Automatic control grabbing device of industrial robot

Abstract

The automatic control grabbing device of the industrial robot comprises a supporting base fixedly installed on a platform, a multi-axis mechanical arm is rotatably installed above the supporting base, a mounting column is rotatably installed at the top end of the multi-axis mechanical arm, and a grabbing plate is fixedly installed at the bottom end of the mounting column; and grabbing clamping jaws used for picking the columnar workpieces are symmetrically arranged on the left side and the right side of the grabbing plate and rotationally mounted on the side face of an electric sliding block arranged on the upper surface of the mounting plate. According to the automatic control grabbing device of the industrial robot, in the upward moving process of a connecting block, a synchronous rod is driven to move upwards, the synchronous rod is used for driving an extrusion plate to move upwards synchronously, the extrusion plate is used for driving a storage air bag to expand, negative pressure is generated through expansion of the storage air bag, and therefore air in a fixed suction cup is sucked away through a connecting hose; and a vacuum state is formed, grabbed objects are adsorbed, the purpose of auxiliary fixing is achieved, and the overall grabbing stability is improved.

Description

Technical Field

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

[0002] An industrial robot is an intelligent device that controls the robot's operation through automatic control programs to perform various processing operations. The robot's grasping device is a very important part. The robot can grasp the workpiece to be processed through the grasping mechanism and then perform the processing operation.

[0003] In the prior art, robot grasping is generally performed by means of a suction cup or a clamp. Due to the shape of the clamp, when facing objects of different shapes (especially cylindrical workpieces with curved surfaces), the grasping may be unstable, resulting in the falling of the grasped workpiece.

[0004] As in the prior art, the Chinese patent with publication number CN113526156A (application date 2021-07-16) discloses a grasping robot, which drives the clamping plate to move on the thrust plate through a second electric push rod; the support assembly includes an arc-shaped support plate slidably connected to the lower end of the fixed frame, and a pair of third electric push rods rotatably connected to the outer wall of the fixed frame to avoid excessive clamping pressure on the box body causing deformation of the box body, and ensure that the box body is stably fixed in the clamping assembly to avoid the box body falling off during movement.

[0005] As another example in the prior art, the Chinese patent with announcement number CN113734776A (application date 2021-08-16) discloses a pipe grabbing robot and a grabbing method thereof, which is equipped with a support adjustment structure, a component mounting structure, a sliding adjustment structure, an adjustable structure and a grabbing structure. By providing two grabbing structures, grabbing can be performed at two points to avoid instability caused by single-point grabbing. At the same time, by installing an adjustable structure, it can be fixed and moved according to needs. A component mounting structure that is slidably connected to the support adjustment structure and used to drive the entire component to perform lateral displacement, a sliding adjustment structure that is slidably connected to the component mounting structure and used to adjust the grabbing position, and a grabbing structure that is screwed to the output end of the sliding adjustment structure and used to grab the workpiece.

[0006] It can be seen from the above application that although the grasping method in the prior art can grasp the columnar workpiece, since the columnar workpiece has an arc-shaped surface, the contact area with the clamping claw is limited, which will affect the grasping stability. Summary of the invention

[0007] The object of the present invention is to provide an automatic control grasping device for an industrial robot to solve the problem of poor grasping stability of a columnar workpiece mentioned in the above background technology.

[0008] To achieve the above object, the present invention provides the following technical solution: an automatic control grasping device for an industrial robot, comprising a support base fixedly mounted on a platform, a multi-axis mechanical arm rotatably mounted above the support base, and a mounting column rotatably mounted on the top of the multi-axis mechanical arm, and further comprising: A grab plate is fixedly mounted on the bottom end of the mounting column, and grab claws for picking up columnar workpieces are symmetrically arranged on the left and right sides of the grab plate, and the grab claws are rotatably mounted on the side of an electric slider arranged on the upper surface of the grab plate, a telescopic cylinder is fixedly mounted at the middle position of the upper surface of the electric slider, a sliding structure is formed between the electric slider and the electric slide rail arranged on the upper surface of the grab plate, and a connecting rod mechanism for driving the grab claws to rotate is arranged on the side of the telescopic cylinder; A symmetrically arranged auxiliary plate is rotatably mounted on the lower surface of the grab plate, and an extrusion spring is fixedly mounted between the auxiliary plate and the grab plate, and a fixed suction cup is fixedly mounted on the lower surface of the grab plate, and a negative pressure mechanism for vacuuming the fixed suction cup is arranged inside the mounting column; A positioning camera for locating the position of the grasped object is arranged on the upper surface of the grasping plate, and the positioning camera is fixedly mounted on the upper surface of the mounting plate, and a storage mechanism for protecting the positioning camera is arranged on the side surface of the grasping plate.

