Industrial robot clamping mechanism

Abstract

The embodiment of the invention provides an industrial robot clamping mechanism, and relates to the technical field of industrial robots. An industrial robot clamping mechanism comprises a hinge frame, a connecting piece matched with an industrial robot for use is clamped to the top of the hinge frame, and a bearing seat is hinged to the bottom of the hinge frame; side protection frames in sliding fit with the bearing seat are fixedly connected to the two sides of the hinge frame, a switching assembly is arranged on one side in each side protection frame, and each switching assembly comprises a stepping motor fixed to one side of the corresponding side protection frame; a displacement assembly and a positioning assembly which are used in cooperation with the connecting piece are arranged in the hinge frame, and the displacement assembly comprises a first main bevel gear fixed to an output shaft of the stepping motor. According to the industrial robot, the switching mode of multiple clamping styles is adopted, the efficient and accurate clamping effect is achieved on objects of different positions and different designs, a clamping mechanism on the industrial robot does not need to be frequently disassembled, assembled and replaced, time and labor are saved, and efficiency is high.

Description

Technical Field

[0001] The present invention belongs to the technical field of industrial robots, and in particular relates to a clamping mechanism of an industrial robot. Background Art

[0002] Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field. They have a certain degree of automation and can rely on their own power and control capabilities to achieve various industrial processing and manufacturing functions. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemicals. When using industrial robots to grasp objects, they are inseparable from the gripping mechanism.

[0003] In the prior art (Patent Application No. CN110421584B, Patent Name: A Clamping Mechanism for an Industrial Robot), a retaining rod is provided on the outer wall of the first clamping plate. This allows the clamping plate to act as a barrier against the object after clamping it, preventing the object from falling when the clamping mechanism is clamping it, thereby improving the grasping efficiency of the industrial robot. In the process of implementing this technical solution, it was discovered that the prior art has at least the following problems:

[0004] Currently, the gripping mechanisms used on industrial robots are basically of one type, while the items in the industrial production process have various designs. In order to grip items of different designs, the gripping mechanisms on the industrial robots need to be frequently disassembled and replaced, which is troublesome, labor-intensive and time-consuming. In addition, there are also easy disassembly and assembly errors, as well as assembly errors of the gripping mechanism, which lead to failure in gripping items and low efficiency. Summary of the Invention

[0005] This application aims to at least solve one of the technical problems in the prior art, namely, the inability to switch between multiple gripping styles to achieve efficient and accurate gripping of objects in different positions and designs, the need to frequently disassemble and replace the gripping mechanism on the industrial robot, which is labor-intensive, time-consuming, and inefficient. To this end, this application proposes a gripping mechanism for an industrial robot.

[0006] To achieve the above purpose, the specific technical solutions of the present invention are as follows:

[0007] An industrial robot gripping mechanism includes an articulated frame, wherein a connector for use with the industrial robot is clamped on the top of the articulated frame, and a supporting seat is hinged on the bottom of the articulated frame;

[0008] Both sides of the articulated frame are fixedly connected with side guard frames that slide with the supporting seat, and a switching component is provided on one side of the side guard frame, and the switching component includes a stepping motor fixed on one side of the side guard frame;

[0009] The articulated frame is provided with a displacement component and a positioning component used in conjunction with the connecting piece, and the displacement component includes a first main bevel gear fixed on the output shaft of the stepping motor, and the positioning component includes a slide groove opened around the articulated frame.

[0010] Preferably: the switching assembly also includes a first electric push rod embedded in the output shaft of the stepper motor, and the piston rod of the first electric push rod is fixedly connected to a driving gear, both sides of the support seat are fixedly connected to an arc-shaped gear rack used in conjunction with the driving gear, and the bottom of the support seat is respectively provided with a first electric clamp, a second electric clamp and a third electric clamp with different clamping arm designs.

[0011] Preferably: the displacement assembly also includes a first slave bevel gear arranged on the first main bevel gear, and the first slave bevel gear is fixedly connected to a second electric push rod, the second electric push rod is sleeved with a second main bevel gear, and the second slave bevel gear is meshed with a second main bevel gear, the second slave bevel gear is fixedly connected to a forward and reverse threaded rod that rotates with the articulated frame, and threaded sleeves are threadedly connected on both sides of the forward and reverse threaded rods.

