Industrial robot with cargo multi-angle grabbing structure

Abstract

The invention discloses an industrial robot with a cargo multi-angle grabbing structure, and relates to the technical field of industrial robots, the industrial robot comprises an industrial robot body, a conveying rack and a placing assembly; a mounting base is arranged on the industrial robot body, first clamping assemblies are arranged on the periphery of the bottom of the mounting base, and second clamping assemblies are arranged on the first clamping assemblies; wherein the first clamping assembly is used for clamping the periphery of a cargo, and the second clamping assembly is used for clamping the upper side and the lower side of the cargo; rollers are uniformly arranged on the conveying rack; the industrial robot body drives the first clamping assemblies to move downwards, so that the first clamping assemblies on the left side and the right side enter through grooves in the two sides of the small-size goods, and the first clamping assemblies on the front side and the rear side are located on the front side and the rear side of the small-size goods; and clamping blocks on the second clamping assembly clamp the upper side and the lower side of the goods correspondingly, and the small-size goods conveyed by the roller can be grabbed at multiple angles.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and in particular to an industrial robot with a multi-angle cargo grasping structure. Background Art

[0002] An industrial robot is a multi-joint manipulator or multi-degree-of-freedom machine device for the industrial field. It can perform work automatically and relies on its own power and control capabilities to achieve various functions. It can accept human commands or run according to pre-programmed programs. Modern industrial robots can also act according to the principles formulated by artificial intelligence technology. They are generally used in factories to transfer goods on conveyors to where they are needed, so as to save manpower and improve production efficiency.

[0003] An industrial robot is equipped with a gripping structure to grab goods. The patent document, publication number CN218052618U, is titled "An Industrial Robot Cargo Grabbing Device." A fixed electronic push rod is provided on the side of the assembly block of the gripping electronic push rod, and a fixed plate is provided at the end of the fixed electronic push rod, which is provided with a friction strip. The existing gripping structure is the same as the above structure, and uses clamping rods to move in opposite directions to clamp the goods.

[0004] The goods are clamped by moving the clamping rods in opposite directions. When the weight of the goods is large, it is easy for the industrial robot to drop the goods due to unstable clamping when transferring the goods by only using opposite clamping. If the force of the opposite clamping is increased, the outer packaging of the goods will be easily squeezed and deformed. In severe cases, the internal goods will be deformed. Therefore, the applicant clamps the goods at multiple angles when preparing to grab, thereby avoiding the situation of the goods falling when transferring the goods, and there is no need to excessively squeeze the goods, thereby avoiding the deformation of the outer packaging and internal goods; goods are generally transported by rollers. When facing large-sized goods, the distance between the rollers is large, and the grabbing structure can enter the space between the rollers to grab the goods at multiple angles. When facing small-sized goods, the distance between the rollers needs to be small for stable transportation. At this time, the grabbing structure cannot enter the space between the rollers, and thus cannot grab the goods at multiple angles. Summary of the Invention

[0005] In view of the deficiencies of the prior art, the present invention provides an industrial robot with a multi-angle cargo grasping structure, which solves the problems existing in the above-mentioned prior art.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: an industrial robot with a multi-angle cargo grasping structure, comprising an industrial robot body, a conveyor frame and a placement component;

[0007] The industrial robot body is provided with a mounting seat, the bottom of the mounting seat is provided with a clamping component 1 around each side, and the clamping component 2 is provided on the clamping component 1;

[0008] The first clamping component is used to clamp the four sides of the goods, and the second clamping component is used to clamp the upper and lower sides of the goods.

[0009] Rollers are evenly arranged on the conveyor frame;

[0010] The placement assembly includes a support plate, an inclined frame is provided at the left end of the support plate, a placement plate is provided at the left end of the inclined frame, a through slot is provided on the placement plate, and a mounting frame is provided at the bottom of the placement plate;

[0011] The right end of the support plate is close to the left roller, and the top of the support plate is aligned with the top of the roller, and the front-to-back width of the placement plate is smaller than the front-to-back width of the goods;

[0012] The conveyor frame is provided with a guide assembly, which is used to guide the rollers, the support plate, the inclined frame and the goods on the placement plate.