[0009] Preferably, the connecting rod mechanism comprises a connecting block fixedly mounted on the top end of the telescopic cylinder, and a connecting rod is rotatably mounted between the side surface of the connecting block and the upper surface of the grabbing clamp.

[0010] Preferably, the middle position of the connecting rod is rotatably mounted between the support plate, and the connecting rod slides relatively between the limiting sliding grooves provided on the side of the support plate, and the support plate is fixedly mounted on the side of the lower end of the telescopic cylinder.

[0011] Preferably, the negative pressure mechanism comprises a storage air bag fixedly mounted inside the mounting column, and an extrusion plate for extruding the storage air bag is correspondingly arranged above the storage air bag, and the storage air bag and the extrusion plate are fixedly connected.

[0012] Preferably, the storage airbag is connected to the fixed suction cup via a connecting hose fixedly installed on the side thereof, and two connecting hoses are provided in total, and the fixed suction cup is made of soft rubber material.

[0013] Preferably, a transversely arranged synchronization rod is fixedly mounted on the upper end of the extrusion plate, and the synchronization rod is connected through the connection block.

[0014] Preferably, a transversely arranged synchronization rod is fixedly mounted on the upper end of the extrusion plate, and the synchronization rod is connected through a connecting block, and a sliding structure is formed between the connecting block and the synchronization rod.

[0015] Preferably, the storage mechanism includes a guide slot provided on the upper surface of the grab plate, a sliding structure is formed between the mounting plate and the guide slot, and a connecting rope is fixedly installed between the upper surface of the mounting plate and the synchronization rod.

[0016] Preferably, a return spring for pushing the mounting plate to return outward is fixedly installed inside the guide slot.

[0017] Preferably, a accommodating groove in a square structure is provided on the side of the upper surface of the grab plate, and the position of the accommodating groove corresponds to the position of the positioning camera, and a cleaning sponge is fixedly installed at the lower end of the inner part of the accommodating groove.

[0018] Compared with the prior art, the beneficial effects of the present invention are: the automatic control grasping device of the industrial robot adopts a new structural design, and its specific contents are as follows: 1. The connecting block is driven to move upward by the telescopic cylinder. During the upward movement of the connecting block, the connecting rod on its side is driven to rotate. Since the connecting rod rotates around the middle rotating shaft, the bottom end of the connecting rod is used to drive the grabbing claw to rotate downward to realize the grabbing operation of the workpiece. During the rotation of the connecting rod, the middle rotating shaft can slide accordingly in the limiting slide groove opened on the side of the support plate, thereby avoiding motion interference and ensuring the normal operation of the device; Furthermore, the connection block drives the synchronous rod to move upward during the upward movement, and the synchronous rod drives the extrusion plate to move upward synchronously, and the extrusion plate drives the storage airbag to expand, and the expansion of the storage airbag generates negative pressure, so that the air in the fixed suction cup (the fixed suction cup is made of soft rubber material, which can better fit the surface of the object and achieve a better adsorption effect) is sucked away through the connecting hose, so that a vacuum state is formed, and the grasped object (especially the side of the columnar object) is adsorbed, so as to achieve the purpose of auxiliary fixation and improve the overall grasping stability; Furthermore, the picking claws are installed on the side of the electric slider, and the sliding of the electric slider in the electric slide rail can drive the grabbing claws to change their position, thereby adjusting the distance between the grabbing claws on both sides to adapt to the grabbing operations of objects of different sizes, and an extrusion spring is installed between the auxiliary plate for installing the fixed suction cup and the grabbing plate, and the extrusion effect of the extrusion spring can make it fit the object better.

[0019] 2. A positioning camera is set above the grabbing plate. The positioning camera is used to capture image information and cooperate with the computer to identify the position of the object to be picked up, so as to ensure that the device can accurately grab the object and avoid grabbing it crookedly and causing an unstable center of gravity; Furthermore, the positioning camera is installed above the mounting plate. During the upward movement of the synchronization rod (i.e. during the grabbing action, when the object has been positioned), the mounting plate is driven to slide in the guide groove through the connecting rope connected thereto, and finally the positioning camera is pulled into the receiving groove for protection, thereby avoiding damage to the positioning camera during the grabbing and moving process, and the cleaning sponge inside the receiving groove can contact and clean the positioning camera, thereby ensuring the subsequent use effect of the positioning camera. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the structure of the grab plate of the present invention; Figure 3 This is a schematic diagram of the linkage relationship structure of the grabbing clamps of the present invention; Figure 4 For the present invention Figure 3 The enlarged structural diagram at A in the middle; Figure 5 This is a schematic diagram of the structure of the lower surface of the grab plate of the present invention; Figure 6 This is a schematic diagram of the positional relationship between the storage airbag and the extrusion plate of the present invention; Figure 7 This is a schematic diagram of the connection relationship between the storage airbag and the fixed suction cup of the present invention; Figure 8 This is a schematic diagram of the lower surface structure of the positioning camera of the present invention; Fig. 9 It is a schematic diagram of the structure of the accommodating groove of the present invention; Fig.10 For the present invention Fig. 9 Enlarged structural diagram at B in the middle.

