Gripping structure for industrial robot

Abstract

The application discloses a grabbing structure for an industrial robot and relates to the field of industrial robots, which comprises a main body, a supporting plate fixedly arranged at the end of the main body, a movable assembly arranged at the two sides of the end of the supporting plate and used for adjusting the position of the clamping end, and an adjusting assembly arranged at the end of the movable assembly and used for adjusting the pressing state of a workpiece. The grabbing structure for the industrial robot can exert the optimal extrusion force on different workpieces through the adjusting assembly, ensures the uniform distribution of the overall pressure, enables the workpiece to be stably clamped, avoids damage or deformation caused by excessive extrusion, and can automatically adjust the pressure according to the material, size and shape of the workpiece, so that the workpiece is prevented from being deformed due to uneven force.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial robots, in particular to a grabbing structure for an industrial robot. BACKGROUND

[0002] Industrial robots refer to machines that can automatically perform tasks in an industrial environment, and are usually designed to perform tasks that are repetitive, require high precision, or are too dangerous for humans. In the field of industrial robot grabbing, the grabbing head structure of the robot is a very important part of the field. Traditional robot grabbing structures usually have mechanical claws, vacuum cups, magnetic adsorption, and pneumatic cups. The grabbing head structure of the robot is a common grabbing head structure composed of multiple mechanical arms, which can realize grabbing, clamping and other functions by driving the movement of the mechanical arms through motors, pneumatics or hydraulics. The mechanical claw has simple structure and high reliability, and is suitable for grabbing objects of various shapes.

[0003] Chinese invention patent application No. CN119347836A discloses a grabbing structure for an industrial robot. Through the arrangement of the grabbing and clamping assembly, not only can the sliding seat move stably, but also the angle of the grabbing plate can be adjusted through the telescopic cylinder according to the shape of the object, thereby improving the reliability of clamping. During clamping operation, the grabbing control assembly can control the two grabbing and clamping assemblies to move closer or farther away from each other. The grabbing control assembly can also control the grabbing force of the grabbing plate and maintain a stable clamping state after grabbing, so that the object is reliably clamped. The steering assembly can drive the grabbing disc to rotate, change the angle of the two grabbing plate jaws, and better cooperate the grabbing plate with the auxiliary supporting and fixing assembly, i.e. achieve the purpose of auxiliary supporting and fixing of the object by the cooperation of the auxiliary supporting and fixing assembly and the grabbing and clamping assembly.

[0004] The existing device is used in the process of transporting workpieces. When facing smooth or variously shaped workpieces for clamping, the workpieces are prone to fall off or tilt, which can easily slip out of the clamp, reducing the transportation efficiency and possibly causing safety hazards. SUMMARY

[0005] The purpose of the present application is to provide a grabbing structure for an industrial robot to solve the above-mentioned deficiencies in the prior art.

[0006] In order to achieve the above-mentioned purpose, the present application provides the following technical solution: a grabbing structure for an industrial robot, comprising a main body, a supporting plate fixedly installed at the end of the main body;

[0007] An activity assembly is assembled on both sides of the end of the supporting plate, and the position of the clamping end is adjusted through the activity assembly;

[0008] An adjusting assembly is assembled at the end of the movable assembly, and the pressing state of the workpiece is adjusted through the adjusting assembly;

[0009] The adjusting assembly comprises a docking plate clamped with the movable assembly, the end of the docking plate is symmetrically rotatably installed with a rotating disc, and one end of the rotating disc is uniformly fixedly installed with a rotating block;

[0010] The middle position of the end of the docking plate is fixedly installed with an extension plate, and both ends of the extension plate are rotatably installed with a disc;

[0011] The end of the disc is fixedly installed with a fixed cylinder, the inner wall of the fixed cylinder is clamped with a transmission cylinder, the outer surface of the transmission cylinder is provided with an adjusting groove, and the adjusting groove is in X shape in the unfolded state;

[0012] The outer surface of the transmission cylinder is rotatably installed with an adjusting cylinder, the inner wall of the adjusting cylinder is fixedly installed with an adjusting block, and the outer surface of the adjusting block is slidably connected with the inner wall of the adjusting groove;

[0013] The outer surface of the adjusting cylinder is provided with an annular groove, and the end of the adjusting cylinder is fixedly installed with a fixed block, and the end of the fixed block is rotatably installed with a pressing block.

