Anti-falling gripper assembly of industrial robot

Abstract

The invention discloses an industrial robot anti-falling gripper assembly, and belongs to the technical field of anti-falling grippers, the industrial robot anti-falling gripper assembly comprises a mounting limiting groove rod, an article packaging box grabbing mechanism, an article packaging box limiting mechanism, an article packaging box lifting mechanism and a falling protection mechanism, the article packaging box grabbing mechanism comprises a power electric cylinder, a motion connecting rod and a push rotating assembly; each group of pushing and rotating assembly is connected with one moving connecting rod, and each moving connecting rod is rotationally mounted on the side surface of the mounting limiting groove rod; the article packaging box limiting mechanism comprises positioning arc-shaped blocks, a contact switch, a T-shaped sliding rod and a folding assembly, the four positioning arc-shaped blocks are symmetrically and fixedly installed on the side face of the installation limiting groove rod, and the T-shaped sliding rod is installed below the installation limiting groove rod in a sliding mode; the article packaging box lifting mechanism comprises a motor, a moving block and a pushing assembly. The output end of the motor is connected with the pushing assembly. The falling protection mechanism comprises a supporting rod and a protection net, and the protection net is installed on the supporting rod and located below the supporting claws.

Description

Technical Field

[0001] This invention relates to the field of anti-detachment gripper technology, and specifically discloses an anti-detachment gripper assembly for industrial robots. Background Technology

[0002] Industrial robots, as core equipment in modern industrial production systems, are widely used in various automated production processes. Their operational efficiency and stability directly affect the overall capacity and product quality of the production line. When industrial robots perform tasks such as material handling, parts assembly, and finished product transfer, they need to contact and grasp target objects through gripper components. Among these, the anti-drop gripper component, with its stable control over the grasped object, becomes a key component in ensuring the safety of industrial robot operations and preventing objects from falling and causing damage or production accidents. By definition, the anti-drop gripper component of an industrial robot is a functional component installed on the end effector of an industrial robot, specifically designed to grasp various objects required for industrial production and to prevent objects from falling off during the grasping and handling process. In the operation process of an industrial robot, it plays an important role in connecting the robot and the target object, and is the core medium for realizing the interaction between the robot and materials. In terms of composition, the anti-drop gripper component typically includes a gripping component for direct contact with the object and application of clamping force, as well as a component for supporting the installation of various parts and facilitating the interaction between parts. The support and transmission components that transmit power or coordinate motion, along with other components with different functions, work together to form the overall structure of the anti-detachment gripper assembly. At the fundamental level of its operation, the anti-detachment gripper assembly primarily achieves stable contact with the object's surface by combining gripping force control or suction force, enabling the object to move synchronously with the robot's movements. Furthermore, by specifically designing against factors that could cause the object to detach during the gripping process, it ensures that the object remains stably gripped throughout the operation. In terms of application areas, the anti-detachment gripper assembly's usage scenarios are highly compatible with the application scope of industrial robots. In the automotive manufacturing industry, it can be used to grip automotive parts and body frames, ensuring stable transfer of parts during assembly. In the electronics manufacturing industry, it can gently and firmly grip precision electronic components and circuit boards, preventing damage. In the logistics and warehousing industry, it can be used to grip various packaged goods and turnover boxes, achieving automated goods sorting and handling. In addition, the anti-detachment gripper assembly also plays an important role in many other industrial fields such as machining and food processing.

[0003] Patent CN222200579U discloses an industrial robot gripper. When the gripping arm and moving arm are overloaded, the stress concentration points will cause damage to the gripping arm and moving arm due to excessive stress, and in severe cases, they may even break. At this time, the goods, the broken gripping arm and moving arm will fall directly to the ground. Since there are processing personnel and other workers walking on the ground, and the gripper is too high to be easily observed, and the weight of the goods and gripping arm and moving arm is too large, the time to fall to the ground is very short, and it is difficult for processing personnel to avoid it. This poses a threat to the personal safety of the workers on the ground. Therefore, an industrial robot anti-fall gripper component was invented to address this defect. Summary of the Invention