[0013] Preferably, the first clamping assembly includes a mounting rod with a top arranged on a mounting seat, an electric telescopic rod is arranged on the mounting rod, and a clamping rod is arranged on the output end of the electric telescopic rod.

[0014] Preferably, the second clamping component includes a slide rail opened in the clamping rod, the slide rail is vertically arranged, and the bottom of the slide rail is open. A reduction motor is provided on the top of the clamping rod, and a bidirectional screw rod is provided on the output shaft of the reduction motor. The bidirectional screw rod is located in the slide rail, and the upper and lower sides of the bidirectional screw rod are both screwed with clamping blocks, and the clamping block is slidably connected in the slide rail.

[0015] Preferably, acceleration rollers are evenly arranged on the inclined frame.

[0016] Preferably, an arc-shaped transition portion is provided at the connection between the inclined frame and the placement plate.

[0017] Preferably, a retaining frame is slidably connected in the through slot, a buffer spring connected to the inner wall of the left end of the through slot is provided at the left end of the retaining frame, and the right end of the retaining frame is higher than the left end of the retaining frame.

[0018] Preferably, the guide assembly includes a cylinder arranged on the front and rear sides of the conveyor frame, and a guide rod 1 is provided on the piston rod of the cylinder. The front and rear guide rods 1 are used to guide the rollers and the goods on the support plate. The left ends of the front and rear guide rods 1 are provided with avoidance devices, and the avoidance devices are provided with guide rod 2. The front and rear guide rods 2 are used to guide the inclined frame and the goods on the placement plate.

[0019] Preferably, the avoidance device includes a rotating shaft connected to the right end of guide rod 2, the rotating shaft is rotatably connected to guide rod 1 through a bearing, a gear is sleeved on the side of the rotating shaft away from the inclined frame, a gear is meshed with a gear rod, the gear rod is connected to the output end of the electric push rod, and the electric push rod is arranged on guide rod 1.

[0020] The present invention provides an industrial robot with a multi-angle cargo grabbing structure. Compared with the prior art, it has the following advantages:

[0021] 1. The industrial robot with a multi-angle cargo grabbing structure, the small-sized cargo conveyed by the roller slides onto the inclined frame through the support plate and then falls onto the placement plate. The guide component can guide the movement of the small-sized cargo from the roller to the placement plate to ensure that the small-sized cargo moves to the placement plate, and then the avoidance component drives the guide rod 2 to rotate downward to avoid the clamping components 1 on the front and rear sides, and the clamping component can be driven down by the industrial robot body to make the left and right clamping components 1 enter the through grooves on both sides of the small-sized cargo. The front and rear clamping components 1 are located on the front and rear sides of the small-sized cargo to clamp. After clamping the small-sized cargo on all sides, the clamping blocks on the clamping component 2 clamp the upper and lower sides of the cargo respectively, so that the small-sized cargo conveyed by the roller can be grabbed at multiple angles, thereby preventing the cargo from falling during the subsequent transfer by the industrial robot body, and preventing the cargo from being over-extruded and deformed.

[0022] 2. The industrial robot with a multi-angle cargo grabbing structure is provided with an acceleration roller, so that when small-sized cargo slides on the inclined frame, the acceleration roller can reduce the friction resistance, thereby enabling the small-sized cargo to subsequently slide farther on the placement plate, and then slide to the through slot, so that the subsequent clamping components on both sides can enter the through slots on both sides of the small-sized cargo to clamp the cargo; by providing an arc-shaped transition portion between the inclined frame and the placement plate, it is convenient for small-sized cargo to move to the placement plate, further reducing resistance; by providing a buffer spring and a baffle at the through slot, the sliding small-sized cargo can be blocked to prevent the small-sized cargo from sliding too far and exceeding the through slot, thereby eliminating the need to provide an overly long through slot and placement plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 Schematic diagram of the clamping assembly 1 and the clamping assembly 2 of the present invention;

[0025] Figure 3 Schematic diagram of the three-dimensional clamping assembly 1 and the second clamping assembly of the present invention;

[0026] Figure 4A schematic diagram of placing components and guiding components of the present invention;

[0027] Figure 5 A three-dimensional schematic diagram of the placement of components of the present invention;

[0028] Figure 6 For the present invention Figure 1 Schematic diagram at point A in the middle.