[0014] As a further optimization scheme of the application, the end of the disc is provided with a through hole, the inner wall of the through hole is fixedly installed with an elastic element, and the end of the elastic element is fixedly installed with a power block, the outer surface of the power block is slidably connected with the inner wall of the through hole.

[0015] As a further optimization scheme of the application, the middle position of the end of the extension plate is fixedly installed with a supporting block, the end of the supporting block is rotatably installed with a protective plate, both ends of the protective plate are in the form of a ring, and the outer surfaces of both ends of the protective plate are rotatably embedded in the inner wall of the annular groove.

[0016] As a further optimization scheme of the application, the movable assembly comprises a moving plate slidably connected with the supporting plate, the inner wall of the moving plate is fixedly installed with a positioning plate, and the end of the positioning plate is provided with a positioning groove.

[0017] As a further optimization scheme of the application, the middle position of the end of the positioning plate is fixedly installed with a driving element, and the output end of the driving element is fixedly installed with a driving plate, and the end of the driving plate is provided with a driving groove.

[0018] As a further optimization scheme of the application, the inner wall of the driving groove is slidably installed with a movable block, and the outer surface of the end of the movable block is slidably connected with the inner wall of the positioning groove.

[0019] As a further optimization scheme of the present application, one side of the positioning plate is fixedly provided with a fixed column, and the end of the fixed column is rotatably provided with a groove plate.

[0020] As a further optimization scheme of the present application, the inner wall of the groove plate is slidably provided with a movable rod, and one side of the movable rod is rotatably connected with the end of the movable block.

[0021] As a further optimization scheme of the present application, the end of the movable rod is fixedly provided with a connecting block, the end of the connecting block is rotatably provided with a connecting plate, and the end of the connecting plate is clamped with the end of the butt joint plate.

[0022] As a further optimization scheme of the present application, one side of the moving plate is rotatably provided with a power rod, and the end of the power rod away from the moving plate is rotatably connected with the end of the connecting plate.

[0023] Compared with the prior art, the grasping structure for the industrial robot provided by the present application has the following beneficial effects:

[0024] 1. The angle and position of the clamping end can be adjusted by the movable assembly, which can automatically adapt to workpieces of different shapes, sizes and complex structures. Whether the workpiece is circular, square, flat or irregular, it can be accurately clamped, greatly improving the flexibility and applicability of the equipment.

[0025] 2. The optimal extrusion force can be applied to different workpieces by the adjusting assembly, ensuring uniform distribution of the overall pressure, so that the workpiece can be clamped stably, while avoiding damage or deformation caused by excessive extrusion. At the same time, the pressure can be automatically adjusted according to the material, size and shape of the workpiece, avoiding deformation of the workpiece due to uneven force.

[0026] 3. The angle and position of the clamping end can be automatically adjusted according to the different shape, size and weight of the workpiece by the adjustment of the movable assembly, so that the equipment can handle workpieces of different shapes and sizes, significantly improving the adaptability. The clamping angle can be intelligently judged and adjusted during the clamping process of the workpiece, ensuring that the optimal clamping effect can be achieved regardless of the changes in the workpiece. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments described in the present application, and other drawings can also be obtained by those skilled in the art according to these drawings.

[0028] Figure 1 The overall structure schematic diagram provided by the embodiments of the present application is provided.

[0029] Figure 2 Structure diagram of the activity assembly and the adjusting assembly provided by the embodiment of the present application is shown in the figure.