[0021] In the figure: 1. Support base; 2. Multi-axis robotic arm; 3. Mounting column; 4. Grabbing plate; 5. Grabbing claw; 6. Electric slider; 7. Telescopic cylinder; 8. Connecting block; 9. Connecting rod; 10. Support plate; 11. Limiting slide groove; 12. Auxiliary plate; 1201, extrusion spring; 13. Fixed suction cup; 14. Storage air bag; 15. Connecting hose; 16. Extrusion plate; 1601, synchronization rod; 17. Electric slide rail; 18. Positioning camera; 19. Mounting plate; 20. Connecting pull rope; 21. Guide slide groove; 22. Reset spring; 23. Receiving groove; 24. Cleaning sponge. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] Example 1: Please refer to Figure 1-Figure 4 In order to achieve the purpose of grasping objects, the present embodiment provides the following technical solutions, which are used to grasp objects by rotating the grasping claws 5 arranged symmetrically, and specifically discloses: a support base 1 fixedly mounted on the platform, a multi-axis mechanical arm 2 is rotatably mounted above the support base 1, and a mounting column 3 is rotatably mounted on the top of the multi-axis mechanical arm 2, a grasping plate 4 is fixedly mounted on the bottom of the mounting column 3, and grasping claws 5 for picking up columnar workpieces are symmetrically arranged on the left and right sides of the grasping plate 4, and the grasping claws 5 are rotatably mounted on the side of the electric slider 6 arranged on the upper surface of the grasping plate 4, and the middle position of the upper surface of the electric slider 6 is fixed A telescopic cylinder 7 is fixedly installed, and a sliding structure is formed between the electric slider 6 and the electric slide rail 17 arranged on the upper surface of the grab plate 4, and a connecting rod mechanism for driving the grabbing claw 5 to rotate is arranged on the side of the telescopic cylinder 7, and the connecting rod mechanism includes a connecting block 8 fixedly installed on the top of the telescopic cylinder 7, and a connecting rod 9 is rotatably installed between the side of the connecting block 8 and the upper surface of the grabbing claw 5, the middle position of the connecting rod 9 is rotatably installed between the support plate 10, and the connecting rod 9 slides relatively with the limiting slide groove 11 opened on the side of the support plate 10, and the support plate 10 is fixedly installed on the side of the lower end of the telescopic cylinder 7.

[0024] When using the device, first turn on the multi-axis robot arm 2 so that the multi-axis robot arm 2 rotates around the supporting base 1, thereby moving the grab plate 4 at the front end of the multi-axis robot arm 2 to the top of the grab object, and then the multi-axis robot arm 2 drives the grab plate 4 to move downward through the mounting column 3. When the grab plate 4 contacts the object, turn on the telescopic cylinder 7. At this time, the telescopic cylinder 7 extends and pushes the connecting block 8 to move upward. During the upward movement of the connecting block 8, the connecting rod 9 on its side is driven to rotate. At this time, the connecting rod 9 rotates around the rotating shaft at its middle position (during the rotation process, the rotating shaft position can slide accordingly in the limiting slide groove 11 opened on the side of the support plate 10 to ensure normal movement). The rotating connecting rod 9 is used to drive the grabbing claw 5 to rotate downward and close, so as to realize the grabbing operation of the object. When facing grabbing objects of different sizes, turn on the electric slider 6 so that the electric slider 6 slides accordingly in the electric slide rail 17 on the upper surface of the grab plate 4, so as to adjust the spacing between the grabbing claws 5 on both sides, and use the grabbing operation of grabbing objects of different sizes.