[0012] Preferably: the positioning assembly also includes a sliding part that is sleeved on the threaded sleeve and slidably cooperates with the hinge frame, and both sides of the bottom of the sliding part are fixedly connected with sliders that slidably cooperate with the slide groove, the top of the sliding part is fixedly connected with a base, and the inner side of the base is fixedly connected with a positioning head, both sides of the connecting part are provided with slots that snap-fit with the base, and both sides of the inner cavity of the slot are provided with positioning slots that snap-fit with the positioning head.

[0013] Preferably, the first electric clamp, the second electric clamp and the third electric clamp are distributed in an axisymmetric state along the central axis of the supporting seat, and the angles between them are acute angles.

[0014] Preferably, an arc-shaped guide rail is provided in the inner cavity of the arc-shaped gear rack, and an arc-shaped slide bar fixedly matched with the side guard frame is slidably connected to the inner cavity of the arc-shaped guide rail.

[0015] Preferably, an electric cylinder fixedly matched with the first electric clamp, the second electric clamp and the third electric clamp is fixedly connected to the center of the bottom of the supporting seat.

[0016] Preferably, sliding rods are fixedly connected to the four sides of the bottom of the supporting seat, and sliding cylinders fixed to the first electric clamp, the second electric clamp and the third electric clamp are slidably connected to the sliding rods.

[0017] Preferably, an angle sensor is fixedly connected to the outer side of the supporting seat, and position sensors are fixedly connected to the outer sides of the first electric clamp, the second electric clamp and the third electric clamp.

[0018] Preferably, an industrial camera is fixedly connected to the outer side of the supporting seat close to the angle sensor, a docking joint is fixedly connected to the top of the articulated frame, and a docking groove for engaging with the docking joint is provided at the bottom of the connecting piece.

[0019] The industrial robot gripping mechanism of the present invention has the following advantages:

[0020] 1. The gripping mechanism of an industrial robot first adjusts the meshing stroke between the driving gear and one of the sets of arc-shaped gear racks by the first electric push rod, and then the stepper motor drives the supporting seat on the arc-shaped gear rack to rotate linearly through the driving gear on the first electric push rod that is meshed in place, and the supporting seat drives the first electric clamp, the second electric clamp and the third electric clamp with different clamping arms to switch according to the clamping style and clamping position of the current item. During this period, the angle sensor and the position sensor monitor the switching trajectory positions of the first electric clamp, the second electric clamp and the third electric clamp in real time, and the industrial camera tracks and locates the images between the first electric clamp, the second electric clamp and the third electric clamp and the item in real time, adopts a switching method of multiple clamping styles, and achieves efficient and accurate clamping effects for items in different positions and designs, without the need to frequently disassemble and replace the clamping mechanism on the industrial robot, which saves time and effort, and avoids disassembly and assembly errors during disassembly and replacement, and assembly errors of the clamping mechanism, thereby improving the success rate of grabbing items.

[0021] 2. This kind of industrial robot clamping mechanism, immediately afterwards, the second electric push rod first adjusts the meshing stroke between the first main bevel gear and the first slave bevel gear into place, and then the stepping motor drives the second main bevel gear and the second slave bevel gear to rotate in succession through the first main bevel gear and the first slave bevel gear that are meshed into place, and the second slave bevel gear drives the two sets of threaded sleeves on the positive and negative threaded rods to adjust the displacement towards each other. At the same time, the two sets of threaded sleeves drive the two sets of sliding parts to move inward or outward synchronously, and the two sets of sliding parts drive the two sets of card seats and positioning heads to move inward synchronously and be clamped into the two sets of card slots and positioning slots in the connecting part, completing the installation work between the connecting part and the articulated frame and the whole of the industrial robot, conversely, the two sets of sliding parts drive the two sets of card seats and positioning heads to move outward synchronously and disengage from the two sets of card slots and positioning slots in the connecting part, completing the quick disassembly work between the connecting part and the articulated frame and the whole of the industrial robot, providing convenience for subsequent maintenance and replacement.