[0004] To address the aforementioned technical problems, the present invention adopts the following technical solution: an anti-fall gripper assembly for industrial robots, comprising a mounting limiting groove, a packaging box gripping mechanism, a packaging box limiting mechanism, a packaging box lifting mechanism, and a fall protection mechanism. The packaging box gripping mechanism includes power cylinders, motion linkages, and push-rotation components. Four power cylinders are symmetrically and fixedly installed on the inner wall of the mounting limiting groove. Each power cylinder is connected to a set of push-rotation components, and each set of push-rotation components is connected to a motion linkage. Each motion linkage is rotatably mounted on the side of the mounting limiting groove, and each motion linkage is fixedly mounted with a... A first connecting block; the limiting mechanism for the packaging box includes a positioning arc block, a contact switch, a T-shaped sliding rod, and a closing assembly. Four positioning arc blocks are symmetrically fixedly installed on the side of the mounting limiting groove rod. The positioning arc blocks are provided with limiting arc grooves. The contact switch is fixedly installed on the inner wall of the limiting arc groove and is electrically connected to the power cylinder. Each positioning arc block is connected to a closing assembly. Two closing assemblies located at the same end of the mounting limiting groove rod are connected to a T-shaped sliding rod. The T-shaped sliding rod is slidably installed below the mounting limiting groove rod. A vertical block is fixedly installed on the opposite sides of the two T-shaped sliding rods.

[0005] The item packaging box lifting mechanism includes a motor, a moving block, and a pushing assembly. Two motors are located on the same side of the mounting limit groove rod. The motor output is connected to the pushing assembly, which is located below the mounting limit groove rod and between four moving links. The moving block is connected to the pushing assembly. A first lifting rod and a second lifting rod are fixedly mounted on the side of the moving block, with the upper surfaces of the first and second lifting rods coinciding with the upper surfaces of the support claws. The fall protection mechanism includes a support rod and a protective net. The support rod is fixedly connected to the moving block, and the protective net is installed on the support rod and located below the support claws.

[0006] Furthermore, a fixed shaft is fixedly installed on the inner wall of the mounting limit groove rod, and two sliding blocks are symmetrically slidably installed on the fixed shaft. Each sliding block is fixedly connected to the extension and retraction ends of two power electric cylinders. The push-turn assembly includes a first connecting block. Every two first connecting blocks are symmetrically fixedly installed on the opposite sides of the two sliding blocks. A first connecting shaft is fixedly installed on each first connecting block. A first connecting rod is rotatably installed on the outer surface of the first connecting shaft, and a rotating shaft is rotatably installed on the end of the first connecting rod away from the first connecting shaft.

[0007] Furthermore, a second connecting block is fixedly installed on the side of the rotating shaft, a limit linkage ring is fixedly installed on the second connecting block, a side block is rotatably installed on the limit linkage ring, the side block is fixedly installed on the side of the mounting limit groove rod, a first transmission shaft is fixedly installed on the limit linkage ring, a second transmission shaft is fixedly installed at the end of the first transmission shaft away from the limit linkage ring, a third transmission shaft is fixedly installed at the end of the second transmission shaft away from the first transmission shaft, a fourth transmission shaft is fixedly installed at the end of the second transmission shaft away from the second transmission shaft, and a moving connecting rod is fixedly installed on the outer surface of the fourth transmission shaft.

[0008] Furthermore, the limiting arc groove is coaxial with the first transmission shaft, and an approaching inclined rod is fixedly installed on the lower side of the positioning arc block. An approaching inclined groove is provided on the approaching inclined rod, and the approaching inclined groove passes through the approaching inclined rod. The limiting arc groove and the approaching inclined groove are smoothly connected. The closing assembly includes a second connecting rod, which is fixedly installed on the outer surface of the first transmission shaft. A second connecting shaft is rotatably installed at the end of the second connecting rod away from the first transmission shaft. The second connecting shaft is slidably installed on the inner wall of the limiting arc groove. A third connecting rod is rotatably installed on the outer surface of the second connecting shaft. A third connecting shaft is rotatably installed at the end of the third connecting rod away from the second connecting shaft. The third connecting shaft is slidably installed on the inner wall of the approaching inclined groove. A sliding shaft is fixedly installed at the end of the third connecting shaft away from the third connecting rod. An intermediate connecting shaft is fixedly installed at the end of the sliding shaft away from the third connecting shaft. A fourth connecting rod is rotatably installed on the outer surface of the intermediate connecting shaft.

[0009] Furthermore, a first crossbar is fixedly installed on the side of the support claw, and a first horizontal groove is provided on the side of the first crossbar away from the support claw. A T-shaped sliding rod is slidably installed on the inner wall of the first horizontal groove. A third connecting block is fixedly installed on the side of the T-shaped sliding rod, and a fourth connecting shaft is fixedly installed on the third connecting block. The fourth connecting shaft is rotatably connected to the end of the fourth connecting rod away from the middle connecting shaft.

