Material grabbing device and robot

Abstract

The invention discloses a material grabbing device and a robot, and relates to the technical field of grabbing robots. The robot comprises a base and a robot body, and is characterized in that the robot body is fixedly connected to the top of the base, the output end of the robot body is fixedly connected with a mechanical arm, the output end of the mechanical arm is provided with a reinforcing claw mechanism, the reinforcing claw mechanism comprises a hollow block, and the hollow block is fixedly connected to the bottom of the mechanical arm; and the top of the inner wall of the hollow block is fixedly connected with a connecting spring. Through mutual cooperation of the hollow block, the connecting spring, the grabbing claw, the reinforcing block and other assemblies, the mechanical arm is started, the grabbing claw is driven to move to grab materials, the reinforcing block fixed to the side face of the grabbing claw makes contact with the surface of the materials when the grabbing claw grabs the materials, the materials are clamped, and after the materials are grabbed, the reinforcing block is fixed to the side face of the grabbing claw. And the materials are prevented from shaking and separating in the process of moving the materials.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of grabbing robots, and particularly relates to a material grabbing device and a robot. BACKGROUND

[0002] In the modern industrial field, such as intelligent manufacturing, logistics and warehousing, food packaging and automobile assembly, material handling and grabbing is one of the core links in the production process. Robot technology, especially industrial robots, has been widely used in material grabbing, handling, sorting and assembly tasks due to its high efficiency, high precision and continuous working characteristics. As the end effector directly interacting with the work object, the performance of the material grabbing device directly determines the working efficiency, adaptability and reliability of the entire robot system.

[0003] However, in the prior art, when the material is moved after being grabbed, the material is prone to shaking and falling off, which needs to be improved. SUMMARY

[0004] The purpose of the present application is to provide a material grabbing device and a robot, which solves the existing problems.

[0005] To solve the above technical problems, the present application is realized by the following technical scheme: The present application is a material grabbing device and a robot, comprising a base and a robot body, characterized in that: the robot body is fixedly connected to the top of the base, the output end of the robot body is fixedly connected with a mechanical arm, the output end of the mechanical arm is provided with a reinforcing claw mechanism, the reinforcing claw mechanism comprises a hollow block, the hollow block is fixedly connected to the bottom of the mechanical arm, the inner wall top of the hollow block is fixedly connected with a connecting spring, the end of the connecting spring away from the hollow block is fixedly connected with a grabbing claw, and the side surface of the grabbing claw is fixedly connected with a reinforcing block.

[0006] Further, the side section of the grabbing claw is arranged in an L shape, and the side section of the reinforcing block is arranged in a hook shape.

[0007] Further, the grabbing claw is slidingly connected to the inner side wall of the hollow block.

[0008] Further, the reinforcing claw mechanism is arranged in two groups and arranged at the bottom of the mechanical arm.

[0009] Further, the outer surface of the mechanical arm is provided with an anti-falling mechanism, the anti-falling mechanism comprises a connecting rod, the connecting rod is fixedly connected to the front side of the mechanical arm, the circumferential surface of the connecting rod is fixedly connected with a tension spring, and the end of the tension spring away from the connecting rod is fixedly connected to the side surface of the grabbing claw.

[0010] Further, the initial state of the connecting spring is arranged in a relaxed state.

[0011] Further, the side section of the tension spring is arranged in an arc shape.

[0012] The present application has the following advantages: 1、The hollow block, connecting spring, grabbing claw, reinforcing block and other components cooperate with each other to realize the starting of the mechanical arm, driving the movement of the grabbing claw to grab the material, the reinforcing block fixed on the side surface of the grabbing claw contacts the surface of the material to clamp the material, and the material is prevented from shaking and separating during the movement of the material after being grabbed.

[0013] The connecting rod, tension spring and other components cooperate with each other to realize that the tension spring fixed on the circumference of the connecting rod is in a tight state when the grabbing claw moves in an arc shape during the expansion of the grabbing claw, thereby enhancing the grabbing force of the grabbing claw on the material again, and the clamping force of the grabbing claw is enhanced after the material is grabbed.

[0014] Of course, implementing any product of the present application does not necessarily require all the advantages described above. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0016] Figure 1 is a three-dimensional appearance schematic view of the present application; Figure 2 is a three-dimensional schematic view of the grabbing claw of the present application; Figure 3 is a three-dimensional appearance schematic view of the present application; Figure 2 is an enlarged schematic view of A in the present application; Figure 4 is a three-dimensional appearance schematic view of the present application; Figure 2 is an enlarged structural schematic view of B in the present application.