[0022] 3. In the clamping mechanism of an industrial robot, during the switching of the first electric clamp, the second electric clamp and the third electric clamp, the arc-shaped gear rack driven by the driving gear to perform an arc-shaped trajectory displacement also drives the stabilizing gear to rotate accordingly. Under the elastic limit cooperation of the spring, the stabilizing gear drives the pawl on the ratchet to jump teeth. The arc-shaped gear rack restricts the switching movement of the first electric clamp, the second electric clamp and the third electric clamp on the supporting seat, thereby improving the stability during the switching process. If the restrictive measures on the arc-shaped gear rack need to be released, the two electric telescopic rods are controlled to drive the two shift rods to push outward in the sliding mouth, forcing the two shift rods to drive the two pawls to disengage the ratchet, and the restrictive measures of the stabilizing gear on the arc-shaped gear rack can be released. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0024] Figure 1 This is a side view of the initial state of the gripping mechanism structure of an industrial robot according to the present invention;

[0025] Figure 2 This is a bottom view of the initial state of the gripping mechanism structure of an industrial robot according to the present invention;

[0026] Figure 3 This is a side view of the working state of the gripping mechanism structure of an industrial robot of the present invention;

[0027] Figure 4 This is a bottom view of the gripping mechanism structure of an industrial robot in a working state according to the present invention;

[0028] Figure 5 This is an internal view of the gripping mechanism structure of an industrial robot according to the present invention;

[0029] Figure 6 A side cross-sectional view of the articulated frame, connector, side guard, switching assembly, displacement assembly, and positioning assembly structure of the present invention;

[0030] Figure 7 A bottom view of the support seat and the switching assembly structure of the present invention;

[0031] Figure 8 A side view of the supporting seat, switching assembly and limiting assembly structure of the present invention;

[0032] Figure 9 A side view of the support seat and switching assembly structure of the present invention;

[0033] Figure 10 A side view of the displacement assembly and positioning assembly structure of the present invention;

[0034] Figure 11 A bottom view of the connector structure of the present invention;

[0035] Figure 12 A side view of the arc-shaped gear rack and the limiting assembly structure of the present invention;

[0036] Figure 13 This is an exploded view of the arc-shaped gear rack and the limiting assembly structure of the present invention;

[0037] Figure 14 It is a side view of the articulated frame and side guard frame structure of the present invention.

[0038] Explanation of symbols in the figure: 1. Articulated frame; 2. Connecting piece; 3. Support seat; 4. Side guard; 51. Stepper motor; 52. First electric push rod; 53. Drive gear; 54. Curved gear rack; 55. First electric clamp; 56. Second electric clamp; 57. Third electric clamp; 61. First main bevel gear; 62. First slave bevel gear; 63. Second electric push rod; 64. Second main bevel gear; 65. Second slave bevel gear; 66. Forward and reverse threaded rod; 67. Threaded sleeve; 71 , slide; 72, sliding part; 73, slider; 74, holder; 75, positioning head; 76, slot; 77, positioning slot; 81, slide; 82, stabilizing gear; 83, ratchet; 84, pawl; 85, spring; 86, lever; 87, electric telescopic rod; 9, curved guide rail; 10, curved slide; 11, electric cylinder; 12, slide rod; 13, slide tube; 14, angle sensor; 15, position sensor; 16, industrial camera; 17, docking joint; 18, docking groove. DETAILED DESCRIPTION

[0039] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments:

[0040] like Figures 1-14 As shown, an industrial robot gripping mechanism of the present invention comprises an articulated frame 1, a connector 2 used in conjunction with the industrial robot is clamped on the top of the articulated frame 1, and a supporting seat 3 is hinged on the bottom of the articulated frame 1;

[0041] Both sides of the articulated frame 1 are fixedly connected with side guard frames 4 that slide with the supporting seat 3, and a switching component is provided on one side of the side guard frame 4. The switching component includes a stepping motor 51 fixed to one side of the side guard frame 4. A variety of clamping style switching methods are adopted to achieve efficient and accurate clamping effects for objects in different positions and designs. There is no need to frequently disassemble and replace the clamping mechanism on the industrial robot, which saves time and effort, avoids disassembly and replacement errors, and assembly errors of the clamping mechanism, thereby improving the success rate of grabbing objects.

