placed position, the driving member drives the rubber roller to reverse so that the object moves downward to a surface close to the to-be-placed position, and the three claw arms synchronously move away from each other in a radial direction so that the rubber roller releases contact with the side of the object.

[0006] Furthermore, the connecting plate member includes an upper connecting plate and a lower connecting plate, wherein the upper connecting plate is detachably fixedly connected to the claw arm and can be adjusted in radial direction, and the lower connecting plate is detachably fixedly connected to the upper connecting plate and can be adjusted in vertical direction.

[0007] Furthermore, the upper connecting plate and the claw arm are provided with a plurality of mutually matching grooves on the contacting surfaces, as well as the upper connecting plate and the lower connecting plate are provided with a plurality of mutually matching grooves on the contacting surfaces, and the upper connecting plate and the claw arm, as well as the upper connecting plate and the lower connecting plate are detachably fixedly connected by screws.

[0008] Furthermore, it also includes a buffer component arranged on the three-claw clamp component, the bottom of which is located below the three claw arms and is used to support the top surface of the object when the object is lifted up by the rubber roller and moves upward for a distance.

[0009] Furthermore, the buffer assembly includes a fixing ring, a base plate, a limit piece and elastic pieces with the same number as the limit pieces, the fixing ring is fixedly connected to the three-jaw clamp assembly, the base plate is located below the three claw arms, the limit pieces have at least two groups and are evenly distributed around the three-jaw clamp assembly, the upper end of the limit piece passes through the fixing ring and can move up and down, and the lower end is fixedly connected to the base plate, for limiting the up and down movement of the base plate within a certain distance, and the two ends of the elastic piece respectively resist the fixing ring and the base plate.

[0010] Furthermore, it also includes a displacement sensor connected to the controller, which is arranged on the three-jaw clamp assembly and located above the limit member, and is used to detect whether the moving distance of the limit member reaches the set displacement threshold. When the object is lifted by the rubber roller and the limit member is lifted up to reach the displacement threshold, the speed of the driving member is reduced to drive the rubber roller to rotate forward at the minimum speed.

[0011] Furthermore, the abutment assembly also includes a gear reduction mechanism, the output end of the driving member is fixedly connected to the input shaft of the gear reduction mechanism, and the output shaft of the gear reduction mechanism is fixedly connected to the rotating shaft of the rubber roller.

[0012] Furthermore, the abutment assembly also includes a rubber scraper, which is slidably connected to the inner bottom of the abutment assembly and can move back and forth in the radial direction, and the top surface of the scraper abuts against the lower roller surface of the rubber roller. When the rubber roller rotates forward, the scraper moves toward the axis direction of the three-jaw clamp assembly until the outer side surface is flush with the outer roller surface of the rubber roller in the vertical direction. When the rubber roller reverses, the scraper retracts into the inside of the abutment assembly.

[0013] An industrial robot comprises a robot body whose end can reciprocate between different workstations, and the end of the robot body is detachably and fixedly connected with a gripping device according to any one of claims 1 to 8.

[0014] Furthermore, the robot body includes a base and a rotating arm assembly rotatably connected to the base, the grasping device is detachably fixedly connected to the end of the rotating arm assembly, the controller is fixedly connected to the base, and the three-jaw clamp assembly and each of the driving members are connected to the controller via a connecting line arranged along the rotating arm assembly.

[0015] In summary, the present invention has the following beneficial effects: when the present invention is in use, the three claw arms are controlled to move synchronously in radial direction so that the rubber roller is pressed against the side of the object to be grasped, and then the rubber roller rotates forward to drive the entire object to move up a certain distance, so as to grasp the workpiece; when it reaches the upper side of the placement position, the rubber roller reverses to move the entire object down to fit the placement plane, and the three claw arms move in the opposite direction to release the clamping. Compared with the prior art, the present invention does not need to absorb the top surface of the object with the suction cup, and can complete the grasping of objects with uneven or hollow top surfaces, and is applicable to a wider range of grasping. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a three-dimensional structural schematic diagram of the present invention;

[0017] Figure 2 It is a schematic diagram of the three-dimensional structure of the interior of the low-connection assembly of the present invention;

[0018] Figure 3 It is a three-dimensional structural schematic diagram of the industrial robot of the present invention.

