Industrial robot with clamping head structure

Abstract

The invention discloses an industrial robot with a clamping head structure, relates to the technical field of robots, and aims to solve the technical problems that an existing industrial robot is difficult to carry out corresponding automatic adjustment on parts with irregular surfaces, so that loosening and unstable clamping are caused when a workpiece is clamped. Comprising a robot body, a chassis arranged above the robot body, a mechanical arm and a connector. By designing the clamping assembly, the telescopic assembly, the pushing assembly and the plate assembly, the device can be automatically attached to the surface shape of a part to adjust the clamping shape of the device in the using process, it is ensured that the plate assembly can be better attached to the surface of the part, and the friction force between the device and the part is increased; and a locking structure for the clamping assembly is matched, so that the situation that the device is loosened and falls off during use is avoided, and the safety of the device during part clamping is improved.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and more particularly to an industrial robot with a clamping head structure. Background Art

[0002] With the progress of the times, mechanized and automated production is gradually replacing traditional manual production methods. Industrial robots, with their characteristics of not needing to rest, being able to work continuously around the clock, and not feeling tired, have demonstrated excellent production efficiency. In addition, industrial robots also have high-precision production capabilities, and are highly safe and reliable during operation, effectively avoiding potential dangers.

[0003] Currently, industrial robots equipped with gripping head joints are widely used in the clamping of parts or workpieces. However, it is worth noting that the surface shapes of most industrial parts are often irregular, which poses a challenge to the fit of industrial robots during the gripping process. Since it is difficult to fit the workpiece surface tightly, the friction generated during gripping is often insufficient. Simply relying on extrusion to increase friction is not only easy to cause damage to the parts, but also in actual applications, the parts may still fall off due to looseness, making it difficult to ensure safety during the gripping process. In view of this, we propose an industrial robot with a gripping head structure. Summary of the invention

[0004] The purpose of the present invention is to provide an industrial robot with a clamping head structure to solve the technical problem that existing industrial robots are difficult to perform corresponding automatic adjustments for parts with irregular surfaces, which leads to looseness and unstable clamping when clamping the workpiece.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: an industrial robot with a gripping head structure, comprising: A robot mechanism comprises a robot body, a chassis arranged above the robot body, a mechanical arm and a connecting head, wherein the mechanical arm is connected to the chassis, and the connecting head is connected to the other end of the mechanical arm; and a clamping head mechanism comprises a mounting frame, an exhaust pump and a driver located in the mounting frame, a positioning component, two clamping components connected to the mounting frame, a plurality of telescopic components arranged in the clamping component, a pushing component located outside the telescopic component, a plate component and a conduit connected to the telescopic component, wherein the telescopic component is connected to the exhaust pump through the conduit, and the positioning component is arranged below the exhaust pump.

[0006] During use, the present invention can not only automatically fit the surface shape of the part to adjust its own clamping shape, ensuring that the plate component can fit more closely to the surface of the part, increasing the friction between the device and the part, but also cooperate with the locking structure of the clamping component to prevent the device from loosening and falling off during use, thereby improving the safety of the device when clamping parts.

[0007] Preferably, the top of the robot body is fixedly connected to the bottom of the chassis, the top of the chassis is fixedly connected to the bottom end of the robotic arm, and the other end of the robotic arm is fixedly connected to the top of the connecting head.

[0008] Preferably, the inner wall of the mounting frame is fixedly connected to the exhaust pump and the driver, the lower part of the exhaust pump is connected to the upper part of the positioning assembly, the positioning assembly is fixedly connected to the lower part of the exhaust pump, the inner wall of the mounting frame is mutually clamped with the two clamping assemblies, and the two clamping assemblies are meshed with each other, the inner walls of the two clamping assemblies are respectively fixedly connected to a plurality of telescopic assemblies, and a plurality of the telescopic assemblies are respectively fixedly connected to a plurality of push assemblies, the two push assemblies are respectively connected to the upper and lower parts of the telescopic assemblies, a plurality of the telescopic assemblies are respectively clamped with a plurality of plate assemblies, a plurality of the plate assemblies are mutually clamped, the exhaust pump is respectively connected to a plurality of the telescopic assemblies through a conduit, and the conduit is composed of a hose, an air delivery pipe, a tee and an elbow; The mounting frame is fixedly connected below the connecting head, and the driver is engaged with one of the clamping assemblies.

