Adjustable gripping robot for industrial processes

Abstract

The application relates to an adjusting type grabbing manipulator for industrial processing, and relates to the technical field of manipulators, which comprises a driving structure, one end of the driving structure is uniformly provided with four ring-shaped grabbing structures, and spaces for placing spherical lock heads are arranged between the four grabbing structures; a sleeve structure is coaxially arranged on the outer side of the driving structure, and the outer side of the sleeve structure is fixedly connected with a supporting structure; four arc-shaped clamps and anti-skid sleeve heads at the ends of the four arc-shaped clamps can clamp one end of the spherical lock head away from the tooth groove column, meanwhile, four clamping plates can clamp one end of the spherical lock head close to the tooth groove column, the stability of the spherical lock head can be ensured by clamping the two ends of the spherical lock head, and the spherical lock head is prevented from shaking; rubber anti-skid layers are arranged on the four push plates and the four clamping plates, the rubber anti-skid layers can increase the friction force, prevent the spherical lock head from shaking and displacing or self-rotating, and protect the spherical lock head, so that scratches are prevented on the outer surface of the spherical lock head caused by the push plates and the clamping plates.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and more specifically to an adjustable gripping robotic arm for industrial processing. Background Technology

[0002] A robotic arm is an automated device that can mimic certain movements and functions of a human hand and arm, and complete tasks such as grasping, transporting, and manipulating workpieces according to a fixed program, trajectory, or instruction. It is widely used in industrial production, logistics sorting, medical assistance, and other fields, and is one of the core components of industrial automation and robotics technology.

[0003] In the production process of spherical lock heads, whether it is the transfer and surface treatment of the spherical lock head, or the machining processes such as turning, milling, drilling, and polishing of key components of the spherical lock head, a robotic arm is required to clamp and fix the spherical lock head. Chinese Patent Publication No. CN 107538514 A discloses a robotic arm, which includes: a base, a plurality of robotic fingers, and a plurality of first driving devices for controlling the bending of the plurality of robotic fingers. All robotic fingers are mounted on the base, and each robotic finger is connected to a first driving device. The aforementioned robotic arm uses the three components of a human hand—the base, middle, and tip of the fingers—to grip a workpiece. However, when gripping a spherical lock, because the outer surface of the spherical lock is a smooth circle, the base, middle, and tip of the fingers cannot fully contact the outer surface of the lock. This results in fewer contact points with the lock, leading to poor gripping and fixing of the spherical lock. Consequently, the lock is prone to wobbling or rotational displacement. Furthermore, when increasing the gripping force to improve stability, the base, middle, and tip of the fingers can damage the outer surface of the lock, causing dents and scratches. Summary of the Invention

[0004] Technical problems to be solved The purpose of this invention is to overcome the shortcomings of the prior art, adapt to practical needs, and provide an adjustable gripping robot for industrial processing. Four gripping structures work together to clamp a spherical lock head. The arc-shaped clamp in the gripping structure, together with the anti-slip sleeve, clamps and fixes one end of the spherical lock head. The clamping plate, which is completely in contact with the spherical lock head, clamps and fixes the other end of the spherical lock head. Furthermore, the push plate, which is in contact with the surface of the spherical lock head, can clamp and fix the middle section of the spherical lock head, thereby solving the above-mentioned technical problems. Technical solution