[0042] The articulated frame 1 is respectively provided with a displacement assembly and a positioning assembly used in conjunction with the connecting member 2, and the displacement assembly includes a first main bevel gear 61 fixed on the output shaft of the stepper motor 51, and the positioning assembly includes a slide groove 71 opened around the articulated frame 1, which completes the rapid disassembly work between the connecting member 2 and the articulated frame 1 and the whole of the industrial robot, providing convenience for subsequent maintenance and replacement.

[0043] like Figures 6-11 As shown, the switching assembly also includes a first electric push rod 52 embedded in the output shaft of the stepper motor 51, and a driving gear 53 is fixedly connected to the piston rod of the first electric push rod 52, and arc-shaped gear racks 54 used in conjunction with the driving gear 53 are fixedly connected on both sides of the supporting seat 3. The first electric push rod 52 first adjusts the meshing stroke between the driving gear 53 and one set of arc-shaped gear racks 54 to a desired position, and then the stepper motor 51 drives the supporting seat 3 on the arc-shaped gear rack 54 to rotate linearly through the driving gear 53 on the first electric push rod 52 that is meshed in place, and the bottom of the supporting seat 3 is respectively provided with a first electric clamp 55, a second electric clamp 56 and a third electric clamp 57 with different clamping arm designs, and the supporting seat 3 drives the first electric clamp 55, the second electric clamp 56 and the third electric clamp 57 with different clamping arms to switch according to the clamping style and clamping position of the current item;

[0044] The first electric clamp 55, the second electric clamp 56 and the third electric clamp 57 are distributed in an axially symmetrical state along the central axis of the supporting seat 3, and the angle between them is an acute angle, so that the first electric clamp 55, the second electric clamp 56 and the third electric clamp 57 are reasonably distributed, so that their subsequent lifting and switching adjustments will not cause collision interference. The inner cavity of the arc-shaped gear rack 54 is provided with an arc-shaped guide rail 9, and the inner cavity of the arc-shaped guide rail 9 is slidably connected with an arc-shaped slide bar 10 fixedly matched with the side guard frame 4, which plays a role of rotational support for the arc-shaped gear rack 54 and improves the linear rotation stability of the arc-shaped gear rack 54. The center of the bottom of the supporting seat 3 is fixedly connected with an electric cylinder 11 fixedly matched with the first electric clamp 55, the second electric clamp 56 and the third electric clamp 57 to control the lifting and lowering of the first electric clamp 55, the second electric clamp 56 and the third electric clamp 57;

[0045] The bottom of the supporting seat 3 is fixedly connected with sliding rods 12 on all sides, and the sliding rods 12 are slidably connected with slide cylinders 13 fixed to the first electric clamp 55, the second electric clamp 56 and the third electric clamp 57. Under the sliding support of the sliding rods 12 and the slide cylinder 13, the first electric clamp 55, the second electric clamp 56 and the third electric clamp 57 are stably raised and lowered by the electric cylinder 11, so that they can directly reach the clamping position of the object. The outer side of the supporting seat 3 is fixedly connected with an angle sensor 14, and the outer sides of the first electric clamp 55, the second electric clamp 56 and the third electric clamp 57 are fixedly connected with a position sensor 15. The outer side of the supporting seat 3 near the angle sensor 14 is fixedly connected with an industrial camera 16, which monitors and tracks the angles, trajectory positions and images of the first electric clamp 55, the second electric clamp 56 and the third electric clamp 57 during switching in real time to ensure that they reach the clamping position of the object accurately.

[0046] The displacement assembly also includes a first slave bevel gear 62 provided on the first main bevel gear 61, and the first slave bevel gear 62 is fixedly connected to a second electric push rod 63, a second main bevel gear 64 is sleeved on the second electric push rod 63, and the second main bevel gear 64 is meshed with a second slave bevel gear 65. After the meshing stroke between the first main bevel gear 61 and the first slave bevel gear 62 is adjusted into place by the second electric push rod 63, the second main bevel gear 64 and the second slave bevel gear 65 are successively driven to rotate by the stepping motor 51 through the first main bevel gear 61 and the first slave bevel gear 62 that are meshed into place. A forward and reverse threaded rod 66 that rotates with the articulated frame 1 is fixedly connected to the second slave bevel gear 65, and both sides of the forward and reverse threaded rod 66 are threadedly connected to a threaded sleeve 67. The second slave bevel gear 65 drives the two groups of threaded sleeves 67 on the forward and reverse threaded rod 66 to adjust the displacement toward each other;