[0009] Preferably, the positioning assembly comprises a docking cover, the lower part of the docking cover is connected to the top of the elastic telescopic sleeve, the lower end of the elastic telescopic sleeve is fixedly connected to the upper part of the limit clamp, and a limit groove is provided at the lower part of the limit clamp; The upper part of the docking cover is fixedly connected to the lower part of the exhaust pump, and the docking cover is communicated with the exhaust pump.

[0010] Preferably, the clamping assembly includes a bearing, a rotating shaft is sleeved inside the bearing, a clamping rod is fixedly connected outside the rotating shaft, a plurality of transmission blocks are fixedly connected outside the clamping rod, the other end of the rotating shaft passes through the clamping rod and is mutually clamped with the positioning block, and a plurality of through holes are opened on one side of the clamping rod; The bearing is clamped on one side of the inner wall of the mounting frame, and a limiting wheel is fixedly connected to the outside of one of the rotating shafts, and the limiting wheel and the limiting groove are located in the same vertical direction.

[0011] Preferably, the conduit is located in a through hole opened outside the clamping rod, the two clamping rods are transmission-connected through a plurality of transmission blocks on the surface, and the two clamping rods are meshed with each other through a plurality of transmission blocks.

[0012] Preferably, the telescopic assembly includes two brackets, and the first pins are clamped in the two brackets, and the two first pins are hinged with mounting blocks outside, one side of one of the mounting blocks is fixedly connected to a sliding sleeve, a sliding rod is slidably connected in the sliding sleeve, and the other end of the sliding rod is fixedly connected to the other mounting block, a piston plate is arranged in the sliding sleeve, the piston plate is fixedly connected to the sliding rod, a first spring is arranged in the sliding sleeve, and the two ends of the first spring are respectively fixedly connected to one side of the inner wall of the sliding sleeve and the piston plate; The sliding sleeve is connected to one end of the catheter, one of the brackets is fixedly connected to the clamping rod, the other bracket is fixedly connected to the plate component, and the upper and lower parts of the sliding sleeve are respectively connected to two pushing components.

[0013] Preferably, the pushing assembly comprises a guide shell, the guide shell is conical, a positioning frame is fixedly connected to the guide shell, a movable rod is slidably connected to the positioning frame, a sealing plate is fixedly connected to the bottom end of the movable rod, a counterweight is fixedly connected to the top end of the movable rod, a second spring is connected to the outer shell of the movable rod, the top and bottom ends of the second spring are fixedly connected to the positioning frame and the sealing plate respectively, one end of the guide shell is connected to the telescopic sleeve, and the other end of the telescopic sleeve is fixedly connected to the friction block; The other side of the guide shell is communicated with the sliding sleeve.

[0014] Preferably, the plate assembly includes a sleeve plate, a slide groove is provided in the sleeve plate, a slide plate is slidably connected in the slide groove, both sides of the slide plate are fixedly connected to limit rods, the limit rods are slidably connected in the slide groove, a plurality of third springs are fixedly connected to the bottom of the slide plate, the bottom ends of the plurality of third springs are fixedly connected to the bottom of the inner wall of the slide groove, second pins are clamped on both sides of the top of the slide plate, a coil spring is provided outside the second pin, two second pins are fixedly connected to two fixing frames respectively, and a friction shell is fixedly connected to one side of the slide plate and the sleeve plate; One side of the sleeve plate is fixedly connected to one of the positioning frames, the two lower fixing frames are fixedly connected to the upper sleeve plate, and the positions of the two friction shells correspond to the positions of the two friction blocks.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention designs a clamping assembly, a telescopic assembly, a pushing assembly and a plate assembly. When clamping goods or workpieces, the driver is operated in the reverse direction, and the clamping head mechanism is moved to the outside of the parts or goods through the mechanical arm. The driver is operated in the forward direction, and the exhaust pump is operated, so that the pushing assembly is extended and contacts with the plate assembly, and the secondary fixation of the plate assembly is completed. During use, the device can not only automatically fit the surface shape of the part to adjust its own clamping shape to ensure that the plate assembly can fit more closely to the surface of the part, increasing the friction between the device and the part, but also cooperates with the locking structure of the clamping assembly to avoid the device from loosening and falling off during use, thereby improving the safety of the device when clamping parts.