[0005] To achieve the objectives of this invention, the technical solution adopted is as follows: An adjustable gripping robot for industrial processing includes a drive structure. One end of the drive structure has four gripping structures evenly distributed in a ring, and the space between the four gripping structures is for placing a spherical lock head. A sleeve structure is coaxially provided on the outside of the drive structure, and the outside of the sleeve structure is fixedly connected to a support structure. The end of the support structure away from the gripping structure is connected to the robot arm. The gripping structure includes an arc-shaped clamp, one end of which is integrally fixedly connected to a semi-circular gear, and the other end of which is fitted with an anti-slip sleeve; the middle section of the arc-shaped clamp has an arc-shaped groove, one end of which has a pushing component, and the other end of which has an auxiliary clamping component; multiple ball bearings are provided between the pushing component and the auxiliary clamping component. The pushing component includes a push plate, which is arc-shaped and has a connecting rod integrally fixedly connected to the middle of its top. The end of the connecting rod away from the push plate is fixedly connected to a push block, which is located in an arc-shaped groove and slidably connected to an arc-shaped clamp. The bottom surface of the push plate is provided with an anti-slip layer. The auxiliary clamping assembly includes a clamping plate, the middle of which is fixedly connected to a connecting rod two on the side away from the spherical lock head; the end of the connecting rod two away from the clamping plate is fixedly connected to a slider, which is located in an arc-shaped groove and slidably connected to an arc-shaped clamp; the bottom of the arc-shaped clamp is provided with a front through groove and a rear through groove communicating with the arc-shaped groove, wherein the connecting rod one is located in the front through groove and the connecting rod two is located in the rear through groove; the side of the clamping plate near the spherical lock head is provided with an anti-slip layer; The drive structure includes a toothed column with multiple toothed grooves evenly distributed on its outer side for meshing with a semi-circular gear; a connecting rod is coaxially fixedly connected to the end of the toothed column away from the spherical lock head, a spring is sleeved on the outer side of the connecting rod, and a sleeve plate is coaxially provided on the outer side of the end of the connecting rod away from the toothed column, with a through hole in the middle of the sleeve plate for the connecting rod to pass through and move; one end of the spring is in contact with the sleeve plate, and the other end of the spring is in contact with the end face of the toothed column.

[0006] As a further technical solution of the present invention, the arc of the arc groove is the same as the arc of the arc clamp; multiple balls are evenly distributed in an arc shape inside the arc groove, and multiple balls are movably connected to the arc clamp; the space between the push block and the slider is for multiple balls to move.

[0007] As a further technical solution of the present invention, the arc of the push plate is the same as the arc of the outer surface of the spherical lock head; the side of the clamping plate near the spherical lock head is L-shaped and both ends are arc-shaped, and the arc of the end of the spherical lock head near the clamping plate is the same; the width of the cross section of the first connecting rod is smaller than the width of the front through groove, the width of the cross section of the second connecting rod is smaller than the width of the rear through groove, and the front through groove and the rear through groove are located at both ends of the arc groove.

[0008] As a further technical solution of the present invention, the end of the connecting rod away from the toothed post is coaxially fixedly connected to an extension rod, the end of the extension rod near the connecting rod is fixedly connected to a locking post assembly, and the end of the extension rod away from the connecting rod is coaxially sleeved with a connecting sleeve.

[0009] As a further technical solution of the present invention, the locking post assembly includes an annular sleeve, which is coaxially arranged with the extension rod and integrally fixedly connected to the outer wall of the extension rod; two protrusions are symmetrically fixedly connected to the outer wall of the annular sleeve, and two movable grooves with a cross-section of convex shape are symmetrically provided inside the two protrusions, and the two ends of the movable grooves are cylindrical.

[0010] As a further technical solution of the present invention, a locking post is coaxially and movably connected inside the movable groove. One end of the locking post is located outside the movable groove and is spherical. The other end of the locking post is coaxially and fixedly connected to a limiting plate. The diameter of the limiting plate is larger than the diameter of the locking post. A second spring is provided inside the movable groove. One end of the second spring is attached to the side of the limiting plate away from the locking post, and the other end of the second spring is attached to the inner wall of the protrusion.

[0011] As a further technical solution of the present invention, the sleeve structure includes a sleeve, which has four openings evenly provided at one end near the semi-circular gear for the semi-circular gear to pass through and move; side plates are provided on both sides of the four semi-circular gears, and a connecting shaft is coaxially fixedly connected to the semi-circular gears, with both ends of the connecting shaft rotatably connected to the side plates on both sides of the semi-circular gears respectively; all eight side plates are integrally fixedly connected to the sleeve.

[0012] As a further technical solution of the present invention, two inserts are symmetrically fixedly connected inside the end of the sleeve away from the side plate. The two inserts correspond to the positions of the two protrusions respectively, and two slots for engaging with the locking post are symmetrically provided on the side of the two inserts that are close to each other. An end plate is coaxially fixedly connected inside the end of the sleeve near the inserts. The end plate is coaxially movably connected to the extension rod. The sleeve plate is coaxially arranged with the sleeve, and the outer wall of the sleeve plate is fixedly connected to the inner wall of the sleeve.