[0047] The positioning assembly also includes a sliding member 72 mounted on the threaded sleeve 67 and slidingly engaged with the articulated frame 1. The two sets of threaded sleeves 67 drive the two sets of sliding members 72 to move inward or outward synchronously, and both sides of the bottom of the sliding member 72 are fixedly connected to sliders 73 that slide with the slide groove 71. The top of the sliding member 72 is fixedly connected to a base 74, and the inner side of the base 74 is fixedly connected to a positioning head 75. Both sides of the connector 2 are provided with a slot 76 that engages with the base 74, and both sides of the inner cavity of the slot 76 are provided with a positioning slot 77 that engages with the positioning head 75. The top of the articulated frame 1 is fixedly connected to the docking head 17, and the bottom of the connector 2 is fixedly connected. The part is provided with a docking groove 18 which is engaged with the docking head 17, which plays the role of pre-docking and positioning between the articulated frame 1 and the connecting member 2. The two groups of sliding members 72 drive the two groups of card seats 74 and positioning heads 75 to move inward synchronously and get into the two groups of card slots 76 and positioning slots 77 in the connecting member 2, completing the installation work between the connecting member 2 on the industrial robot and the articulated frame 1 and its entirety. Conversely, the two groups of sliding members 72 drive the two groups of card seats 74 and positioning heads 75 to move outward synchronously and disengage from the two groups of card slots 76 and positioning slots 77 in the connecting member 2, completing the rapid disassembly work between the connecting member 2 on the industrial robot and the articulated frame 1 and its entirety, providing convenience for subsequent maintenance and replacement.

[0048] like Figure 12-13 As shown, when the first electric clamp 55, the second electric clamp 56 and the third electric clamp 57 of different clamping arms are switched according to the current position and type of the article, the stability is poor, which causes them to shake and tilt, which is not conducive to the accurate clamping of the article. A limiting component used in conjunction with the switching component is provided on the other side of the side guard frame 4, and the limiting component includes a slide 81 diagonally opened on the outside of the side guard frame 4, and a stabilizing gear 82 is engaged with another set of arc-shaped gear racks 54. The arc-shaped gear rack 54, which is driven by the driving gear 53 to move in an arc trajectory, also drives the stabilizing gear 82 to rotate accordingly, and the outer side of the stabilizing gear 82 is fixedly connected to a ratchet 83 through a rotating shaft and rotates with the side guard frame 4. Ratchet pawls 84 are clamped on both sides of the ratchet 83, and the pawls 84 are fixedly connected to a gear fixed to the side guard frame 4 The spring 85 with fixed fit, under the elastic limit fit of the spring 85, the stabilizing gear 82 drives the pawl 84 on the ratchet 83 to jump the teeth, and the arc-shaped tooth rack 54 restricts the switching movement of the first electric clamp 55, the second electric clamp 56 and the third electric clamp 57 on the supporting seat 3, thereby improving the stability during the switching process. The outer side of the pawl 84 is fixedly connected to a lever 86 that slides with the sliding mouth 81, and the outer side of the side guard frame 4 is diagonally hinged with an electric telescopic rod 87 that hinges with the lever 86. If the restrictive measures on the arc-shaped tooth rack 54 need to be released, the two electric telescopic rods 87 are controlled to drive the two levers 86 to push outward in the sliding mouth 81, forcing the two levers 86 to drive the two pawls 84 to disengage from the ratchet 83, thereby releasing the restrictive measures of the stabilizing gear 82 on the arc-shaped tooth rack 54.