[0016] 2. The present invention also designs a plate assembly and a positioning assembly. When the driver is running, the driver will drive the clamping rod to deflect along the rotating shaft by toggling the transmission block on the surface of the clamping rod, and the exhaust pump will inject gas into the conduit and the docking cover respectively. When the gas enters the elastic telescopic sleeve along the docking cover, the elastic telescopic sleeve will push the limit clamp to extend downward, so that the limit clamp is clamped on the outside of the limit wheel through the limit groove, thereby locking one of the rotating shafts. On the one hand, when the driver stops running, the driver can fix the clamping rod once, and with the operation of the exhaust pump, the device will also lock the clamping rod for a second time by fixing the limit wheel outside the rotating shaft, so as to avoid the two clamping rods from loosening or moving in the process of clamping parts, thereby ensuring the stability of the device when clamping parts.

[0017] The present invention also designs a telescopic component and a pushing component. When the exhaust pump injects gas into the sliding sleeve along the conduit, the sliding sleeve and the sliding rod will be deflected at an angle through the two first pin shafts. When the sliding rod cannot move, the sliding plate and the sleeve plate will fit the surface of the part to the greatest extent. The gas enters the telescopic sleeve along the gap between the sealing plate and the guide shell, so that the device can not only squeeze the sleeve plate and the sliding plate to the surface of the part by pushing the sliding rod to extend, thereby completing the fixation of the part, but also make the sliding plate and the sleeve plate fit more closely to the surface of the part. At the same time, the accumulated gas will also squeeze the telescopic sleeve so that the friction block is stuck in the surface of the friction shell, increasing the resistance when the sliding plate or the sleeve plate moves, further increasing the stability of the device in clamping the part, and avoiding the movement of the sliding plate and the sleeve plate during the clamping process. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the robot mechanism structure of the present invention; Figure 3 It is a schematic diagram of the structure of the clamping head mechanism of the present invention; Figure 4It is a schematic diagram of the structure of the clamping assembly of the present invention; Figure 5 It is a schematic diagram of the telescopic assembly structure of the present invention; Figure 6 It is a schematic diagram of the cross-sectional structure of the telescopic assembly of the present invention; Figure 7 For the present invention Figure 6 The enlarged structural diagram at A in the middle; Figure 8 It is a schematic diagram of the cross-sectional structure of the plate component of the present invention.

[0019] Description of the numbers in the figure: 1. Robot mechanism; 2. Gripping head mechanism; 101. Robot body; 102. Chassis; 103. Robot arm; 104. Connector; 201, mounting frame; 202, exhaust pump; 203, driver; 204, positioning assembly; 205, clamping assembly; 206, telescopic assembly; 207, pushing assembly; 208, plate assembly; 209, catheter; 2041, docking cover; 2042, elastic telescopic sleeve; 2043, limiting clamp; 2044, limiting groove; 2051, bearing; 2052, rotating shaft; 2053, limiting wheel; 2054, clamping rod; 2055, transmission block; 2056, positioning block; 2057, through hole; 2061, bracket; 2062, first pin shaft; 2063, mounting block; 2064, sliding sleeve; 2065, sliding rod; 2066, piston plate; 2067, first spring; 2071, guide shell; 2072, positioning frame; 2073, movable rod; 2074, sealing plate; 2075, second spring; 2076, counterweight block; 2077, telescopic sleeve; 2078, friction block; 2081, sleeve plate; 2082, slide groove; 2083, slide plate; 2084, limit rod; 2085, third spring; 2086, second pin shaft; 2087, coil spring; 2088, fixing bracket; 2089, friction shell. DETAILED DESCRIPTION