[0013] Beneficial effects: A. In this invention, the four arc-shaped clamps and their anti-slip sleeves work together to clamp the end of the spherical lock head away from the toothed post, while the four clamping plates clamp the end of the spherical lock head close to the toothed post. By clamping both ends of the spherical lock head, the stability of the spherical lock head can be ensured, preventing it from shaking. In addition, the four push plates clamp the middle section of the spherical lock head, and all four push plates and four clamping plates are provided with a rubber anti-slip layer, which can increase friction, further ensure the stability of the spherical lock head, prevent the spherical lock head from shaking, displacing or rotating, and also protect the spherical lock head, preventing the push plates and clamping plates from causing scratches on the outer surface of the spherical lock head.

[0014] B. In this invention, when the robotic arm drives the support structure to approach the spherical lock head, the drive structure, sleeve structure, and four gripping structures move synchronously. After the spherical lock head moves to the toothed post and fits against the toothed post, the robotic arm continues to drive the drive structure to move. At this time, the spherical lock head can push the toothed post, causing the toothed post to move towards the top block, causing the toothed post to drive the four semi-circular gears meshing with it to rotate, thereby causing the four arc-shaped clamps to approach and clamp the spherical lock head, thus realizing the automatic clamping of the spherical lock head.

[0015] C. In this invention, during the lateral movement of the spherical lock head towards the toothed post, it first comes into contact with the four push plates and drives the four push plates to move towards the clamping plate. The push plates then drive the push block to move through connecting rod one, and the push block drives multiple balls to move until the balls come into contact with the slider and drive the slider to continue moving. The slider then drives the clamping plate to move through connecting rod two. Both the push block and the slider move along the trajectory of the arc groove. Therefore, the push plates and clamping plates will also tilt at a small angle during the lateral movement until the four anti-slip sleeves clamp the spherical lock head. At this time, the four push plates will be completely in contact with the outer surface of the spherical lock head, and the four clamping plates will also be in contact with the end face of the spherical lock head. At this time, the four arc-shaped clamps and the four anti-slip sleeves apply a force in the direction of the clamping plate to the spherical lock head, while the four clamping plates apply a force in the direction of the anti-slip sleeves to the spherical lock head. The forces in both directions remain stable, which can prevent the arc-shaped clamps and clamping plates from loosening.

[0016] D. In this invention, when the toothed column moves laterally, the connecting rod and the extension rod move synchronously, and the first spring is compressed and stored until the four locking pins are respectively locked into the four locking slots. At this time, the spherical lock head has been completely clamped. The locking pins and locking slots can fix the position of the toothed column, the connecting rod and the extension rod, preventing the elastic force of the first spring from driving the toothed column to reset. When it is necessary to loosen the spherical lock head, the cylinder drives the top block to move and pushes the connecting sleeve. The thrust of the top block is greater than the locking force formed by the locking pins and locking slots, allowing the locking pins to move out of the locking slots. At this time, the elastic force of the first spring can drive the toothed column to reset, and the arc-shaped clamp and the clamping plate no longer clamp and fix the spherical lock head. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 In this invention Figure 1 Partial structural diagram; Figure 3 In this invention Figure 2 Top view; Figure 4 In this invention Figure 3 AA section view; Figure 5 In this invention Figure 2 Partial structural diagram; Figure 6 In this invention Figure 5 Another perspective view; Figure 7 This is a three-dimensional structural diagram of the gripping structure of the present invention; Figure 8 In this invention Figure 7 Side view; Figure 9 In this invention Figure 8 BB cross-sectional view; Figure 10 This is a three-dimensional structural diagram of the driving structure of the present invention; Figure 11 In this invention Figure 10 Side view; Figure 12 In this invention Figure 11 CC section view; Figure 13 In this invention Figure 12 A magnified view of a portion of the image; Figure 14 This is a schematic diagram showing the connection between the sleeve structure and the support structure of the present invention.

[0018] Figure 15 In this invention Figure 14 Side view.

[0019] Figure 16 In this invention Figure 15 DD sectional view.