[0049] The working principle of an industrial robot gripping mechanism is as follows: according to the gripping style and placement position of the current item, the first electric push rod 52 is first controlled to open and drive the driving gear 53 to move forward and clamp to the meshing part of the arc gear rack 54, and then the stepping motor 51 is controlled to open and drive the arc gear rack 54 to rotate linearly in the forward or reverse direction through the meshing driving gear 53. The articulated frame 1 plays an articulated support role on the supporting seat 3, and the arc guide rail 9 and the arc slide bar 10 play a sliding limit role on the arc gear rack 54. Under the forward or reverse linear rotation of the arc gear rack 54, the first electric clamp 55 and the second electric clamp 55 are driven by the supporting seat 3. The movable clamp 56 and the third electric clamp 57 are switched accordingly. During this period, the angle sensor 14 and the position sensor 15 have been monitoring the switching angles and trajectories of the first electric clamp 55, the second electric clamp 56 and the third electric clamp 57 in real time. The industrial camera 16 tracks and locates the switched images to ensure that they are accurately switched to the clamping style and placement position that suits the current item. Then, the electric cylinder 11 on the first electric clamp 55, the second electric clamp 56 or the third electric clamp 57 currently in place is controlled to open. With the sliding limit cooperation of the slide rod 12 and the slide cylinder 13, the electric cylinder 11 After driving the first electric clamp 55, the second electric clamp 56 or the third electric clamp 57 to move down to the clamping position of the article for clamping operation, the stepping motor 51 is first controlled to pause, and then the first electric push rod 52 is controlled to close and drive the driving gear 53 to move backward to disengage from the meshing part of the arc-shaped gear rack 54 to the initial position. At the same time, the arc-shaped gear rack 54 drives the supporting seat 3 and its entire linear forward or reverse rotation. During this period, the supporting seat 3 drives the stabilizing gear 82 to rotate forward or reverse accordingly through another set of arc-shaped gear racks 54. The stabilizing gear 82 drives the ratchet 83 to move accordingly through the rotating shaft. Under the support and cooperation of the two springs 85, The two pawls 84 are driven to jump teeth on the ratchet 83, and the ratchet 83 and the two pawls 84 provide a restraining measure for the stabilizing gear 82 and the other set of arc-shaped gear racks 54, thereby stabilizing the support base 3 and the entirety thereof. If it is necessary to release the restraining measures on the support base 3 and the entirety thereof, the two electric telescopic rods 87 are controlled to open and drive the two levers 86 to press outward in the sliding opening 81. The two levers 86 drive the two pawls 84 to disengage from the surface of the ratchet 83 and compress the two springs 85. The two pawls 84 are then disengaged from the ratchet 83, and the restraining measures on the support base 3 and the entirety thereof are released.

[0050] When the first electric clamp 55, the second electric clamp 56 or the third electric clamp 57 needs to be disassembled and repaired, the second electric push rod 63 is first controlled to open and drive the first slave bevel gear 62 to move down and engage with the first main bevel gear 61, and then the stepping motor 51 is controlled to open again and drive the first slave bevel gear 62 to rotate through the first main bevel gear 61 engaged in place, and the first slave bevel gear 62 successively drives the second main bevel gear 64 and the second slave bevel gear 65 to rotate, and the second slave bevel gear 65 drives the forward and reverse threaded rod 66 rotates in the opposite direction, and the forward and reverse threaded rods 66 drive the two groups of threaded sleeves 67 to move outward synchronously. With the slider 73 and the slide groove 71 acting as a sliding limit for the sliding member 72, the two groups of threaded sleeves 67 drive the two groups of sliding members 72 to move outward, and the two groups of sliding members 72 drive the two groups of clamping seats 74 and positioning heads 75 to disengage from the clamping grooves 76 and positioning grooves 77 on both sides of the connecting member 2. After the docking joint 17 is disengaged from the docking groove 18, the clamping measures between the articulated frame 1 and the connecting member 2 can be released, and it can be separated from the industrial robot for regular maintenance.

[0051] It should be noted that the specific models and specifications of the stepper motor 51, electric push rod, electric clamp, electric telescopic rod 87 and various sensors need to be selected and determined according to the actual specifications of the device. The specific selection calculation method adopts the existing technology in this field, so it will not be repeated in detail.

[0052] The power supply circuits of the stepping motor 51 , the electric push rod, the electric clamp, the electric telescopic rod 87 and various sensors are clear to those skilled in the art and will not be described in detail here.

[0053] It will be understood that the present invention is described by way of some embodiments, and it will be appreciated by those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are intended to be protected by the present invention.