[0019] Figure numerals: 1. three-jaw clamp assembly; 10. slot; 11. three claw arms; 12. three-jaw cylinder; 2. abutment assembly; 21. connecting plate; 22. rubber roller; 23. driving member; 21. connecting plate; 211. upper connecting plate; 212. lower connecting plate; 31. fixing ring; 32. bottom plate; 33. limit member; 34. elastic member; 4. displacement sensor; 5. controller; 6. robot body; 61. base; 62. rotating arm assembly. DETAILED DESCRIPTION

[0020] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0021] It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it can be directly on the other component or indirectly on the other component. When a component is referred to as being "connected to" another component, it can be directly or indirectly connected to the other component.

[0022] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0023] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0024] Reference Figures 1 to 3 A grasping device is mainly used on industrial robots to grasp objects and use the industrial robots to transfer objects to different workstations to facilitate the next process.

[0025] The structure of the gripping device includes a three-claw clamp assembly 1 and an abutment assembly 2. The three-claw clamp assembly 1 includes a three-claw cylinder 12 and three claw arms 11. The three claw arms 11 are respectively fixedly connected to the three claws of the three-claw cylinder, so as to realize synchronous reciprocating movement in the radial direction to realize the clamping and releasing actions. There are always three groups of abutment assemblies 2, and each group of abutment assemblies 2 includes a connecting plate 21, a rubber roller 22 and a driving member 23.

[0026] The connecting plate 21 includes an upper connecting plate 211 and a lower connecting plate 212. The upper connecting plate 211 is detachably fixedly connected to the claw arm 11 so that the position can be adjusted radially, and the lower connecting plate 212 is detachably fixedly connected to the upper connecting plate 211 so that the position can be adjusted up and down. The upper part of the upper connecting plate 211 is detachably fixedly connected to the bottom surface of the claw arm 11. The upper connecting plate 211 and the claw arm 11 are provided with a plurality of mutually matching card slots 10 on the surfaces in contact with each other. The card slots 10 can be matched at different positions to adjust the position of the abutment assembly 2 on the claw arm 11, and the two are detachably locked by screws. Similarly, the upper connecting plate 211 and the lower connecting plate 212 are also matched by the card slots 10 and detachably locked by screws to adjust the position of the lower connecting plate 212 in the up and down directions. Position adjustment is achieved by the card slots 10 to facilitate the clamping of objects of different sizes.

[0027] The rubber roller 22 is rotatably connected to the lower connecting plate 212, and the roller surface of the rubber roller 22 protrudes toward the axis direction of the three-jaw clamp assembly 1, ensuring that when clamping an object, the roller surface of the rubber roller 22 abuts against the side of the object. The driving member 23 is arranged on the outer side of the lower connecting plate 212, and is used to drive the first rubber roller 22 to rotate. The three-jaw clamp assembly 1 and each of the driving members 23 are connected to the controller 5, and are controlled by the controller 5 to perform synchronous actions.

[0028] When the grasping device grasps, the three claw arms 11 synchronously approach each other in the radial direction, so that the rubber roller 22 presses against the side of the object, and the roller surface of the rubber roller 22 will be deformed to a certain extent. Then the driving member 23 drives the rubber roller 22 to rotate forward, so that the object moves upward for a distance; when it is close to the top of the waiting position, the driving member 23 drives the rubber roller 22 to reverse, so that the object moves downward to the surface close to the waiting position, and the three claw arms 11 synchronously move away from each other in the radial direction, so that the rubber roller 22 loosens the contact with the side of the object. Furthermore, after the object moves upward for a distance and is suspended in the air, the rubber roller 22 will still slowly rotate forward to compensate for the possible sliding of the object due to gravity.

[0029] The abutment assembly 2 also includes a gear reduction mechanism 25, such as Figure 2 As shown, the deceleration action is achieved by the meshing of large and small gears. The output end of the driving member 23 is fixedly connected to the input shaft of the gear reduction mechanism 25, and the output shaft of the gear reduction mechanism 25 is fixedly connected to the rotating shaft of the rubber roller 22. Through the gear reduction mechanism 25, it is convenient for the driving member 23 to drive the rubber roller 22 to rotate slowly.