[0029] In the figure: 1. Industrial robot body; 2. Mounting seat; 3. Conveyor frame; 4. Roller; 5. Support plate; 6. Bevel frame; 7. Placement plate; 8. Through slot; 9. Mounting rod; 10. Electric telescopic rod; 11. Clamping rod; 12. Reducer motor; 13. Bidirectional lead screw; 14. Clamping block; 15. Acceleration roller; 16. Arc-shaped transition part; 17. Stop frame; 18. Buffer spring; 19. Mounting frame; 20. Cylinder; 21. Guide rod 1; 22. Guide rod 2; 23. Rotating shaft; 24. Gear; 25. Gear rod; 26. Electric push rod. DETAILED DESCRIPTION

[0030] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0031] See Figures 1-6 , the present invention provides the following two technical solutions:

[0032] First embodiment: An industrial robot with a multi-angle cargo grasping structure, comprising an industrial robot body 1, a conveyor frame 3, and a placement component;

[0033] The industrial robot body 1 is provided with a mounting base 2, and clamping components 1 are provided around the bottom of the mounting base 2, and clamping components 2 are provided on the clamping components 1;

[0034] Among them, the clamping component 1 is used to clamp the four sides of the goods, and the clamping component 2 is used to clamp the upper and lower sides of the goods;

[0035] Rollers 4 for conveying goods are evenly arranged on the conveyor frame 3;

[0036] The placement assembly includes a support plate 5, an inclined frame 6 is provided at the left end of the support plate 5, a placement plate 7 is provided at the left end of the inclined frame 6, a through slot 8 is opened on the placement plate 7, and a mounting frame 19 is provided at the bottom of the placement plate 7;

[0037] Among them, the right end of the support plate 5 is close to the left roller 4, and the top of the support plate 5 is aligned with the top of the roller 4, so that the goods can enter the support plate 5. The front and rear width of the placement plate 7 is smaller than the front and rear width of the goods, so that the subsequent clamping blocks 14 on the front and rear sides are not blocked by the placement plate 7, so that the upper and lower sides of the front and rear ends of the goods can be grabbed.

[0038] A guide assembly is provided on the conveyor frame 3, which is used to guide the goods on the roller 4, support plate 5, inclined frame 6 and placement plate 7. It can guide the movement of small-sized goods from the roller 4 to the placement plate 7 to ensure that the small-sized goods are moved to the placement plate 7.

[0039] The first clamping component includes a mounting rod 9 with its top set on the mounting seat 2, an electric telescopic rod 10 is set on the mounting rod 9, and a clamping rod 11 is set on the output end of the electric telescopic rod 10, which can drive the clamping rod 11 to move.

[0040] The second clamping component includes a slide rail opened in the clamping rod 11. The slide rail is arranged vertically, and the bottom of the slide rail is open, so that the bottom clamping block 14 can be moved to the bottom so that the goods can be placed as close as possible to the placement place when putting down the goods. A reduction motor 12 is provided on the top of the clamping rod 11, and a bidirectional screw rod 13 is provided on the output shaft of the reduction motor 12. The bidirectional screw rod 13 is located in the slide rail, and the upper and lower sides of the bidirectional screw rod 13 are screwed with clamping blocks 14. The clamping block 14 is slidably connected in the slide rail, and the reduction motor 12 drives the bidirectional screw rod 13 to rotate, so that the clamping blocks 14 on both sides move in opposite directions.

[0041] Acceleration rollers 15 are evenly arranged on the inclined frame 6, so that when small-sized goods slide on the inclined frame 6, the friction resistance can be reduced by the acceleration rollers 15, so that the small-sized goods can subsequently slide further on the placement plate 7 and then slide to the through groove 8, so that the subsequent clamping components on both sides can enter the through groove 8 on both sides of the small-sized goods to clamp the goods.