[0020] like Figures 1 to 8 As shown, the present invention relates to an industrial robot with a gripping head structure, comprising: The robot mechanism 1 includes a robot body 101, a chassis 102 arranged above the robot body 101, a mechanical arm 103 and a connecting head 104, wherein the mechanical arm 103 is connected to the chassis 102, and the connecting head 104 is connected to the other end of the mechanical arm 103; and a clamping head mechanism 2 includes a mounting frame 201, an exhaust pump 202 and a driver 203 located in the mounting frame 201, a positioning component 204, two clamping components 205 connected to the mounting frame 201, a plurality of telescopic components 206 arranged in the clamping component 205, and a positioning component 204. The push assembly 207 outside the telescopic assembly 206, the plate assembly 208 and the conduit 209 connected to the telescopic assembly 206, wherein the telescopic assembly 206 is connected to the exhaust pump 202 through the conduit 209, and the positioning assembly 204 is arranged below the exhaust pump 202. When clamping goods or workpieces, the driver 203 is reversed to make the driver 203 drive the angle of the clamping assembly 205 on one side to deflect, and the clamping assembly 205 on the other side will deflect synchronously. At this time, the two clamping assemblies 205 are away from each other, and the clamping head mechanism 2 is moved to the position by the robot arm 103. The driver 203 is operated in the forward direction, so that the clamping assembly 205 is turned over to push the plate assembly 208 to fit outside the part. At this time, the exhaust pump 202 is operated, and the exhaust pump 202 injects gas into the conduit 209 and the positioning assembly 204 respectively, so that the positioning assembly 204 extends downward to lock the clamping assembly 205, and the gas entering the conduit 209 enters the telescopic assembly 206, so that the telescopic assembly 206 extends outward and further fits outside the part. When the telescopic assembly 206 extends to the limit, the internal gas accumulates. , a large amount of gas will enter the pushing component 207, causing the pushing component 207 to extend and contact with the plate component 208, completing the secondary fixation of the plate component 208, so that the device can not only automatically fit the surface shape of the part to adjust its own clamping shape during use, ensuring that the plate component 208 can fit more closely to the surface of the part, increasing the friction between the device and the part, but also cooperate with the locking structure of the clamping component 205 to avoid the device from loosening and falling off during use, thereby improving the safety of the device when clamping parts.

[0021] In the embodiment of the present invention, the upper part of the robot body 101 is fixedly connected to the lower part of the chassis 102, the upper part of the chassis 102 is fixedly connected to the bottom end of the mechanical arm 103, the other end of the mechanical arm 103 is fixedly connected to the upper part of the connector 104, the inner wall of the mounting frame 201 is fixedly connected to the exhaust pump 202 and the driver 203, the lower part of the exhaust pump 202 is connected to the upper part of the positioning component 204, the positioning component 204 is fixedly connected to the lower part of the exhaust pump 202, the inner wall of the mounting frame 201 is mutually clamped with the two clamping components 205, and the two clamping components 205 are meshed with each other, and the inner walls of the two clamping components 205 are respectively connected to a plurality of The telescopic components 206 are fixedly connected, and the telescopic components 206 are respectively fixedly connected to the pushing components 207. The two pushing components 207 are respectively connected to the upper and lower parts of the telescopic components 206. The telescopic components 206 are respectively connected to the plate components 208, and the plate components 208 are connected to each other. The exhaust pump 202 is respectively connected to the telescopic components 206 through the conduit 209. The conduit 209 is composed of a hose, an air pipe, a tee and an elbow. The mounting frame 201 is fixedly connected to the bottom of the connector 104. The driver 203 is engaged with one of the clamping components 205. The driver When the drive 203 is running, the driver 203 will drive the clamping rod 2054 to deflect along the rotating shaft 2052 by toggling the transmission block 2055 on the surface of the clamping rod 2054, and the clamping rod 2054 on the other side will also be driven by the transmission block 2055 to deflect toward or in the opposite direction. When the two clamping rods 2054 deflect toward each other so that the sleeve 2081 and the slide plate 2083 are clamped on the surface of the part, the exhaust pump 202 is started, and the exhaust pump 202 will inject gas into the conduit 209 and the docking cover 2041 respectively. When the gas enters the elastic telescopic sleeve 2042 along the docking cover 2041, the elastic telescopic sleeve 2042 will push the limit The clamp 2043 extends downward so that the limit clamp 2043 is clamped on the outside of the limit wheel 2053 through the limit groove 2044, thereby locking one of the rotating shafts 2052. On the one hand, when the driver 203 stops running, the driver 203 can fix the clamping rod 2054 once, and as the exhaust pump 202 runs, the device will also lock the clamping rod 2054 for a second time by fixing the limit wheel 2053 outside the rotating shaft 2052, thereby avoiding the two clamping rods 2054 from loosening or moving during the process of clamping parts, thereby ensuring the stability of the device when clamping parts.