[0017] In the drawings, the components represented by each number are listed as follows: 1, base; 2, robot body; 3, mechanical arm; 4, reinforcing claw mechanism; 41, hollow block; 42, connecting spring; 43, grabbing claw; 44, reinforcing block; 5, anti-dropping mechanism; 51, connecting rod; 52, tension spring. DETAILED DESCRIPTION

[0018] With reference to the drawings and embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0019] Please refer to Figures 1-4 As shown in the drawings, the present application is a kind of material grabbing device and robot, including base 1 and robot body 2, robot body 2 is fixedly connected at the top of base 1, the output end of robot body 2 is fixedly connected with mechanical arm 3, the output end of mechanical arm 3 is provided with reinforced claw mechanism 4, reinforced claw mechanism 4 includes hollow block 41, hollow block 41 is fixedly connected at the bottom of mechanical arm 3, the inner wall top of hollow block 41 is fixedly connected with connecting spring 42, the end of connecting spring 42 away from hollow block 41 is fixedly connected with grabbing claw 43, the side of grabbing claw 43 is fixedly connected with reinforcing block 44.

[0020] As shown in the drawings, the side section of grabbing claw 43 is set as L-shaped, and the side section of reinforcing block 44 is set as hook-shaped.

[0021] As shown in the drawings, grabbing claw 43 is slidingly connected to the inner side wall of hollow block 41.

[0022] As shown in the drawings, reinforced claw mechanism 4 is provided in two groups, which are arranged at the bottom of mechanical arm 3.

[0023] As shown in the drawings, the outer surface of mechanical arm 3 is provided with anti-off mechanism 5, anti-off mechanism 5 includes connecting rod 51, connecting rod 51 is fixedly connected to the side of mechanical arm 3, the circumferential surface of connecting rod 51 is fixedly connected with tension spring 52, and the end of tension spring 52 away from connecting rod 51 is fixedly connected to the side of grabbing claw 43.

[0024] As shown in the drawings, the initial state of connecting spring 42 is set as relaxed state.

[0025] As shown in the drawings, the side section of tension spring 52 is set as arc-shaped.

[0026] One specific application of the embodiment is as follows: when the material needs to be grabbed, the worker moves the grabbing claw 43 downward to contact the surface of the material, and then starts the mechanical arm 3 to drive the grabbing claw 43 to move to grab the material. When the grabbing claw 43 grabs the material, the reinforcing block 44 fixed on the side of the grabbing claw 43 contacts the surface of the material to clamp the material. When the clamping is completed, the worker starts the mechanical arm 3 to move the grabbing claw 43 upward, and at the same time drives the material upward. In the process of upward movement of the material, the grabbing claw 43 is affected by gravity, so that the grabbing claw 43 moves downward on the inner wall of the hollow block 41. When the grabbing claw 43 moves downward, the connecting spring 42 fixed on the top is in a tight state. Then the worker starts the external carrier to move the material. Finally, in the process of unfolding of the grabbing claw 43, the pulling spring 52 fixed on the circumferential surface of the connecting rod 51 is in a tight state when the grabbing claw 43 makes arc-shaped unfolding movement, which enhances the grabbing force of the grabbing claw 43 on the material again.

[0027] In the description of the present specification, the description referring to the terms "one embodiment", "an example", "a specific example" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0028] The above disclosed preferred embodiments of the present application are only used to help explain the present application. The preferred embodiments do not describe all the details and do not limit the present application to the specific embodiments described. Obviously, many modifications and changes can be made according to the content of the present specification. The present specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present application, so that those skilled in the art can well understand and utilize the present application. The present application is limited only by the claims and their full scope and equivalents.

Claims

1. A material gripping device and robot, comprising a base (1) and a robot body (2), characterized in that: The robot body (2) is fixedly connected to the top of the base (1), and the output end of the robot body (2) is fixedly connected to a mechanical arm (3). The output end of the mechanical arm (3) is provided with a reinforcing claw mechanism (4). The reinforced claw mechanism (4) includes a hollow block (41), which is fixedly connected to the bottom of the robotic arm (3). A connecting spring (42) is fixedly connected to the top of the inner wall of the hollow block (41). A gripping claw (43) is fixedly connected to one end of the connecting spring (42) away from the hollow block (41). A reinforcing block (44) is fixedly connected to the side of the gripping claw (43).

2. The material gripping device and robot according to claim 1, characterized in that, The side cross-section of the gripper (43) is L-shaped, and the side cross-section of the reinforcing block (44) is hook-shaped.

3. The material gripping device and robot according to claim 2, characterized in that, The gripper (43) is slidably connected to the inner wall of the hollow block (41).

4. The material gripping device and robot according to claim 3, characterized in that, The reinforced claw mechanism (4) is configured in two sets, both located at the bottom of the robotic arm (3).

5. The material gripping device and robot according to claim 4, characterized in that, The outer surface of the robotic arm (3) is provided with an anti-detachment mechanism (5). The anti-detachment mechanism (5) includes a connecting rod (51). The connecting rod (51) is fixedly connected to the front side of the robotic arm (3). A tension spring (52) is fixedly connected to the circumferential surface of the connecting rod (51), and the end of the tension spring (52) away from the connecting rod (51) is fixedly connected to the side of the gripper (43).

6. The material gripping device and robot according to claim 1, characterized in that, The initial state of the connecting spring (42) is set to a relaxed state.

7. A material gripping device and robot according to claim 5, characterized in that, The side section of the tension spring (52) is set to be arc-shaped.

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