[0042] An arc-shaped transition portion 16 is provided at the connection between the inclined frame 6 and the placement plate 7 to facilitate the movement of small-sized goods onto the placement plate 7 and further reduce resistance.

[0043] A stopper 17 is slidably connected in the through slot 8. The left end of the stopper 17 is provided with a buffer spring 18 connected to the inner wall of the left end of the through slot 8. The right end of the stopper 17 is higher than the left side of the stopper 17. Small-sized goods that slide too far will be blocked by the stopper 17 and buffered by the buffer spring 18 to avoid damaging the small-sized goods. The goods are blocked by the stopper 17 to avoid exceeding the through slot 8 after sliding, which makes it convenient to enter the through slot 8 and clamp the goods through the left and right clamping assemblies. Therefore, there is no need to set an overly long through slot 8 and placement plate 7. The right end of the stopper 17 is higher than the left side of the stopper 17, so that it can avoid the mounting rod 9 and the electric telescopic rod 10 on the left.

[0044] The guide assembly includes a cylinder 20 arranged on the front and rear sides of the conveyor frame 3. A guide rod 21 is provided on the piston rod of the cylinder 20. The cylinder 20 drives the guide rod 21 to move, and can guide small-sized goods of different sizes. The front and rear guide rods 21 are used to guide the goods on the roller 4 and the support plate 5. The left ends of the front and rear guide rods 21 are provided with avoidance devices, and the avoidance devices are provided with guide rods 22. The front and rear guide rods 22 are used to guide the goods on the inclined frame 6 and the placement plate 7. When small-sized goods move from the roller 4, the support plate 5 and the inclined frame 6 to the placement plate 7, they can be guided by guide rod 1 21 and guide rod 2 22 in turn.

[0045] The second embodiment is mainly different from the first embodiment in that: the avoidance device includes a rotating shaft 23 connected to the right end of the guide rod 22, the rotating shaft 23 is rotatably connected to the guide rod 1 21 through a bearing, and a gear 24 is sleeved on the side of the rotating shaft 23 away from the inclined frame 6, and a gear rod 25 is meshedly connected to the gear 24, and the gear rod 25 is connected to the output end of the electric push rod 26, and the electric push rod 26 is set on the guide rod 1 21. The electric push rod 26 pushes the gear rod 25 to move, so that the gear 24 drives the rotating shaft 23 to rotate, which can drive the guide rod 2 22 to rotate and move downward, without affecting the front and rear clamping components 1 and 2 to grab the goods.

[0046] At the same time, the contents not described in detail in this specification belong to the existing technology known to those skilled in the art, and the model parameters of each electrical appliance are not specifically limited, and conventional equipment can be used.

[0047] During use, after the small-sized goods are conveyed by the roller 4, they pass through the support plate 5 and the inclined frame 6 to the placement plate 7, and finally they are located above the through slot 8. During transportation, they are guided by the guide rod 1 21 and the guide rod 2 22 in sequence, and then the avoidance component drives the guide rod 2 22 to rotate downward to avoid the clamping components 1 on the front and rear sides. The clamping component can be driven down by the industrial robot body 1 to make the left and right clamping components 1 enter the through slots 8 on both sides of the small-sized goods. The front and rear clamping components 1 are located on the front and rear sides of the small-sized goods, which can clamp the small-sized goods all around. Then the clamping blocks 14 on the clamping component 2 are respectively clamped on the upper and lower sides of the goods. The gripping structure can clamp the small-sized goods conveyed by the roller 4 at multiple angles, thereby preventing the goods from falling when being transferred through the industrial robot body 1 later, and preventing the goods from being over-squeezed and deformed. It also solves the problem mentioned in the background technology that the goods are generally conveyed by rollers. When facing large-sized goods, the spacing between the rollers 4 is large, and the gripping structure can enter the space between the rollers 4 to grip the goods at multiple angles. When facing small-sized goods, the spacing between the rollers 4 needs to be small for stable transportation. At this time, the gripping structure cannot enter the space between the rollers 4, and thus cannot grip the goods at multiple angles.