[0030] In one embodiment, if Figure 1 As shown, the gripping device also includes a buffer assembly, which includes a fixing ring 31, a base plate 32, a limit piece 33 and elastic pieces 34 of the same number as the limit pieces 33. The fixing ring 31 is fixedly connected to the three-jaw clamp assembly 1, and the base plate 32 is located below the three claw arms 11. The limit pieces 33 have at least two groups, preferably three groups. These limit pieces 33 are evenly distributed around the three-jaw clamp assembly 1. The upper end of the limit piece 33 passes through the fixing ring 31 and can move up and down, and the lower end is fixedly connected to the base plate 32, and is used to limit the up and down movement of the base plate 32 within a certain distance. The two ends of the elastic piece 34 respectively resist the fixing ring 31 and the base plate 32. The elastic piece 34 adopts a spring and is sleeved on the limit piece 33.

[0031] By setting up a buffer component, when the object is lifted up by the rubber roller 22 and moves upward for a certain distance, the bottom plate 32 presses against the top surface of the object to prevent the object from directly hitting the bottom surface of the claw arm 11. After the object hits the bottom surface of the bottom plate 32, the elastic member 34 is compressed and the elastic force increases, while the rubber roller 22 keeps slowly rotating forward, thereby reaching a certain balance with the elastic member 34. At this time, the rubber roller 22 and the object will continue to generate sliding friction to better prevent the object from sliding down.

[0032] In one embodiment, if Figure 1 As shown, it also includes a displacement sensor 4 connected to the controller 5. The displacement sensor 4 is arranged on the three-jaw clamp assembly 1 and is located above the limit member 33. It is used to detect whether the moving distance of the limit member 33 reaches the set displacement threshold. When the object is lifted by the rubber roller 22 and the limit member 33 is lifted up to reach the displacement threshold, the speed of the driving member 23 is reduced to drive the rubber roller 22 to rotate forward at the minimum speed. At this time, a certain balance is reached with the elastic member 34.

[0033] In one embodiment, if Figure 1 and Figure 2 As shown, the abutting assembly 2 also includes a rubber scraper 24, which can be reciprocated radially and is slidably connected to the inner bottom of the abutting assembly 2, and the top surface of the scraper 24 abuts against the lower roller surface of the rubber roller 22. When the rubber roller 22 rotates forward, the scraper 24 moves toward the axis direction of the three-claw clamp assembly 1 until the outer side surface is flush with the outer roller surface of the rubber roller 22 in the vertical direction. When the rubber roller 22 rotates backward, the scraper 24 retracts into the inside of the abutting assembly 2. When clamping an object, the rubber roller 22 will be deformed under pressure, and the scraper 24 will also be deformed. When the rubber roller 22 rotates forward to pick up an object, the scraper 24 will scrape the dust, oil, etc. on the side of the object to ensure that the rubber roller 22 and the object have sufficient friction. At the same time, the top surface of the scraper 24 will slide and scrape with the lower roller surface of the rubber roller 22 to scrape off the dust, oil, etc. adhering to the surface of the rubber roller 22 and keep the roller surface of the rubber roller 22 clean. There is also friction between the scraper 24 and the object simultaneously, which can further prevent the object from sliding down. When placing the object, the rubber roller 22 reverses, and the scraper 24 is driven by the rubber roller 22 to retract, loosening the contact with the object so that the object can be smoothly moved down.

[0034] like Figure 3 An industrial robot shown in the figure includes a robot body 6 whose end can reciprocate between different workstations, and the end of the robot body 6 is detachably fixedly connected with a gripping device of the present invention. The robot body 6 includes a base 61 and a rotating arm assembly 62 rotatably connected to the base 61, the gripping device is detachably fixedly connected to the end of the rotating arm assembly 62, the controller 5 is fixedly connected to the base 61, and the three-claw clamp assembly 1 and each of the driving members 23 are connected to the controller 5 via a connecting line arranged along the rotating arm assembly 62.

[0035] The above embodiments are merely explanations of the present invention and are not limitations of the present invention. After reading this specification, those skilled in the art may make modifications to the embodiments without any creative contribution as needed. However, such modifications are protected by the patent law as long as they are within the scope of the claims of the present invention.