[0030] Figure 3 Structure diagram of the activity assembly provided by the embodiment of the present application is shown in the figure.

[0031] Figure 4 Structure sectional view of the activity assembly provided by the embodiment of the present application is shown in the figure.

[0032] Figure 5 Exploded view of the activity assembly provided by the embodiment of the present application is shown in the figure.

[0033] Figure 6 Structure diagram of the adjusting assembly provided by the embodiment of the present application is shown in the figure.

[0034] Figure 7 First exploded view of the adjusting assembly provided by the embodiment of the present application is shown in the figure.

[0035] Figure 8 Second exploded view of the adjusting assembly provided by the embodiment of the present application is shown in the figure.

[0036] Figure 9 Third exploded view of the adjusting assembly provided by the embodiment of the present application is shown in the figure.

[0037] Explanation of the reference signs:

[0038] 1, main body; 2, activity assembly; 3, adjusting assembly; 11, supporting plate; 21, moving plate; 22, positioning plate; 221, positioning groove; 23, driving piece; 24, driving plate; 241, driving groove; 25, movable block; 26, movable rod; 27, fixed column; 271, recessed plate; 28, connecting block; 281, connecting plate; 29, power rod; 31, butt joint plate; 32, rotating disc; 321, rotating block; 33, disc; 331, power block; 332, elastic piece; 333, through hole; 34, fixed cylinder; 35, transmission cylinder; 351, adjusting groove; 36, adjusting cylinder; 361, annular groove; 362, adjusting block; 37, fixed block; 371, extrusion block; 38, extension plate; 381, supporting block; 382, protection plate. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present application.

[0040] Please refer to Figures 1-9The utility model relates to a grasping structure for industrial robot, including main body 1, the end of main body 1 is fixedly installed with the supporting plate 11.

[0041] In the scheme, the end of the supporting plate 11 is provided with a power output device such as an electric telescopic rod, and the symmetrical movable assembly 2 is driven to move by the electric telescopic rod until it stops at the optimal position.

[0042] Further, the adjusting assembly 3 is assembled at the end of the movable assembly 2, and the pressing state of the workpiece is adjusted by the adjusting assembly 3; wherein the adjusting assembly 3 comprises a butt plate 31 clamped with the movable assembly 2, the end of the butt plate 31 is symmetrically rotatably installed with a turntable 32, and one end of the turntable 32 is uniformly fixedly installed with a rotating block 321.

[0043] In the embodiment, the end of the butt plate 31 is provided with a fixing component such as a bolt, the butt plate 31 is locked on the connecting plate 281 by the bolt, and the position and angle of the adjusting assembly 3 are adjusted by the connecting plate 281 to adapt to the current scene.

[0044] Meanwhile, the end of the butt plate 31 is fixedly installed with a motor having a power output device, and the output end of the motor is connected with the outer surface of the two turntables 32 through a transmission belt, thereby synchronously driving the two turntables 32 to rotate, and the outer surface of the rotating block 321 is arc-shaped.

[0045] Meanwhile, one side of the butt plate 31 is provided with a sensor or a machine vision detection device, which can identify the shape of the workpiece and automatically adjust the clamping position to achieve more accurate clamping.

[0046] Further, the middle position of the end of the butt plate 31 is fixedly installed with an extension plate 38, and the two ends of the extension plate 38 are rotatably installed with a disc 33.

[0047] Specifically, the two ends of the extension plate 38 are annular, the inner wall of the annular is slidably connected with the outer surface of the adjusting cylinder 36, and the end of the extension plate 38 is rotatably connected with the end of the disc 33, thereby keeping stable when the disc 33 is forced to rotate.

[0048] Further, the end of the disc 33 is fixedly installed with a fixed cylinder 34, the inner wall of the fixed cylinder 34 is embeddedly clamped with a transmission cylinder 35, the outer surface of the transmission cylinder 35 is provided with an adjusting groove 351, and the adjusting groove 351 is X-shaped in the unfolded state.