[0022] In an embodiment of the present invention, the positioning assembly 204 includes a docking cover 2041, the lower part of the docking cover 2041 is connected to the top of the elastic telescopic sleeve 2042, the lower end of the elastic telescopic sleeve 2042 is fixedly connected to the upper part of the limit clamp 2043, and a limit groove 2044 is provided below the limit clamp 2043. The upper part of the docking cover 2041 is fixedly connected to the lower part of the exhaust pump 202, and the docking cover 2041 is connected to the exhaust pump 202. The clamping assembly 205 includes a bearing 2051, and a rotating shaft 2052 is sleeved inside the bearing 2051. The rotating shaft 2052 is fixedly connected to a clamping rod 2054 outside, and the clamping rod 2054 is fixedly connected to several There are a transmission block 2055, and the other end of the rotating shaft 2052 passes through the clamping rod 2054 and is clamped with the positioning block 2056. A plurality of through holes 2057 are opened on one side of the clamping rod 2054. The bearing 2051 is clamped on one side of the inner wall of the mounting frame 201. One of the rotating shafts 2052 is fixedly connected with a limiting wheel 2053. The limiting wheel 2053 and the limiting groove 2044 are located in the same vertical direction. When the exhaust pump 202 injects gas into the sliding sleeve 2064 along the conduit 209, the piston plate 2066 will be pushed by the gas pressure to squeeze the sliding rod 2065 to slide. At this time, the sliding rod 2065 will push the sleeve plate 2081 and the slide plate 2083. The sliding plate 2083 and the sleeve plate 2081 are fitted to the surface of the part, and in the process of the sliding plate 2083 and the sleeve plate 2081 fitting the irregular shape of the surface of the part, the sliding sleeve 2064 and the sliding rod 2065 are deflected by the two first pins 2062. When the sliding rod 2065 cannot move, the sliding plate 2083 and the sleeve plate 2081 are fitted to the surface of the part to the greatest extent. At this time, the gas accumulates inside the sliding sleeve 2064, thereby pushing the sealing plate 2074 to move upward, so that the gas enters the telescopic sleeve 2077 along the gap between the sealing plate 2074 and the guide shell 2071. When the telescopic sleeve 2077 is extended, it pushes the friction block 2078 to get stuck in the friction shell 2089, thereby The secondary fixation of the sleeve plate 2081 and the slide plate 2083 allows the device to not only squeeze the sleeve plate 2081 and the slide plate 2083 to the surface of the part by pushing the slide rod 2065 to extend, thereby completing the fixation of the part, but also makes the slide plate 2083 and the sleeve plate 2081 fit more closely to the surface of the part. At the same time, the accumulated gas will also squeeze the telescopic sleeve 2077 to make the friction block 2078 stuck into the surface of the friction shell 2089, increasing the resistance of the slide plate 2083 or the sleeve plate 2081 when moving, further increasing the stability of the device in clamping the part, and avoiding the movement of the slide plate 2083 and the sleeve plate 2081 during the clamping process.

[0023] As another embodiment of the present invention, the catheter 209 is located in a through hole 2057 opened outside the clamping rod 2054, the two clamping rods 2054 are connected by a plurality of transmission blocks 2055 on the surface, and the two clamping rods 2054 are meshed with each other through the plurality of transmission blocks 2055, the telescopic assembly 206 includes two brackets 2061, and the first pin shafts 2062 are clamped in the two brackets 2061, and the two first pin shafts 2062 are hinged with mounting blocks 2063 outside, one side of one mounting block 2063 is fixedly connected with a sliding sleeve 2064, a sliding rod 2065 is slidably connected in the sliding sleeve 2064, and the other end of the sliding rod 2065 is fixedly connected to another mounting block 2063, a piston plate 2066 is arranged in the sliding sleeve 2064, the piston plate 2066 is fixedly connected to the sliding rod 2065, and the sliding sleeve 206 4 is provided with a first spring 2067, and the two ends of the first spring 2067 are fixedly connected to one side of the inner wall of the sliding sleeve 2064 and the piston plate 2066 respectively. The sliding sleeve 2064 is connected to one end of the guide tube 209, one of the brackets 2061 is fixedly connected in the clamping rod 2054, and the other bracket 2061 is fixedly connected to the plate component 208. The upper and lower parts of the sliding sleeve 2064 are respectively connected to the two pushing components 207. When the angles of the two adjacent sliding sleeves 2064 and the sliding rod 2065 are deflected, the sliding plate 2083 will slide in the sleeve plate 2081, so as to cooperate with the sliding and angle change of the sliding rod 2065, which can not only ensure the stability of the sliding rod 2065 and the sliding sleeve 2064 during movement, but also can further fit on the surface of the part, increase the contact area with the part, and ensure the clamping effect.