[0010] Furthermore, when the second connecting shaft contacts the contact switch, the side of the moving link along its length is parallel to the direction of gravity.

[0011] Furthermore, each motor output end is fixedly mounted with a drive shaft, which is rotatably connected to the motion link. The pushing assembly includes an eccentric wheel, which is fixedly connected to the drive shaft. The connection between the eccentric wheel and the drive shaft is offset from the center of gravity of the drive shaft. A fifth connecting shaft is fixedly mounted on the eccentric wheel, and a fifth link is rotatably mounted on the outer surface of the fifth connecting shaft.

[0012] Furthermore, a second crossbar is fixedly installed on the side of the motion link, and a second horizontal groove is provided on the side of the second crossbar. The second horizontal groove passes through the second crossbar, and the motion block is slidably installed on the inner wall of the second horizontal groove. A sixth connecting shaft is fixedly installed on the side of the motion block, and the sixth connecting shaft is rotatably connected to the end of the fifth link away from the fifth connecting shaft.

[0013] Furthermore, the side of the second lifting rod away from the first lifting rod is fixedly connected to the support rod, and a limit block is fixedly installed on the inner wall of the second horizontal groove, with the limit block slidably connected to the support rod.

[0014] Furthermore, the support rod is hollow inside and an electromagnet is installed inside. A contact switch is fixedly installed on the end face of the support rod away from the second lifting rod, and the contact switch is electrically connected to the electromagnet.

[0015] According to the above technical solution, the beneficial effects of the present invention are as follows: (1) The present invention drives the T-shaped sliding rod to move towards the direction of the item packaging box by rotating the support claw, and then drives the vertical block to move towards the direction of the item packaging box. The T-shaped sliding rod limits the side of the item packaging box, and the vertical block limits the upper side of the item packaging box, thereby fixing the position of the item packaging box and preventing the item packaging box from shaking during transportation; (2) The present invention supports the lower part of the item packaging box by moving the first lifting rod and the second lifting rod. At the same time, the movement of the first lifting rod and the second lifting rod drives the protective net to move. The connection of the protective net protects the lower part of the item packaging box, thereby preventing the item packaging box from falling directly to the ground when it falls, thus ensuring the personal safety of the staff on the ground. Attached Figure Description

[0016] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the description will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0018] Figure 2 This is a schematic diagram of the packaging box gripping mechanism of the present invention.

[0019] Figure 3 for Figure 2 A magnified schematic diagram of the structure at point A in the middle.

[0020] Figure 4 for Figure 2 A magnified schematic diagram of the structure at point B in the middle.

[0021] Figure 5 This is a schematic diagram of the limiting mechanism for the packaging box of the present invention.

[0022] Figure 6 for Figure 5 A magnified schematic diagram of the structure at point C.

[0023] Figure 7 for Figure 5 A magnified schematic diagram of the structure at point D in the middle.

[0024] Figure 8 This is a schematic diagram of the product packaging box lifting mechanism of the present invention.

[0025] Figure 9 for Figure 8 A magnified schematic diagram of the structure at point E in the middle.

[0026] Figure 10 for Figure 8 A magnified schematic diagram of the structure at point F in the middle.

[0027] Figure 11 for Figure 8 A magnified schematic diagram of the structure at point G in the middle.

[0028] Figure 12 This is a schematic diagram of the fall protection mechanism of the present invention.

[0029] Figure 13 for Figure 12 A magnified schematic diagram of the structure at point H in the middle.