[0049] Specifically, when the disc 33 rotates, the transmission cylinder 35 is driven to rotate in cooperation with the fixed cylinder 34, wherein the inner wall of the fixed cylinder 34 is provided with a transmission groove, the inner wall of the transmission groove is clamped with the outer surface of the end of the transmission cylinder 35, so that the transmission cylinder 35 is synchronously driven to rotate when the fixed cylinder 34 rotates.

[0050] Further, the outer surface of the transmission cylinder 35 is rotatably provided with an adjusting cylinder 36, the inner wall of the adjusting cylinder 36 is fixedly provided with an adjusting block 362, and the outer surface of the adjusting block 362 is slidably connected with the inner wall of the adjusting groove 351.

[0051] Specifically, when the transmission cylinder 35 rotates, the adjusting groove 351 provided on the outer surface thereof is driven to rotate, and since the inner wall of the adjusting groove 351 is slidably connected with the outer surface of the adjusting block 362, the adjusting cylinder 36 is driven to move when the transmission cylinder 35 rotates.

[0052] Further, the outer surface of the adjusting cylinder 36 is provided with an annular groove 361, and the end of the adjusting cylinder 36 is fixedly provided with a fixed block 37, and the end of the fixed block 37 is rotatably provided with a pressing block 371.

[0053] Specifically, when the adjusting cylinder 36 moves, the fixed block 37 fixedly provided on the end thereof is driven to move, and when the fixed block 37 slowly moves to one side of the workpiece, the pressing block 371 rotatably provided on the end of the fixed block 37 is matched to lock the workpiece.

[0054] Further, the end of the disc 33 is provided with a through hole 333, the inner wall of the through hole 333 is fixedly provided with an elastic member 332, the end of the elastic member 332 is fixedly provided with a power block 331, and the outer surface of the power block 331 is slidably connected with the inner wall of the through hole 333.

[0055] Specifically, the outer surface of the power block 331 is provided with a protrusion corresponding to the rotating block 321, so that the gap between the adjacent two protrusions is matched with the rotating block 321, so that when the rotating block 321 is forced to rotate, the disc 33 is driven to rotate by matching the power block 331.

[0056] The elastic member 332 is a component with elasticity such as a spring, which supports the power block 331, so that when normally operating, the disc 33 is driven to rotate by the power block 331; when closely matched with the workpiece, the rotating block 321 rotates and presses the power block 331 to slide along the inner wall of the through hole 333, until the rotating block 321 is matched with the gap adjacent to another protrusion, and then the power block 331 is restored to the initial position by the force of the elastic member 332.

[0057] Further, the end of the support block 381 is fixedly provided with a support block 381 at the middle position, the end of the support block 381 is rotatably provided with a protection plate 382, and the two ends of the protection plate 382 are annular, and the outer surfaces of the two ends of the protection plate 382 are rotatably embedded in the inner wall of the annular groove 361.

[0058] Specifically, the inner cavity of the support block 381 is provided with an electric telescopic rod and other devices with telescopic function, and the electric telescopic rod can drive the support block 381 to move until it stops at the best position.

[0059] At the same time, the inner wall of the annular groove 361 is supported and limited by the two protective plates 382, so that the adjusting cylinder 36 can move stably when it is stressed. The two sides of the protective plate 382 are composed of two telescopic rods, so that when the adjusting cylinder 36 moves, the protective plate 382 rotates around the supporting block 381 and cooperates with the telescopic rod to limit the adjusting cylinder 36.

[0060] Further, the movable assembly 2 is assembled on both sides of the end of the supporting plate 11, and the position of the clamping end is adjusted through the movable assembly 2; the movable assembly 2 comprises a moving plate 21 in sliding connection with the supporting plate 11, and a positioning plate 22 is fixedly installed on the inner wall of the moving plate 21. A positioning groove 221 is formed in the end of the positioning plate 22.