[0024] As another embodiment of the present invention, the pushing assembly 207 includes a guide shell 2071, the guide shell 2071 is conical, the guide shell 2071 is fixedly connected with a positioning frame 2072, the positioning frame 2072 is slidably connected with a movable rod 2073, the bottom end of the movable rod 2073 is fixedly connected with a sealing plate 2074, the top end of the movable rod 2073 is fixedly connected with a counterweight 2076, the outer sleeve of the movable rod 2073 is connected with a second spring 2075, the top and bottom ends of the second spring 2075 are respectively fixedly connected with the positioning frame 2072 and the sealing plate 2074, and one end of the guide shell 2071 is connected with the extension The telescopic sleeve 2077 is connected, and the other end of the telescopic sleeve 2077 is fixedly connected with a friction block 2078. The other side of the guide shell 2071 is connected with the sliding sleeve 2064. The plate assembly 208 includes a sleeve 2081, a slide groove 2082 is opened in the sleeve 2081, and a slide plate 2083 is slidably connected in the slide groove 2082. Both sides of the slide plate 2083 are fixedly connected to the limit rod 2084, and the limit rod 2084 is slidably connected in the slide groove 2082. The bottom of the slide plate 2083 is fixedly connected with a plurality of third springs 2085, and the bottom ends of the plurality of third springs 2085 are fixedly connected Below the inner wall of the slide groove 2082, the second pin shafts 2086 are clamped on both sides of the upper side of the slide plate 2083, and the second pin shafts 2086 are provided with coil springs 2087. The two second pin shafts 2086 are fixedly connected to the two fixing frames 2088 respectively. The slide plate 2083 and one side of the sleeve plate 2081 are fixedly connected with friction shells 2089. One side of the sleeve plate 2081 is fixedly connected to one of the positioning frames 2072. The two fixing frames 2088 at the bottom are fixedly connected to the upper sleeve plate 2081. The positions of the two friction shells 2089 correspond to the positions of the two friction blocks 2078. A second spring 2075 is arranged outside the movable rod 2073 and a counterweight block 2076 is arranged at the top of the movable rod 2073, so as to ensure that the gas pressure pushing the sealing plate 2074 is greater than the pressure pushing the piston plate 2066, so that the gas will preferentially push the sliding rod 2065 to move when entering the sliding sleeve 2064, and will push the sealing plate 2074 to move only when the sliding rod 2065 cannot move and causes gas to accumulate in the sliding sleeve 2064, so that the device can preferentially push the sleeve plate 2081 and the slide plate 2083 to contact the parts, and then perform a secondary bonding process, thereby ensuring the stability of the operation of the device.

[0025] Working principle: This embodiment provides an industrial robot with a gripping head structure. When in use, the position of the robot body 101 is moved, and then the position of the gripping head mechanism 2 is adjusted by the mechanical arm 103, so that the gripping head mechanism 2 can be controlled to grip the workpiece or goods; When clamping goods or workpieces, the driver 203 is operated in the reverse direction, so that the driver 203 drives the clamping assembly 205 on one side to deflect at an angle, and the clamping assembly 205 on the other side will deflect synchronously. At this time, the two clamping assemblies 205 are separated from each other, and the gripping head mechanism 2 is moved to the outside of the parts or goods by the robot arm 103. The driver 203 is operated in the forward direction, so that the clamping assemblies 205 are turned toward each other and the plate assembly 208 is pressed against the outside of the parts. At this time, the exhaust pump 202 is operated, and the exhaust pump 202 injects gas into the The conduit 209 and the positioning assembly 204 make the positioning assembly 204 extend downward to lock the clamping assembly 205, and the gas entering the conduit 209 will enter the telescopic assembly 206, so that the telescopic assembly 206 extends outward and further fits outside the part. When the telescopic assembly 206 extends to the limit, as the internal gas accumulates, a large amount of gas will enter the pushing assembly 207, so that the pushing assembly 207 extends and contacts with the plate assembly 208, completing the secondary fixation of the plate assembly 208; When the driver 203 is running, the driver 203 will drive the clamping rod 2054 to deflect along the rotating shaft 2052 by toggling the transmission block 2055 on the surface of the clamping rod 2054, and the clamping rod 2054 on the other side will also be driven by the transmission block 2055 to deflect toward or in the opposite direction. When the two clamping rods 2054 deflect toward each other so that the sleeve plate 2081 and the slide plate 2083 are clamped on the surface of the part, the exhaust pump 202 is started, and the exhaust pump 202 will inject gas into the conduit 209 and the docking cover 2041 respectively. When the gas enters the elastic telescopic sleeve 2042 along the docking cover 2041, the elastic telescopic sleeve 2042 will push the limiting clamp 2043 to extend downward, so that the limiting clamp 2043 is clamped on the outside of the limiting wheel 2053 through the limiting groove 2044, thereby locking one of the rotating shafts 2052; When the exhaust pump 202 injects gas into the sleeve 2064 along the conduit 209, the piston plate 2066 is pushed by the gas pressure to squeeze the slide bar 2065 to slide. At this time, the slide bar 2065 pushes the sleeve plate 2081 and the slide plate 2083 to fit the surface of the part. In the process of the slide plate 2083 and the sleeve plate 2081 fitting the irregular shape of the part surface, the sleeve 2064 and the slide bar 2065 are deflected by the two first pins 2062. When 2065 cannot move, the slide plate 2083 and the sleeve plate 2081 will fit the surface of the part to the greatest extent. At this time, the gas accumulates inside the sleeve 2064, thereby pushing the sealing plate 2074 upward, allowing the gas to enter the telescopic sleeve 2077 along the gap between the sealing plate 2074 and the guide shell 2071. When the telescopic sleeve 2077 extends, it pushes the friction block 2078 to be stuck in the friction shell 2089, thereby performing secondary fixation on the sleeve plate 2081 and the slide plate 2083.