[0048] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0049] While 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 these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. An industrial robot with a multi-angle cargo grasping structure, characterized by: It comprises an industrial robot body (1), a conveyor frame (3) and a placement component; The industrial robot body (1) is provided with a mounting seat (2), the bottom of the mounting seat (2) is provided with a clamping component 1 at all four sides, and the clamping component 2 is provided on the clamping component 1; The first clamping component is used to clamp the four sides of the goods, and the second clamping component is used to clamp the upper and lower sides of the goods. Rollers (4) are evenly arranged on the conveyor frame (3); The placement assembly comprises a support plate (5), an inclined frame (6) is provided at the left end of the support plate (5), a placement plate (7) is provided at the left end of the inclined frame (6), a through slot (8) is provided on the placement plate (7), and a mounting frame (19) is provided at the bottom of the placement plate (7); The right end of the support plate (5) is close to the left end roller (4), and the top of the support plate (5) is aligned with the top of the roller (4), and the front and rear width of the placement plate (7) is smaller than the front and rear width of the goods; A guide assembly is provided on the conveyor frame (3), and the guide assembly is used to guide the goods on the roller (4), the support plate (5), the inclined frame (6) and the placement plate (7).

2. The industrial robot with a multi-angle cargo grasping structure according to claim 1, characterized in that: The clamping assembly 1 comprises a mounting rod (9) whose top is arranged on a mounting seat (2); an electric telescopic rod (10) is arranged on the mounting rod (9); and a clamping rod (11) is arranged on the output end of the electric telescopic rod (10).

3. The industrial robot with a multi-angle cargo grasping structure according to claim 2, characterized in that: The second clamping assembly includes a slide rail opened in the clamping rod (11), the slide rail is vertically arranged, and the bottom of the slide rail is open. A reduction motor (12) is arranged on the top of the clamping rod (11), and a bidirectional screw rod (13) is arranged on the output shaft of the reduction motor (12). The bidirectional screw rod (13) is located in the slide rail, and the upper and lower sides of the bidirectional screw rod (13) are both screwed with clamping blocks (14), and the clamping block (14) is slidably connected in the slide rail.

4. The industrial robot with a multi-angle cargo grasping structure according to claim 1, characterized in that: Acceleration rollers (15) are evenly arranged on the inclined frame (6).

5. The industrial robot with a multi-angle cargo grasping structure according to claim 1, characterized in that: An arc-shaped transition portion (16) is provided at the connection between the inclined frame (6) and the placement plate (7).

6. The industrial robot with a multi-angle cargo grasping structure according to claim 1, characterized in that: A retaining frame (17) is slidably connected in the through slot (8), and a buffer spring (18) connected to the inner wall of the left end of the through slot (8) is provided at the left end of the retaining frame (17), and the right end of the retaining frame (17) is higher than the left side of the retaining frame (17).

7. The industrial robot with a multi-angle cargo grasping structure according to claim 1, characterized in that: The guide assembly includes a cylinder (20) arranged on the front and rear sides of the conveyor frame (3), a guide rod (21) is arranged on the piston rod of the cylinder (20), and the front and rear guide rods (21) are used to guide the goods on the roller (4) and the support plate (5), and the left ends of the front and rear guide rods (21) are both provided with avoidance devices, and the avoidance devices are provided with guide rods (22), and the front and rear guide rods (22) are used to guide the goods on the inclined frame (6) and the placement plate (7).

8. The industrial robot with a multi-angle cargo grasping structure according to claim 7, characterized in that: The avoidance device comprises a rotating shaft (23) connected to the right end of the second guide rod (22), the rotating shaft (23) being rotatably connected to the first guide rod (21) through a bearing, a gear (24) being sleeved on the side of the rotating shaft (23) away from the inclined frame (6), a gear rod (25) being meshedly connected on the gear (24), the gear rod (25) being connected to the output end of an electric push rod (26), and the electric push rod (26) being arranged on the first guide rod (21).

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