Claims

1. An industrial robot gripping mechanism, comprising an articulated frame (1), characterized in that: The top of the articulated frame (1) is clamped with a connector (2) used in conjunction with an industrial robot, and the bottom of the articulated frame (1) is hinged with a supporting seat (3); Both sides of the articulated frame (1) are fixedly connected to side guard frames (4) that are slidably engaged with the supporting seat (3), and a switching assembly is provided on one side of the side guard frame (4), wherein the switching assembly includes a stepping motor (51) fixed to one side of the side guard frame (4); The articulated frame (1) is provided with a displacement assembly and a positioning assembly for use with the connecting member (2), respectively. The displacement assembly includes a first main bevel gear (61) fixed on the output shaft of the stepping motor (51), and the positioning assembly includes a sliding groove (71) provided around the articulated frame (1).

2. The industrial robot gripping mechanism according to claim 1, characterized in that: The switching assembly also includes a first electric push rod (52) embedded in the output shaft of the stepping motor (51), and a driving gear (53) is fixedly connected to the piston rod of the first electric push rod (52), and both sides of the support seat (3) are fixedly connected with an arc-shaped gear rack (54) used in conjunction with the driving gear (53), and the bottom of the support seat (3) is respectively provided with a first electric clamp (55), a second electric clamp (56) and a third electric clamp (57) with different clamping arm designs.

3. The industrial robot gripping mechanism according to claim 2, characterized in that: The displacement assembly further comprises a first slave bevel gear (62) arranged on the first main bevel gear (61), and a second electric push rod (63) is fixedly connected to the first slave bevel gear (62), a second main bevel gear (64) is sleeved on the second electric push rod (63), and a second slave bevel gear (65) is meshed with the second main bevel gear (64), and a forward and reverse threaded rod (66) that is rotatably matched with the articulated frame (1) is fixedly connected inside the second slave bevel gear (65), and threaded sleeves (67) are threadedly connected to both sides of the forward and reverse threaded rod (66).

4. The industrial robot gripping mechanism according to claim 3, characterized in that: The positioning assembly further comprises a sliding member (72) sleeved on the threaded sleeve (67) and slidingly engaged with the hinge frame (1), and both sides of the bottom of the sliding member (72) are fixedly connected with sliders (73) that slide and engage with the slide groove (71), the top of the sliding member (72) is fixedly connected with a clamping seat (74), and the inner side of the clamping seat (74) is fixedly connected with a positioning head (75), both sides of the connecting member (2) are provided with a clamping groove (76) that is clamped and engaged with the clamping seat (74), and both sides of the inner cavity of the clamping groove (76) are provided with a positioning groove (77) that is clamped and engaged with the positioning head (75).

5. The industrial robot gripping mechanism according to claim 4, characterized in that: The first electric clamp (55), the second electric clamp (56) and the third electric clamp (57) are distributed in an axisymmetric state along the central axis of the supporting seat (3), and the angles between them are acute angles.

6. The industrial robot gripping mechanism according to claim 5, characterized in that: The inner cavity of the arc-shaped gear rack (54) is provided with an arc-shaped guide rail (9), and the inner cavity of the arc-shaped guide rail (9) is slidably connected to an arc-shaped slide bar (10) fixedly matched with the side guard frame (4).

7. The industrial robot gripping mechanism according to claim 6, characterized in that: An electric cylinder (11) fixedly connected to the center of the bottom of the supporting seat (3) and fixedly matched with the first electric clamp (55), the second electric clamp (56) and the third electric clamp (57) is provided.

8. The industrial robot gripping mechanism according to claim 7, characterized in that: The bottom of the support seat (3) is fixedly connected with a sliding rod (12) on all four sides, and the sliding rod (12) is slidably connected with a sliding cylinder (13) fixed with the first electric clamp (55), the second electric clamp (56) and the third electric clamp (57).

9. The industrial robot gripping mechanism according to claim 8, characterized in that: The outer side of the supporting seat (3) is fixedly connected to an angle sensor (14), and the outer sides of the first electric clamp (55), the second electric clamp (56) and the third electric clamp (57) are all fixedly connected to position sensors (15).

10. The industrial robot gripping mechanism according to claim 9, characterized in that: The supporting seat (3) is fixedly connected to an industrial camera (16) on the outer side close to the angle sensor (14), and the top of the articulated frame (1) is fixedly connected to a docking joint (17), and the bottom of the connecting member (2) is provided with a docking groove (18) that is engaged with the docking joint (17).

Images