[0026] The embodiments of the present invention disclose preferred embodiments, but are not limited thereto. A person skilled in the art can easily understand the spirit of the present invention based on the above embodiments and make different extensions and changes. However, as long as they do not deviate from the spirit of the present invention, they are all within the protection scope of the present invention.

Claims

1. An industrial robot with a gripping head structure, characterized in that: include, A robot mechanism (1) comprises a robot body (101), a chassis (102) arranged above the robot body (101), a robot arm (103) and a connector (104), wherein the robot arm (103) is connected to the chassis (102), and the connector (104) is connected to the other end of the robot arm (103); and, A clamping head mechanism (2), comprising a mounting frame (201), an exhaust pump (202) and a driver (203) located in the mounting frame (201), a positioning assembly (204), two clamping assemblies (205) connected to the mounting frame (201), a plurality of telescopic assemblies (206) disposed in the clamping assemblies (205), a pushing assembly (207) located outside the telescopic assemblies (206), a plate assembly (208) and a conduit (209) connected to the telescopic assemblies (206), wherein the telescopic assemblies (206) are connected to the exhaust pump (202) via the conduit (209), and the positioning assembly (204) is disposed below the exhaust pump (202); The positioning assembly (204) comprises a docking cover (2041), the lower part of the docking cover (2041) is connected to the top of the elastic telescopic sleeve (2042), the lower end of the elastic telescopic sleeve (2042) is fixedly connected to the upper part of the limiting clamp (2043), and a limiting groove (2044) is provided below the limiting clamp (2043); The clamping assembly (205) comprises a bearing (2051), a rotating shaft (2052) is sleeved inside the bearing (2051), a clamping rod (2054) is fixedly connected to the outside of the rotating shaft (2052), a plurality of transmission blocks (2055) are fixedly connected to the outside of the clamping rod (2054), the other end of the rotating shaft (2052) passes through the clamping rod (2054) and is clamped with a positioning block (2056), and a plurality of through holes (2057) are formed on one side of the clamping rod (2054); The telescopic assembly (206) comprises two brackets (2061), and the first pin shafts (2062) are both clamped in the two brackets (2061), and the mounting blocks (2063) are hinged outside the two first pin shafts (2062), one side of one of the mounting blocks (2063) is fixedly connected with a sliding sleeve (2064), a sliding rod (2065) is slidably connected in the sliding sleeve (2064), and the other end of the sliding rod (2065) is fixedly connected to the other mounting block (2063), a piston plate (2066) is arranged in the sliding sleeve (2064), and the piston plate (2066) is fixedly connected to the sliding rod (2065), and a first spring (2067) is arranged in the sliding sleeve (2064), and the two ends of the first spring (2067) are respectively fixedly connected to one side of the inner wall of the sliding sleeve (2064) and the piston plate (2066); The pushing assembly (207) comprises a guide shell (2071), the guide shell (2071) is conical in shape, a positioning frame (2072) is fixedly connected inside the guide shell (2071), a movable rod (2073) is slidably connected inside the positioning frame (2072), a sealing plate (2074) is fixedly connected to the bottom end of the movable rod (2073), a counterweight (2076) is fixedly connected to the top end of the movable rod (2073), a second spring (2075) is connected to the outer sleeve of the movable rod (2073), the top and bottom ends of the second spring (2075) are fixedly connected to the positioning frame (2072) and the sealing plate (2074) respectively, one end of the guide shell (2071) is connected to a telescopic sleeve (2077), and a friction block (2078) is fixedly connected to the other end of the telescopic sleeve (2077); The plate assembly (208) comprises a sleeve plate (2081), a slide groove (2082) is provided in the sleeve plate (2081), a slide plate (2083) is slidably connected in the slide groove (2082), both sides of the slide plate (2083) are fixedly connected to limit rods (2084), the limit rods (2084) are slidably connected in the slide groove (2082), and a plurality of third springs (2085) are fixedly connected to the bottom of the slide plate (2083). The bottom ends of the third springs (2085) are fixedly connected to the bottom of the inner wall of the slide groove (2082), the second pin shafts (2086) are clamped on both sides of the top of the slide plate (2083), a coil spring (2087) is arranged outside the second pin shaft (2086), the two second pin shafts (2086) are respectively fixedly connected to two fixing frames (2088), and the slide plate (2083) and one side of the sleeve plate (2081) are fixedly connected to a friction shell (2089).