[0030] Reference numerals: 1-Installation limiting groove rod; 2-Item packaging box gripping mechanism; 3-Item packaging box limiting mechanism; 4-Item packaging box lifting mechanism; 5-Fall protection mechanism; 201-Power electric cylinder; 202-Sliding block; 203-First connecting rod; 204-Motion connecting rod; 205-First connecting block; 206-First connecting shaft; 207-Fixed shaft; 208-Side block; 209-Second connecting block; 210-Limiting linkage ring; 211-First transmission shaft; 212-Second transmission shaft; 213-Third transmission shaft; 214-Fourth transmission shaft; 215-Support claw; 216-Rotating shaft; 301-Positioning arc-shaped block; 302-Limiting arc-shaped groove; 303-Second connecting rod; 304-Second connecting shaft; 305- 306 - Third link; 307 - Proximity bar; 308 - Proximity groove; 309 - Third connecting shaft; 310 - Sliding shaft; 311 - Fourth link; 312 - Intermediate connecting shaft; 313 - Fourth connecting shaft; 314 - Third connecting block; 315 - T-shaped sliding rod; 316 - First crossbar; 317 - First horizontal groove; 318 - Vertical block; 401 - Eccentric wheel; 402 - Second crossbar; 403 - Drive shaft; 404 - Motor; 405 - Second horizontal groove; 406 - Fifth connecting shaft; 407 - Fifth link; 408 - Sixth connecting shaft; 409 - Moving block; 410 - First lifting rod; 411 - Second lifting rod; 501 - Support rod; 502 - Protective net; 503 - Limit block. Detailed Implementation

[0031] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings of the specific embodiments. Obviously, the embodiments described below are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this patent, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this patent.

[0032] Example

[0033] As attached Figure 1 To the attached Figure 3 Appendix Figure 6 To the attached Figure 8 Appendix Figure 10 To the attached Figure 13As shown, an industrial robot anti-fall gripper assembly includes a mounting limiting groove 1, a packaging box gripping mechanism 2, a packaging box limiting mechanism 3, a packaging box lifting mechanism 4, and a fall protection mechanism 5. The packaging box gripping mechanism 2 includes a power cylinder 201, a motion link 204, and a push-rotate assembly. Four power cylinders 201 are symmetrically fixedly installed on the inner wall of the mounting limiting groove 1. Each power cylinder 201 is connected to a set of push-rotate assemblies, and each set of push-rotate assemblies is connected to a motion link 204. Each motion link 204 is rotatably mounted on... On the side of the mounting limit groove rod 1, a first connecting block 205 is fixedly installed on each moving link 204; the packaging box limiting mechanism 3 includes a positioning arc block 301, a contact switch 306, a T-shaped sliding rod 315, and a closing assembly. Four positioning arc blocks 301 are symmetrically fixedly installed on the side of the mounting limit groove rod 1. Each positioning arc block 301 has a limiting arc groove 302. The contact switch 306 is fixedly installed on the inner wall of the limiting arc groove 302 and is electrically connected to the power cylinder 201. Each positioning arc block 301 is respectively connected to... A closing assembly is connected to two closing assemblies located at the same end of the mounting limiting groove 1, which are connected to a T-shaped sliding rod 315. The T-shaped sliding rod 315 is slidably installed below the mounting limiting groove 1. A vertical block 318 is fixedly installed on the opposite sides of the two T-shaped sliding rods 315. The side of the sliding rod 315 away from the motor 404 coincides with the side of the vertical block 318 away from the motor 404. The item packaging box lifting mechanism 4 includes a motor 404, a moving block 409, and a pushing assembly. There are two motors 404 located on the same side of the mounting limiting groove 1. The output terminal 404 is connected to the pushing assembly, which is located below the mounting limit groove rod 1 and between the four moving links 204. The moving block 409 is connected to the pushing assembly. The first lifting rod 410 and the second lifting rod 411 are fixedly installed on the side of the moving block 409. The upper end surfaces of the first lifting rod 410 and the second lifting rod 411 coincide with the upper end surface of the support claw 215. The fall protection mechanism 5 includes a support rod 501 and a protective net 502. The support rod 501 is fixedly connected to the moving block 409, and the protective net 502 is installed on the support rod 501 and located below the support claw 215.

[0034] As attached Figure 1 To the attached Figure 5As shown, a fixed shaft 207 is fixedly installed on the inner wall of the mounting limit groove rod 1. Two sliding blocks 202 are symmetrically slidably installed on the fixed shaft 207. Each sliding block 202 is fixedly connected to the telescopic end of two power cylinders 201. The push-turn assembly includes a first connecting block 205. Two first connecting blocks 205 are symmetrically fixedly installed on opposite sides of the two sliding blocks 202. A first connecting shaft 206 is fixedly installed on each first connecting block 205. A first connecting rod 203 is rotatably installed on the outer surface of the first connecting shaft 206. A rotating shaft 216 is rotatably installed on the end of the first connecting rod 203 away from the first connecting shaft 206. A rotating shaft 216 is fixedly installed on the side of the rotating shaft 216. There is a second connecting block 209, on which a limit linkage ring 210 is fixedly installed. A side block 208 is rotatably installed on the limit linkage ring 210. The side block 208 is fixedly installed on the side of the mounting limit groove rod 1. A first transmission shaft 211 is fixedly installed on the limit linkage ring 210. A second transmission shaft 212 is fixedly installed at the end of the first transmission shaft 211 away from the limit linkage ring 210. A third transmission shaft 213 is fixedly installed at the end of the second transmission shaft 212 away from the first transmission shaft 211. A fourth transmission shaft 214 is fixedly installed at the end of the second transmission shaft 212 away from the second transmission shaft 212. A moving connecting rod 204 is fixedly installed on the outer surface of the fourth transmission shaft 214.