[0020] In the diagram: 1-grabbing structure, 2-driving structure, 3-sleeve structure, 4-support structure, 5-spherical lock head, 6-robotic arm; 11-Semicircular gear, 12-Arc-shaped clamp, 13-Push assembly, 14-Auxiliary clamping assembly, 15-Anti-slip sleeve, 16-Connecting shaft, 17-Front through groove, 18-Rear through groove, 19-Ball, 10-Arc-shaped groove; 21-Groove post, 22-Connecting rod, 23-Spring 1, 24-Sleeve plate, 25-Clamping post assembly, 26-Extension rod, 27-Connecting sleeve; 31-Sleeve, 32-Side plate, 33-Opening, 34-End plate, 35-Insertion, 36-Slot; 41-Connecting plate one, 42-Connecting sleeve, 43-Connecting rod, 44-Nut, 45-Cylinder, 46-Top block, 47-Connecting plate two; 131-Push plate, 132-Connecting rod one, 133-Push block; 141-Clamping plate, 142-Connecting rod 2, 143-Slider; 251-Protrusion, 252-Modible groove, 253-Clip post, 254-Limiting plate, 255-Spring 2, 256-Annular sleeve. Detailed Implementation

[0021] Please see Figure 1-9 An adjustable gripping robot for industrial processing includes a drive structure 2, one end of which is provided with four gripping structures 1 evenly distributed in a ring, and the space between the four gripping structures 1 is for placing a spherical lock head 5; a sleeve structure 3 is coaxially provided on the outside of the drive structure 2, and the outside of the sleeve structure 3 is fixedly connected to a support structure 4; the end of the support structure 4 away from the gripping structures 1 is connected to a robotic arm 6. The gripping structure 1 includes an arc-shaped clamp 12, one end of which is integrally fixedly connected to a semi-circular gear 11, and the other end of which is fitted with an anti-slip sleeve 15; the middle section of the arc-shaped clamp 12 is provided with an arc-shaped groove 10, one end of which is provided with a pushing component 13, and the other end of which is provided with an auxiliary clamping component 14; a plurality of balls 19 are provided between the pushing component 13 and the auxiliary clamping component 14; The pushing assembly 13 includes a push plate 131, which is arc-shaped and has a connecting rod 132 integrally fixedly connected to the top center of the push plate 131. The end of the connecting rod 132 away from the push plate 131 is fixedly connected to a push block 133. The push block 133 is located in the arc-shaped groove 10 and is slidably connected to the arc-shaped clamp 12. The bottom surface of the push plate 131 is provided with an anti-slip layer. The auxiliary clamping assembly 14 includes a clamping plate 141, which is located away from the ball lock head 5. The middle side is fixedly connected to the second connecting rod 142; the end of the second connecting rod 142 away from the clamping plate 141 is fixedly connected to the slider 143, which is located in the arc groove 10 and slidably connected to the arc clamp 12; the bottom of the arc clamp 12 is provided with a front through groove 17 and a rear through groove 18 communicating with the arc groove 10, wherein the first connecting rod 132 is located in the front through groove 17 and the second connecting rod 142 is located in the rear through groove 18; the clamping plate 141 is provided with an anti-slip layer on the side near the ball lock head 5; As a further explanation of the above embodiment, the arc of the arc groove 10 is the same as the arc of the arc clamp 12; the multiple balls 19 are evenly distributed in an arc shape inside the arc groove 10, and the multiple balls 19 are movably connected to the arc clamp 12; the space between the push block 133 and the slider 143 is for the multiple balls 19 to move. The arc of the push plate 131 is the same as the arc of the outer surface of the spherical lock head 5; the clamping plate 141 is L-shaped on the side near the spherical lock head 5 and both ends are arc-shaped, which is the same as the arc of the end of the spherical lock head 5 near the clamping plate 141; the width of the cross section of the connecting rod 132 is smaller than the width of the front through groove 17, and the width of the cross section of the connecting rod 142 is smaller than the width of the rear through groove 18. The front through groove 17 and the rear through groove 18 are located at the two ends of the arc groove 10, respectively.