Claims

1. A gripping device, comprising a three-jaw clamp assembly, wherein the three-jaw clamp assembly has three claw arms that can synchronously reciprocate in a radial direction, characterized in that: It also includes three groups of abutment components, each group of the abutment components includes a connecting plate, a rubber roller and a driving member, the upper part of the connecting plate is detachably fixedly connected to the claw arm, the rubber roller is rotatably connected to the connecting plate and the roller surface of the rubber roller protrudes toward the axis direction of the three-claw clamp assembly, the driving member is arranged on the outer side of the connecting plate, and is used to drive the first rubber roller to rotate, the three-claw clamp assembly and each of the driving members are connected to the controller, and are controlled by the controller to perform synchronous actions; and, When the three claw arms synchronously approach each other in the radial direction so that the rubber roller presses against the side of the object, the driving member drives the rubber roller to rotate forward so that the object moves upward for a certain distance; When approaching the top of the waiting position, the driving member drives the rubber roller to reverse, so that the object moves downward to the surface close to the waiting position, and the three claw arms synchronously move away from each other in the radial direction so that the rubber roller releases the contact with the side of the object.

2. A gripping device according to claim 1, characterized in that: The connecting plate member comprises an upper connecting plate and a lower connecting plate. The upper connecting plate is detachably fixedly connected to the claw arm and can be adjusted in radial direction. The lower connecting plate is detachably fixedly connected to the upper connecting plate and can be adjusted in vertical direction.

3. A gripping device according to claim 2, characterized in that: The upper connecting plate and the claw arm are provided with a plurality of mutually matching grooves on the contacting surfaces, and the upper connecting plate and the lower connecting plate are provided with a plurality of mutually matching grooves on the contacting surfaces. The upper connecting plate and the claw arm, and the upper connecting plate and the lower connecting plate are detachably fixedly connected by screws.

4. A gripping device according to claim 1, characterized in that: It also includes a buffer component arranged on the three-claw clamp component, the bottom of which is located below the three claw arms and is used to support the top surface of the object when the object is lifted up by the rubber roller and moves upward for a distance.

5. A gripping device according to claim 4, characterized in that: The buffer assembly includes a fixing ring, a base plate, a limit piece and elastic pieces with the same number as the limit pieces. The fixing ring is fixedly connected to the three-jaw clamp assembly. The base plate is located below the three claw arms. The limit pieces have at least two groups and are evenly distributed around the three-jaw clamp assembly. The upper end of the limit piece passes through the fixing ring and can move up and down, and the lower end is fixedly connected to the base plate for limiting the up and down movement of the base plate within a certain distance. The two ends of the elastic piece respectively resist the fixing ring and the base plate.

6. A gripping device according to claim 5, characterized in that: It also includes a displacement sensor connected to the controller, which is arranged on the three-jaw clamp assembly and located above the limiter, and is used to detect whether the moving distance of the limiter reaches the set displacement threshold. When the object is lifted by the rubber roller and the limiter is lifted up to reach the displacement threshold, the speed of the driving member is reduced to drive the rubber roller to rotate forward at the minimum speed.

7. A gripping device according to claim 6, characterized in that: The abutment assembly further comprises a gear reduction mechanism, the output end of the driving member is fixedly connected to the input shaft of the gear reduction mechanism, and the output shaft of the gear reduction mechanism is fixedly connected to the rotating shaft of the rubber roller.

8. A gripping device according to any one of claims 1 to 7, characterized in that: The abutment assembly also includes a rubber scraper, which is slidably connected to the inner bottom of the abutment assembly and can move back and forth in the radial direction, and the top surface of the scraper abuts against the lower roller surface of the rubber roller. When the rubber roller rotates forward, the scraper moves toward the axis direction of the three-jaw clamp assembly until the outer side surface is flush with the outer roller surface of the rubber roller in the vertical direction. When the rubber roller reverses, the scraper retracts into the inside of the abutment assembly.

9. An industrial robot, comprising a robot body with a terminal end capable of reciprocating between different workstations, characterized in that: The end of the robot body is detachably and fixedly connected with the grasping device according to any one of claims 1 to 8.

10. An industrial robot according to claim 9, characterized in that: The robot body includes a base and a rotating arm assembly rotatably connected to the base, the grasping device is detachably fixedly connected to the end of the rotating arm assembly, the controller is fixedly connected to the base, and the three-jaw clamp assembly and each of the driving members are connected to the controller via a connecting line arranged along the rotating arm assembly.

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