[0035] When it is necessary to grasp the packaged goods, the power cylinder 201 is activated, which pushes the sliding block 202 to slide along the fixed shaft 207. The sliding block 202 drives the second connecting block 209 to move through the first connecting rod 203. The second connecting block 209 drives the first transmission shaft 211 to rotate through the limit linkage ring 210. The first transmission shaft 211 drives the support claw 215 to rotate through the motion connecting rod 204. The rotation of the motion connecting rod 204 extends the support claw 215 into the bottom of the packaged goods, and the support claw 215 grasps the packaged goods.

[0036] As attached Figure 4 To the attached Figure 10As shown, the limiting arc groove 302 is coaxial with the first transmission shaft 211. An approaching inclined rod 307 is fixedly installed on the lower side of the positioning arc block 301. The approaching inclined rod 307 is inclined towards the direction of the mounting limiting groove rod 1. The distance between the approaching inclined rod 307 and the side of the mounting limiting groove rod 1 gradually decreases in the vertically downward direction. An approaching inclined groove 308 is provided on the approaching inclined rod 307, penetrating the approaching inclined rod 307. The limiting arc groove 302 and the approaching inclined groove 308 smoothly connect. The closing assembly includes a second connecting rod 303, which is fixedly installed on the outer surface of the first transmission shaft 211. The second connecting rod 303 is located away from the first transmission shaft 211. One end of the first connecting shaft 304 is rotatably mounted with a second connecting shaft 304, which is slidably mounted on the inner wall of the limiting arc groove 302. A third connecting rod 305 is rotatably mounted on the outer surface of the second connecting shaft 304. A third connecting shaft 309 is rotatably mounted on the end of the third connecting rod 305 away from the second connecting shaft 304. The third connecting shaft 309 is slidably mounted on the inner wall of the inclined groove 308. A sliding shaft 310 is fixedly mounted on the end of the third connecting shaft 309 away from the third connecting rod 305. An intermediate connecting shaft 312 is fixedly mounted on the end of the sliding shaft 310 away from the third connecting shaft 309. A fourth connecting rod 311 is rotatably mounted on the outer surface of the intermediate connecting shaft 312.

[0037] As attached Figure 5 To the attached Figure 10 As shown, a first horizontal bar 316 is fixedly installed on the side of the support claw 215. A first horizontal groove 317 is provided on the side of the first horizontal bar 316 away from the support claw 215. A T-shaped sliding rod 315 is slidably installed on the inner wall of the first horizontal groove 317. A third connecting block 314 is fixedly installed on the side of the T-shaped sliding rod 315. A fourth connecting shaft 313 is fixedly installed on the third connecting block 314. The fourth connecting shaft 313 is rotatably connected to the end of the fourth connecting rod 311 away from the middle connecting shaft 312. When the second connecting shaft 304 contacts the contact switch 306, the side of the moving connecting rod 204 in the length direction is parallel to the direction of gravity.

[0038] When the first transmission shaft 211 rotates, it drives the second connecting shaft 304 to slide along the limiting arc groove 302 via the second connecting rod 303. When the second connecting shaft 304 contacts the contact switch 306, the side of the moving connecting rod 204 in the length direction is parallel to the direction of gravity. At this time, the upper end face of the support claw 215 is in contact with the lower end face of the item packaging box. At the same time, the contact switch 306 sends an electrical signal to the power cylinder 201, and the power cylinder 201 stops working. When the second connecting shaft 304 slides along the limiting arc groove 302, the second connecting shaft 304 drives the middle connecting shaft 312 to move towards the item packaging box via the third connecting rod 305. At this time, the middle connecting shaft 312 drives the T-shaped sliding rod 315 and the vertical block 318 to slide along the first horizontal groove 317 towards the item packaging box. Then, the T-shaped sliding rod 315 clamps the side of the item packaging box, and the vertical block 318 limits the upper side of the item packaging box.