[0061] In this embodiment, the positioning plate 22 is symmetrically arranged at the middle position of the moving plate 21, and the movable block 25 is limited by the positioning groove 221 formed in the end of the positioning plate 22, so that the movable block 25 moves along the inner wall of the positioning groove 221 when stressed.

[0062] Further, a driving member 23 is fixedly installed at the middle position of the end of the positioning plate 22, and a driving plate 24 is fixedly installed on the output end of the driving member 23. A driving groove 241 is formed in the end of the driving plate 24.

[0063] Specifically, the driving member 23 is a device with power output such as a motor, and is connected with an external control device. When the driving member 23 is started, the driving plate 24 fixedly installed on the output end thereof is driven to rotate synchronously. Since the end of the driving plate 24 is provided with the driving groove 241, the movable block 25 is driven to move in cooperation with the driving groove 241.

[0064] Further, the movable block 25 is slidably installed on the inner wall of the driving groove 241, and the outer surface of the end of the movable block 25 is in sliding connection with the inner wall of the positioning groove 221.

[0065] Specifically, the movable block 25 is driven to move by the driving groove 241, so that the movable block 25 moves along the inner wall of the positioning groove 221.

[0066] Further, a fixed column 27 is fixedly installed on one side of the positioning plate 22, and a recessed plate 271 is rotatably installed on the end of the fixed column 27. An activity rod 26 is slidably installed on the inner wall of the recessed plate 271, and one side of the activity rod 26 is rotatably connected with the end of the movable block 25.

[0067] Specifically, since the activity rod 26 is rotatably connected with the movable block 25, when the movable block 25 moves, the activity rod 26 is driven to rotate around the recessed plate 271 and slide along the inner wall of the recessed plate 271, and stops after reaching the optimal position.

[0068] Further, the end of the movable rod 26 is fixedly provided with a connecting block 28, the end of the connecting block 28 is rotatably provided with a connecting plate 281, and the end of the connecting plate 281 is clamped with the end of the butt joint plate 31.

[0069] Specifically, the connecting plate 281 is supported by the connecting block 28 fixedly provided on the movable rod 26, so that the connecting plate 281 can rotate around the end of the connecting block 28, thereby being suitable for most scenes.

[0070] Further, the one side of the moving plate 21 is rotatably provided with a power rod 29, and the end of the power rod 29 away from the moving plate 21 is rotatably connected with the end of the connecting plate 281.

[0071] Specifically, the power rod 29 is a telescopic component such as an electric telescopic rod, and the two ends of the power rod 29 are rotatably connected with the moving plate 21 and the connecting plate 281 respectively, so that the whole connecting plate 281 is driven to rotate around the connecting block 28 by the telescopic power rod 29, thereby being adjusted to a suitable angle to lock the workpiece.

[0072] The control device can select a single-chip microcomputer as the control end, in the embodiment, the single-chip microcomputer is a typical embedded microcontroller (Microcontroller Unit), which is composed of an arithmetic unit, a controller, a memory, an input / output device, etc., and is equivalent to a microcomputer. Compared with the general-purpose microprocessor applied in a personal computer, it emphasizes self-supply (without external hardware) and cost saving. The biggest advantage is small size, which can be placed in the instrument, but the storage capacity is small, the input / output interface is simple, and the function consumption is low.

[0073] The above only describes some exemplary embodiments of the application by way of illustration, and it is needless to say that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the application. Therefore, the above drawings and descriptions are illustrative in nature and should not be understood as limiting the scope of protection of the claims of the application.