[0025] Example 2: Please refer to Figure 5-Figure 8In order to solve the problem of unstable grasping of columnar objects caused by small contact area in traditional devices, this embodiment provides the following technical solutions, which utilizes fixed suction cups 13 to adsorb the surface of the object to achieve the purpose of auxiliary fixation of the object and reduce the shaking and falling situation. Specifically disclosed is: a symmetrically arranged auxiliary plate 12 is rotatably installed on the lower surface of the grasping plate 4, and an extrusion spring 1201 is fixedly installed between the auxiliary plate 12 and the grasping plate 4, and a fixed suction cup 13 is fixedly installed on the lower surface of the grasping plate 4, and a negative pressure mechanism for evacuating the fixed suction cup 13 is arranged inside the mounting column 3, and the negative pressure mechanism includes a storage air bag 14 fixedly installed inside the mounting column 3, and the storage air bag 14 is provided with an extrusion plate 16 for extruding it above, and the storage airbag 14 is fixedly connected to the extrusion plate 16, the storage airbag 14 is communicated with the fixed suction cup 13 through a connecting hose 15 fixedly installed on its side, and there are two connecting hoses 15, and the fixed suction cup 13 is made of soft rubber material, a transversely arranged synchronization rod 1601 is fixedly installed on the upper end of the extrusion plate 16, and the synchronization rod 1601 is connected through the connection block 8, a transversely arranged synchronization rod 1601 is fixedly installed on the upper end of the extrusion plate 16, and the synchronization rod 1601 is connected through the connection block 8, and a sliding structure is formed between the connection block 8 and the synchronization rod 1601.

[0026] When the grabbing plate 4 moves to the top close to the object, the auxiliary plate 12 below it contacts the object first. At this time, under the elastic pushing action of the squeezing spring 1201, the auxiliary plate 12 rotates and better fits the irregular surface of the object, so that the fixed suction cup 13 below the auxiliary plate 12 can contact the surface of the object as much as possible. During the grabbing process, the telescopic cylinder 7 pushes the connecting block 8 to move upward. At this time, the connecting block 8 drives the synchronous rod 1601 to move synchronously. The synchronous rod 1601 is used to drive the squeezing plate 16 inside the mounting column 3 to move upward. Since the squeezing plate 16 is fixedly connected to the storage air bag 14, the squeezing plate 16 will drive the storage air bag 14 to expand and form negative pressure during the upward movement. At this time, under the action of negative pressure, the air in the fixed suction cup 13 is extracted through the connecting hose 15, so that the fixed suction cup 13 forms a vacuum, and the fixed suction cup 13 is used to adsorb the surface of the object (especially the curved surface of a cylindrical object), so as to achieve the purpose of auxiliary fixation of the object and avoid the object from being unstable and falling off during the grabbing and moving process.

[0027] Example 3: Please refer to Figure 8-Figure 10In order to solve the problem that the center of gravity of the traditional device is shifted after grasping due to inaccurate positioning of the object during grasping, the present embodiment provides the following technical solutions, which use the positioning camera 18 to identify the precise position of the grasped object before performing the grasping operation. Specifically, the grasping plate 4 is provided with a positioning camera 18 for locating the position of the grasped object, and the positioning camera 18 is fixedly mounted on the upper surface of the mounting plate 19, and a storage mechanism for protecting the positioning camera 18 is provided on the side of the grasping plate 4, the storage mechanism includes a guide slot 21 provided on the upper surface of the grasping plate 4, a sliding structure is formed between the mounting plate 19 and the guide slot 21, and a connecting pull rope 20 is fixedly installed between the upper surface of the mounting plate 19 and the synchronization rod 1601, a reset spring 22 for pushing the mounting plate 19 to reset outward is fixedly installed inside the guide slot 21, a square-shaped accommodating groove 23 is provided on the side of the upper surface of the grasping plate 4, and the position of the accommodating groove 23 corresponds to the position of the positioning camera 18, and a cleaning sponge 24 is fixedly installed at the lower end of the accommodating groove 23.

[0028] Before grabbing an object, first move the grab plate 4 to the approximate position (i.e., above the object), then turn on the positioning camera 18 above the grab plate 4, use the positioning camera 18 to take a picture of the object to be grabbed below, and then locate the position of the grabbed object through computer analysis, thereby ensuring the accuracy of subsequent grabbing. During the grabbing action, the synchronization rod 1601 moves upward under the action of the telescopic cylinder 7. At this time, the synchronization rod 1601 pulls the mounting plate 19 through the connecting pull rope 20, so that the mounting plate 19 slides in the guide groove 21 opened on the upper surface of the grab plate 4, and finally the mounting plate 19 moves the positioning camera 18 to the inside of the accommodating groove 23 for protection. At the same time, the cleaning sponge 24 in the accommodating groove 23 is used to clean the surface of the positioning camera 18 to ensure the clarity of the positioning camera 18 in subsequent use, and then the positioning camera 18 is reset outward under the elastic action of the reset spring 22 inside the guide groove 21.