[0039] As attached Figure 1 To the attached Figure 4 As shown, motor 404 is electrically connected to contact switch 306. Each output end of motor 404 is fixedly mounted with a drive shaft 403. The drive shaft 403 is rotatably connected to the motion link 204. The pushing assembly includes an eccentric wheel 401, which is fixedly connected to the drive shaft 403. The connection between the eccentric wheel 401 and the drive shaft 403 is offset from the center of gravity of the drive shaft 403. A fifth connecting shaft 406 is fixedly mounted on the eccentric wheel 401. A fifth link 407 is rotatably mounted on the outer surface of the fifth connecting shaft 406. A second crossbar 402 is fixedly mounted on the side of the motion link 204. A second horizontal groove 405 is provided on the side of the second crossbar 402. The second horizontal groove 405 passes through the second crossbar 402. A moving block 409 is slidably mounted on the inner wall of the second horizontal groove 405. A sixth connecting shaft 408 is fixedly mounted on the side of the moving block 409. The sixth connecting shaft 408 is rotatably connected to the end of the fifth link 407 away from the fifth connecting shaft 406.

[0040] When the second connecting shaft 304 contacts the contact switch 306, the contact switch 306 sends an electrical signal to the motor 404. The motor 404 drives the eccentric wheel 401 to rotate. The eccentric wheel 401 drives the moving block 409 to slide along the inner wall of the second horizontal groove 405 through the fifth connecting rod 407. This, in turn, drives the first lifting rod 410 and the second lifting rod 411 to slide in a direction away from the transmission shaft 403, thereby supporting the bottom of the product packaging box through the first lifting rod 410 and the second lifting rod 411.

[0041] As attached Figure 1 To the attached Figure 4As shown, the side of the second lifting rod 411 away from the first lifting rod 410 is fixedly connected to the support rod 501. A limit block 503 is fixedly installed on the inner wall of the second horizontal groove 405, and the limit block 503 is slidably connected to the support rod 501. The support rod 501 is hollow inside and an electromagnet is installed inside. A contact switch is fixedly installed on the end face of the support rod 501 away from the second lifting rod 411. The contact switch is electrically connected to the electromagnet. In the initial state, the end face of the support rod 501 away from the second lifting rod 411 coincides with the end face of the second crossbar 402 away from the eccentric wheel 401. When the second lifting rod 411 slides in a direction away from the drive shaft 403, it pushes the support rod 501 to slide along the inner wall of the limit block 503, thereby causing the protective net 502 to slide in a direction away from the drive shaft 403. When the contact switches of the support rods 501 on both sides come into contact with each other, the electromagnet inside the support rod 501 is activated, thereby completing the docking of the support rods 501 on both sides through the magnetic force of the electromagnet. Then, the protective net 502 protects the packaging box of the goods and prevents the packaging box of the goods from falling.

[0042] The working principle of this device is as follows.

[0043] (i) When it is necessary to grasp the packaging box, the power cylinder 201 is activated, and the power cylinder 201 pushes the sliding block 202 to slide along the fixed shaft 207. The sliding block 202 drives the second connecting block 209 to move through the first connecting rod 203. The second connecting block 209 drives the first transmission shaft 211 to rotate through the limit linkage ring 210. The first transmission shaft 211 drives the support claw 215 to rotate through the motion connecting rod 204. The rotation of the motion connecting rod 204 extends the support claw 215 into the bottom of the packaging box. The support claw 215 grips the packaging box. When the first transmission shaft 211 rotates, it drives the second connecting shaft 304 to slide along the limiting arc groove 302 via the second connecting rod 303. When the second connecting shaft 304 contacts the contact switch 306, the side of the moving connecting rod 204 in the length direction is parallel to the direction of gravity. At this time, the upper end face of the support claw 215 is in contact with the lower end face of the packaging box. At the same time, the contact switch 306 sends an electrical signal to the power cylinder 201, and the power cylinder 201 stops working.

[0044] (ii) When the second connecting shaft 304 slides along the limiting arc groove 302, the second connecting shaft 304 drives the middle connecting shaft 312 to move closer to the product packaging box through the third connecting rod 305. At this time, the middle connecting shaft 312 drives the T-shaped sliding rod 315 and the vertical block 318 to slide along the first horizontal groove 317 towards the product packaging box. Then, the T-shaped sliding rod 315 clamps the side of the product packaging box, and the vertical block 318 limits the upper side of the product packaging box.