Claims

1. Gripping structure for an industrial robot, comprising a main body (1), characterised in that, The end of the main body (1) is fixedly provided with a supporting plate (11); A movable assembly (2) is arranged on both sides of the end of the supporting plate (11), and the position of the clamping end is adjusted through the movable assembly (2); An adjusting assembly (3) is arranged on the end of the movable assembly (2), and the pressing state of the workpiece is adjusted through the adjusting assembly (3); The adjusting assembly (3) comprises a butt plate (31) which is connected with the movable assembly (2), the end of the butt plate (31) is symmetrically provided with a rotatingly installed rotating disc (32), and one end of the rotating disc (32) is uniformly provided with a rotating block (321). The middle position of the end of the butt plate (31) is fixedly provided with an extension plate (38), and the two ends of the extension plate (38) are rotatably provided with a disc (33). The end of the disc (33) is fixedly provided with a fixed cylinder (34), the inner wall of the fixed cylinder (34) is embeddedly connected with a transmission cylinder (35), the outer surface of the transmission cylinder (35) is provided with an adjusting groove (351), and the adjusting groove (351) is in X shape in an unfolded state. The outer surface of the transmission cylinder (35) is rotatably provided with an adjusting cylinder (36), the inner wall of the adjusting cylinder (36) is fixedly provided with an adjusting block (362), and the outer surface of the adjusting block (362) is slidably connected with the inner wall of the adjusting groove (351). The outer surface of the adjusting cylinder (36) is provided with an annular groove (361), and the end of the adjusting cylinder (36) is fixedly provided with a fixed block (37), the end of the fixed block (37) is rotatably provided with a pressing block (371).

2. The gripping structure for an industrial robot according to claim 1, characterized in that, The end of the disc (33) is provided with a through hole (333), the inner wall of the through hole (333) is fixedly provided with an elastic element (332), the end of the elastic element (332) is fixedly provided with a power block (331), and the outer surface of the power block (331) is slidably connected with the inner wall of the through hole (333).

3. The gripping structure for an industrial robot according to claim 2, characterized in that, The middle position of the end of the extension plate (38) is fixedly provided with a supporting block (381), the end of the supporting block (381) is rotatably provided with a protective plate (382), the two ends of the protective plate (382) are annular, and the outer surfaces of the two ends of the protective plate (382) are embeddedly rotatable in the inner wall of the annular groove (361).

4. The gripping structure for an industrial robot according to claim 1, characterized in that, The movable assembly (2) comprises a moving plate (21) which is slidably connected with the supporting plate (11), the inner wall of the moving plate (21) is fixedly provided with a positioning plate (22), and the end of the positioning plate (22) is provided with a positioning groove (221).

5. The gripping structure for an industrial robot according to claim 4, characterized in that, The middle position of the end of the positioning plate (22) is fixedly provided with a driving element (23), the output end of the driving element (23) is fixedly provided with a driving plate (24), and the end of the driving plate (24) is provided with a driving groove (241).

6. The gripping structure for an industrial robot according to claim 5, characterized in that, The inner wall of the driving groove (241) is slidably provided with a movable block (25), and the outer surface of the end of the movable block (25) is slidably connected with the inner wall of the positioning groove (221).

7. The gripping structure for an industrial robot according to claim 6, characterized in that, One side of the positioning plate (22) is fixedly provided with a fixed column (27), and the end of the fixed column (27) is rotatably provided with a groove plate (271).

8. The gripping structure for an industrial robot according to claim 7, characterized in that, The inner wall of the groove plate (271) is slidably provided with a movable rod (26), and one side of the movable rod (26) is rotatably connected with the end of the movable block (25).

9. The gripping structure for an industrial robot according to claim 8, characterized in that, The end of the movable rod (26) is fixedly provided with a connecting block (28), the end of the connecting block (28) is rotatably provided with a connecting plate (281), and the end of the connecting plate (281) is clamped with the end of the butt joint plate (31).

10. The gripping structure for an industrial robot according to claim 9, characterized in that, One side of the moving plate (21) is rotatably provided with a power rod (29), and the end, away from the moving plate (21), of the power rod (29) is rotatably connected with the end of the connecting plate (281).

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