[0022] By adopting the above technical solution, when the spherical lock head 5 approaches the gripping structure 1, its outer surface will first contact the four push plates 131. Since the curvature of the push plates 131 is the same as the curvature of the outer surface of the spherical lock head 5, a preliminary fit can be achieved. As the spherical lock head 5 continues to advance, the push plates 131 are subjected to pressure into the arc-shaped clamp 12, which in turn drives the push block 133 to slide along the arc-shaped trajectory in the arc-shaped groove 10 towards the auxiliary clamping assembly 14 through the connecting rod 132. During the movement, the push block 133 will push multiple balls 19 located between itself and the slider 143. These balls 19 in the arc-shaped groove The inner rolling of the pusher 133 transmits the pushing force of the pusher 133 to the slider 143, causing the slider 143 to slide along the trajectory of the arc groove 10. The movement of the slider 143 drives the clamping plate 141 to move closer to the spherical lock head 5 through the connecting rod 142. Since the curvature of the arc groove 10 is the same as that of the arc clamp 12, and the front through groove 17 and the rear through groove 18 provide the connecting rod 132 and the connecting rod 142 with room for movement, the pusher 131 and the clamping plate 141 will tilt at a small angle with the curvature of the arc groove 10 while moving laterally, so as to better adapt to the curved contour of the spherical lock head 5. Furthermore, the anti-slip layer of the push plate 131 and the clamping plate 141 contacts the outer surface of the spherical lock head 5, which can increase friction, restrict the movement of the spherical lock head 5, and avoid hard scratches on its surface. The L-shaped design of the clamping plate 141 near the spherical lock head 5 and the arcs at both ends match the arc of the end of the spherical lock head 5 near the clamping plate 141, preparing for subsequent end clamping. The setting of multiple balls 19 transforms the sliding friction between the push block 133 and the slider 143 into rolling friction, effectively reducing motion resistance and ensuring the smoothness and stability of the drive of the push component 13 to the auxiliary clamping component 14, making the entire clamping action more precise and efficient.

[0023] Please see Figure 1-4 , Figure 9-16In this embodiment, the drive structure 2 includes a toothed column 21, on the outer side of which a plurality of toothed grooves are uniformly provided for meshing with the semi-circular gear 11; a connecting rod 22 is coaxially fixedly connected to the end of the toothed column 21 away from the workpiece 5, and a spring 23 is sleeved on the outer side of the connecting rod 22; a sleeve plate 24 is coaxially provided on the outer side of the end of the connecting rod 22 away from the toothed column 21, and a through hole is provided in the middle of the sleeve plate 24 for the connecting rod 22 to pass through and move; one end of the spring 23 is in contact with the sleeve plate 24, and the other end of the spring 23 is in contact with the end face of the toothed column 21; As a further explanation of the above embodiments, the end of the connecting rod 22 away from the toothed post 21 is coaxially fixedly connected to an extension rod 26, the end of the extension rod 26 near the connecting rod 22 is fixedly connected to a locking post assembly 25, and the end of the extension rod 26 away from the connecting rod 22 is coaxially sleeved with a connecting sleeve 27. The locking post assembly 25 includes an annular sleeve 256, which is coaxially arranged with the extension rod 26 and integrally fixedly connected to the outer wall of the extension rod 26. Two protrusions 251 are symmetrically fixedly connected to the outer wall of the annular sleeve 256. Each of the two protrusions 251 has two symmetrically arranged movable grooves 252 with a cross-section of convex shape, and the two ends of the movable grooves 252 are cylindrical. A locking post 253 is coaxially movably connected inside the movable grooves 252. One end of the locking post 253 is located outside the movable grooves 252 and is spherical. The other end of the locking post 253 is coaxially fixedly connected to a limiting plate 254. The diameter of the limiting plate 254 is larger than the diameter of the locking post 253. A second spring 255 is provided inside the movable grooves 252. One end of the second spring 255 is attached to the side of the limiting plate 254 away from the locking post 253, and the other end of the second spring 255 is attached to the inner wall of the protrusions 251. The sleeve 31 has two symmetrically fixedly connected inserts 35 at the end away from the side plate 32. The two inserts 35 correspond to the positions of the two protrusions 251 respectively, and the two inserts 35 are symmetrically provided with two slots 36 for engaging with the locking post 253 on the side close to each other. The sleeve 31 has an end plate 34 coaxially fixedly connected at the end close to the inserts 35. The end plate 34 is coaxially movably connected to the extension rod 26. The sleeve plate 24 is coaxially arranged with the sleeve 31, and the outer wall of the sleeve plate 24 is fixedly connected to the inner wall of the sleeve 31.