[0045] (iii) When the second connecting shaft 304 contacts the contact switch 306, the contact switch 306 sends an electrical signal to the motor 404. The motor 404 drives the eccentric wheel 401 to rotate. The eccentric wheel 401 drives the moving block 409 to slide along the inner wall of the second horizontal groove 405 through the fifth connecting rod 407. This drives the first lifting rod 410 and the second lifting rod 411 to slide in a direction away from the transmission shaft 403, thereby supporting the bottom of the item packaging box through the first lifting rod 410 and the second lifting rod 411.

[0046] (iv) When the second lifting rod 411 slides in the direction away from the drive shaft 403, it pushes the support rod 501 to slide along the inner wall of the limit block 503, thereby driving the protective net 502 to slide in the direction away from the drive shaft 403. When the contact switches of the support rods 501 on both sides come into contact with each other, the electromagnet inside the support rod 501 is activated, thereby completing the docking of the support rods 501 on both sides through the magnetic force of the electromagnet. Then, the protective net 502 protects the packaging box of the goods and prevents the packaging box of the goods from falling.

[0047] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An anti-drop gripper assembly for an industrial robot comprising a mounting limit slot bar (1), characterized in that, Also include the article packaging box grabbing mechanism (2), article packaging box limiting mechanism (3), article packaging box lifting mechanism (4) and falling protection mechanism (5), article packaging box grabbing mechanism (2) includes power cylinder (201), movement connecting rod (204) and push turn assembly, power cylinder (201) is provided with four and is fixedly installed on the inner wall of installation limiting groove bar (1) in symmetry, every power cylinder (201) is connected with a group of push turn assembly respectively, every group of push turn assembly is connected with a movement connecting rod (204) respectively, every movement connecting rod (204) is fixedly installed with a first connecting block (205) respectively on every first connecting block (205);Article packaging box limiting mechanism (3) includes locating arc block (301), contact switch (306), T-shaped sliding rod (315) and folding assembly, locating arc block (301) is provided with four and is fixedly installed on the side of installation limiting groove bar (1) in symmetry, locating arc block (301) is provided with limiting arc groove (302), contact switch (306) is fixedly installed on the inner wall of limiting arc groove (302), contact switch (306) is electrically connected with power cylinder (201), every locating arc block (301) is connected with a folding assembly respectively, two folding assemblies located at the same end of installation limiting groove bar (1) are connected with a T-shaped sliding rod (315), T-shaped sliding rod (315) is slidingly installed below installation limiting groove bar (1); Article packaging box lifting mechanism (4) includes motor (404), movement block (409) and push move assembly, motor (404) output end is connected with push move assembly, push move assembly is located below installation limiting groove bar (1) and between four movement connecting rods (204), movement block (409) is connected with push move assembly, first lifting rod (410) and second lifting rod (411) are fixedly installed on the side of movement block (409); Falling protection mechanism (5) includes support rod (501) and protective net (502), support rod (501) is fixedly connected with movement block (409), protective net (502) is installed on support rod (501) and is located below support claw (215).

2. An anti-drop gripper assembly for an industrial robot according to claim 1, characterized in that Fixed shaft (207) is fixedly installed on the inner wall of installation limiting groove bar (1), two sliding blocks (202) are slidingly installed on the fixed shaft (207) in symmetry, every sliding block (202) is fixedly connected with the telescopic end of two power cylinders (201), push turn assembly includes first connecting block (205), every two first connecting blocks (205) are fixedly installed on the side face opposite to two sliding blocks (202) in symmetry, every first connecting block (205) is fixedly installed with a first connecting shaft (206) respectively, first connecting shaft (206) outer surface rotatably installs first connecting rod (203), the end away from first connecting shaft (206) of first connecting rod (203) rotatably installs rotating shaft (216).

3. An anti-drop gripper assembly for an industrial robot according to claim 2, characterized in that The rotating shaft (216) is fixedly installed with a second connecting block (209) on the side surface, the second connecting block (209) is fixedly installed with a limiting linkage ring (210), the limiting linkage ring (210) is rotatably installed with a side block (208), the side block (208) is fixedly installed on the side surface of the installation limiting groove rod (1), the limiting linkage ring (210) is fixedly installed with a first transmission shaft (211), one end of the first transmission shaft (211) away from the limiting linkage ring (210) is fixedly installed with a second transmission shaft (212), one end of the second transmission shaft (212) away from the first transmission shaft (211) is fixedly installed with a third transmission shaft (213), one end of the second transmission shaft (212) away from the second transmission shaft (212) is fixedly installed with a fourth transmission shaft (214), and the movement connecting rod (204) is fixedly installed on the outer surface of the fourth transmission shaft (214).