[0029] In the description of the present invention, unless otherwise specified, "plurality" means two or more than two; the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. are based on the orientations or positional relationships 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 limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0030] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automatic control grasping device for an industrial robot, comprising a support base (1) fixedly mounted on a platform, a multi-axis mechanical arm (2) rotatably mounted on the support base (1), and a mounting column (3) rotatably mounted on the top of the multi-axis mechanical arm (2), characterized in that: Also includes: A grab plate (4) is fixedly mounted on the bottom end of the mounting column (3), and grab claws (5) for picking up columnar workpieces are symmetrically arranged on the left and right sides of the grab plate (4), and the grab claws (5) are rotatably mounted on the side of an electric slider (6) arranged on the upper surface of the grab plate (4), and a telescopic cylinder (7) is fixedly mounted in the middle position of the upper surface of the electric slider (6), and a sliding structure is formed between the electric slider (6) and the electric slide rail (17) arranged on the upper surface of the grab plate (4), and a connecting rod mechanism for driving the grab claw (5) to rotate is arranged on the side of the telescopic cylinder (7); A symmetrically arranged auxiliary plate (12) is rotatably mounted on the lower surface of the grab plate (4), and a compression spring (1201) is fixedly mounted between the auxiliary plate (12) and the grab plate (4), and a fixed suction cup (13) is fixedly mounted on the lower surface of the grab plate (4), and a negative pressure mechanism for evacuating the fixed suction cup (13) is arranged inside the mounting column (3); The upper surface of the grab plate (4) is provided with a positioning camera (18) for locating the position of the grasped object, and the positioning camera (18) is fixedly mounted on the upper surface of the mounting plate (19), and a storage mechanism for protecting the positioning camera (18) is provided on the side of the grab plate (4).

2. The automatic control grasping device of an industrial robot according to claim 1, characterized in that: The connecting rod mechanism comprises a connecting block (8) fixedly mounted on the top end of the telescopic cylinder (7), and a connecting rod (9) is rotatably mounted between the side surface of the connecting block (8) and the upper surface of the grabbing clamp (5).

3. The automatic control grasping device of an industrial robot according to claim 2, characterized in that: The middle position of the connecting rod (9) is rotatably mounted between the support plate (10), and the connecting rod (9) slides relatively between the limiting sliding groove (11) provided on the side of the support plate (10), and the support plate (10) is fixedly mounted on the side of the lower end of the telescopic cylinder (7).

4. The automatic control grasping device of an industrial robot according to claim 1, characterized in that: The negative pressure mechanism comprises a storage air bag (14) fixedly mounted inside the mounting column (3), and a pressing plate (16) for pressing the storage air bag (14) is correspondingly arranged above the storage air bag (14), and the storage air bag (14) and the pressing plate (16) are fixedly connected.

5. The automatic control grasping device of an industrial robot according to claim 4, characterized in that: The storage airbag (14) is connected to the fixed suction cup (13) via a connecting hose (15) fixedly installed on the side thereof, and two connecting hoses (15) are provided in total, and the fixed suction cup (13) is made of a soft rubber material.

6. The automatic control grasping device of an industrial robot according to claim 5, characterized in that: A transversely arranged synchronization rod (1601) is fixedly mounted on the upper end of the extrusion plate (16), and the synchronization rod (1601) is connected to the connection block (8) through a through connection.

7. The automatic control grasping device of an industrial robot according to claim 5, characterized in that: A transversely arranged synchronization rod (1601) is fixedly mounted on the upper end of the extrusion plate (16), and the synchronization rod (1601) is connected through the connection block (8), and a sliding structure is formed between the connection block (8) and the synchronization rod (1601).

8. The automatic control grasping device of an industrial robot according to claim 1, characterized in that: The storage mechanism comprises a guide slot (21) provided on the upper surface of the grab plate (4), a sliding structure is formed between the mounting plate (19) and the guide slot (21), and a connecting pull rope (20) is fixedly installed between the upper surface of the mounting plate (19) and the synchronization rod (1601).

9. The automatic control grasping device of an industrial robot according to claim 8, characterized in that: A return spring (22) is fixedly installed inside the guide slide groove (21) and is used to push the mounting plate (19) to return outward.

10. The automatic control grasping device of an industrial robot according to claim 8, characterized in that: A square-shaped receiving groove (23) is provided on the side of the upper surface of the grab plate (4), and the position of the receiving groove (23) corresponds to the position of the positioning camera (18), and a cleaning sponge (24) is fixedly installed at the lower end of the interior of the receiving groove (23).

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