2. The industrial robot with a gripping head structure according to claim 1, characterized in that: The top of the robot body (101) is fixedly connected to the bottom of the chassis (102), the top of the chassis (102) is fixedly connected to the bottom end of the robot arm (103), and the other end of the robot arm (103) is fixedly connected to the top of the connector (104).

3. The industrial robot with a gripping head structure according to claim 2, characterized in that: The inner wall of the mounting frame (201) is fixedly connected to the exhaust pump (202) and the driver (203); the lower part of the exhaust pump (202) is connected to the upper part of the positioning assembly (204); the positioning assembly (204) is fixedly connected to the lower part of the exhaust pump (202); the inner wall of the mounting frame (201) is mutually engaged with the two clamping assemblies (205); the two clamping assemblies (205) are mutually engaged; the inner walls of the two clamping assemblies (205) are respectively fixedly connected to a plurality of telescopic assemblies (206); and the plurality of telescopic assemblies (206) are mutually engaged. The telescopic components (206) are respectively fixedly connected to a plurality of push components (207); two of the push components (207) are respectively connected to the upper and lower parts of the telescopic components (206); a plurality of the telescopic components (206) are respectively connected to a plurality of plate components (208); a plurality of the plate components (208) are connected to each other; the exhaust pump (202) is respectively connected to a plurality of the telescopic components (206) via a conduit (209); the conduit (209) is composed of a hose, an air delivery pipe, a tee and an elbow; The mounting frame (201) is fixedly connected below the connecting head (104), and the driver (203) is engaged with one of the clamping components (205).

4. The industrial robot with a gripping head structure according to claim 3, characterized in that: The upper portion of the docking cover (2041) is fixedly connected to the lower portion of the exhaust pump (202), and the docking cover (2041) is in communication with the exhaust pump (202).

5. The industrial robot with a gripping head structure according to claim 4, characterized in that: The bearing (2051) is clamped on one side of the inner wall of the mounting frame (201), and one of the rotating shafts (2052) is externally fixedly connected to a limiting wheel (2053), and the limiting wheel (2053) and the limiting groove (2044) are located in the same vertical direction.

6. The industrial robot with a gripping head structure according to claim 5, characterized in that: The conduit (209) is located in a through hole (2057) opened outside the clamping rod (2054), and the two clamping rods (2054) are connected in transmission via a plurality of transmission blocks (2055) on the surface, and the two clamping rods (2054) are meshed with each other via the plurality of transmission blocks (2055).

7. The industrial robot with a gripping head structure according to claim 6, characterized in that: The sliding sleeve (2064) is connected to one end of the conduit (209), one of the brackets (2061) is fixedly connected to the clamping rod (2054), the other bracket (2061) is fixedly connected to the plate assembly (208), and the upper and lower parts of the sliding sleeve (2064) are respectively connected to the two pushing assemblies (207).

8. The industrial robot with a gripping head structure according to claim 7, characterized in that: The other side of the guide shell (2071) is in communication with the sliding sleeve (2064).

9. The industrial robot with a gripping head structure according to claim 8, characterized in that: One side of the sleeve plate (2081) is fixedly connected to one of the positioning frames (2072), the two lower fixing frames (2088) are fixedly connected to the upper sleeve plate (2081), and the positions of the two friction shells (2089) correspond to the positions of the two friction blocks (2078).

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