4. An anti-drop gripper assembly for an industrial robot according to claim 2, characterized in that The limiting arc-shaped groove (302) is coaxial with the first transmission shaft (211), the positioning arc-shaped block (301) is fixedly installed with a approaching inclined rod (307) on the lower side, the approaching inclined rod (307) is provided with an approaching inclined groove (308), the approaching inclined groove (308) penetrates through the approaching inclined rod (307), the limiting arc-shaped groove (302) is gently connected with the approaching inclined groove (308), the folding assembly comprises a second connecting rod (303), the second connecting rod (303) is fixedly installed on the outer surface of the first transmission shaft (211), one end of the second connecting rod (303) away from the first transmission shaft (211) is rotatably installed with a second connecting shaft (304), the second connecting shaft (304) is slidably installed on the inner wall of the limiting arc-shaped groove (302), the outer surface of the second connecting shaft (304) is rotatably installed with a third connecting rod (305), one end of the third connecting rod (305) away from the second connecting shaft (304) is rotatably installed with a third connecting shaft (309), the third connecting shaft (309) is slidably installed on the inner wall of the approaching inclined groove (308), one end of the third connecting shaft (309) away from the third connecting rod (305) is fixedly installed with a sliding shaft (310), one end of the sliding shaft (310) away from the third connecting shaft (309) is fixedly installed with an intermediate connecting shaft (312), and the outer surface of the intermediate connecting shaft (312) is rotatably installed with a fourth connecting rod (311).

5. An anti-drop gripper assembly for an industrial robot according to claim 4, characterized in that The first horizontal groove (317) is provided on the side surface away from the support claw (215), the T-shaped sliding rod (315) is slidably installed on the inner wall of the first horizontal groove (317), the third connecting block (314) is fixedly installed on the side surface of the T-shaped sliding rod (315), the fourth connecting shaft (313) is fixedly installed on the third connecting block (314), and the fourth connecting shaft (313) is rotatably connected with one end of the fourth connecting rod (311) away from the intermediate connecting shaft (312).

6. An anti-drop gripper assembly for an industrial robot according to claim 4, characterized in that When the second connecting shaft (304) contacts the contact switch (306), the side surface of the movement connecting rod (204) in the length direction is parallel to the direction of gravity.

7. An anti-drop gripper assembly for an industrial robot according to claim 4, characterized in that Each motor (404) output end is respectively fixedly installed with a transmission shaft (403), the transmission shaft (403) is rotatably connected with the motion connecting rod (204), the pusher assembly includes an eccentric wheel (401), the eccentric wheel (401) is fixedly connected with the transmission shaft (403), the eccentric wheel (401) and the transmission shaft (403) are connected with the gravity center of the transmission shaft (403) and are offset, the fifth connecting shaft (406) is fixedly installed on the eccentric wheel (401), the fifth connecting shaft (406) outer surface rotatably installs the fifth connecting rod (407).

8. An anti-drop gripper assembly for an industrial robot according to claim 7, characterized in that The second horizontal groove (405) is provided on the side surface of the second cross bar (402), the second horizontal groove (405) penetrates the second cross bar (402), the moving block (409) is slidably installed on the inner wall of the second horizontal groove (405), the sixth connecting shaft (408) is fixedly installed on the side surface of the moving block (409), and the sixth connecting shaft (408) is rotatably connected with the fifth connecting rod (407) away from the fifth connecting shaft (406).

9. An anti-drop gripper assembly for an industrial robot according to claim 8, characterized in that The second lifting rod (411) is fixedly connected with the supporting rod (501) on the side away from the first lifting rod (410), the limiting block (503) is fixedly installed on the inner wall of the second horizontal groove (405), and the limiting block (503) is slidably connected with the supporting rod (501).

10. An anti-drop gripper assembly for an industrial robot according to claim 9, characterized in that The supporting rod (501) is hollow and internally installed with an electromagnet, the contact switch is fixedly installed on the end face of the supporting rod (501) away from the second lifting rod (411), and the contact switch is electrically connected with the electromagnet.

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