[0024] By adopting the above technical solution, the robotic arm 6 drives the toothed column 21 to move laterally towards the spherical lock head 5. Since the toothed grooves on the outer side of the toothed column 21 mesh with the semi-circular gears 11, the lateral movement of the toothed column 21 will drive the four semi-circular gears 11 to rotate synchronously, thereby causing the arc-shaped clamps 12 to rotate around the connecting shaft 16 as the axis, realizing the closing of the four arc-shaped clamps 12, so that the anti-slip sleeves 15 at the ends of the arc-shaped clamps 12 gradually approach and finally contact the outer surface of the spherical lock head 5; at the same time as the toothed column 21 moves laterally, the connecting rod 22 and the extension rod 26 fixedly connected to it also move forward synchronously. At this time, the spring 23 sleeved on the outer side of the connecting rod 22 is compressed and stores force by the pressure of the end face of the toothed column 21 and the sleeve plate 24. Furthermore, when the extension rod 26 moves, it drives the locking pin assembly 25 on it to move together. Because the end of the locking pin 253 is spherical, when it comes into contact with the insert 35 in the sleeve structure 3, it will be squeezed by the inner wall of the insert 35, thereby contracting into the movable groove 252 and compressing the second spring 255. As the extension rod 26 continues to move, when the locking pin 253 moves to the position of the locking groove 36 on the insert 35, the elastic force of the second spring 255 will push the limiting plate 254, thereby causing the locking pin 253 to pop out and lock into the locking groove 36. At this time, the positions of the toothed pin 21, the connecting rod 22 and the extension rod 26 are fixed, and the stored state of the first spring 23 is maintained, ensuring the stable clamping of the spherical lock head 5 by the arc clamp 12.

[0025] Please see Figure 9-16 In this embodiment, the sleeve structure 3 includes a sleeve 31. The sleeve 31 has four openings 33 evenly provided at one end near the semi-circular gear 11 for the semi-circular gear 11 to pass through and move. Side plates 32 are provided on both sides of the four semi-circular gears 11. A connecting shaft 16 is coaxially fixedly connected to the semi-circular gear 11. The two ends of the connecting shaft 16 are rotatably connected to the side plates 32 on both sides of the semi-circular gear 11. All eight side plates 32 are integrally fixedly connected to the sleeve 31. The support structure 4 includes a second connecting plate 47 and two first connecting plates 41. A connecting sleeve 42 is integrally fixedly connected to the middle of each of the two first connecting plates 41. The side of the second connecting plate 47 away from the sleeve 31 is connected to the robotic arm 6. The two connecting sleeves 42 are located on the outside of the sleeve 31 and are coaxially fixedly connected to the sleeve 31. A cylinder 45 is fixedly connected to the middle of the side of the second connecting plate 47 near the sleeve 31. The telescopic rod of the cylinder 45 is sleeved with a top block 46, and the top block 46 corresponds to the position of the connecting sleeve 27. Each of the four corners of the second connecting plate 47 is fixedly connected to a connecting rod 43, and the four corners of the two first connecting plates 41 are respectively movably connected to the four connecting rods 43; each of the four connecting rods 43 is threaded with a nut 44 at one end near the sleeve 31, and the four nuts 44 are all in contact with the second connecting plate 47 near the side plate 32 of the two second connecting plates 47.

[0026] By adopting the above technical solution, when the spherical lock head 5 needs to be released, the cylinder 45 drives the top block 46 to move closer to the connecting sleeve 27. After the top block 46 contacts the connecting sleeve 27, it continues to push the extension rod 26 to move away from the spherical lock head 5. The movement of the extension rod 26 drives the locking pin assembly 25 to move synchronously. At this time, the spherical end of the locking pin 253 is squeezed by the inner wall of the locking groove 36 on the insert 35, overcoming the elastic force of the second spring 255 and contracting into the movable groove 252, thereby breaking away from the restriction of the locking groove 36. Under the elastic force of the first spring 23 restoring its deformation, the toothed pin 21 resets and moves. Through the meshing transmission of the toothed pin and the semi-circular gear 11, it drives the four arc-shaped clamps 12 to rotate in opposite directions around the connecting shaft 16, thereby opening the gripping structure 1 and releasing the clamp on the spherical lock head 5.

[0027] The embodiments disclosed in this invention are preferred embodiments, but are not limited thereto. Those skilled in the art can easily understand the spirit of this invention based on the above embodiments and make different extensions and variations, but as long as they do not depart from the spirit of this invention, they are all within the protection scope of this invention.

Claims

1. An adjustable gripping robot for industrial processing, characterized in that: The system includes a drive structure (2), one end of which is provided with four gripping structures (1) arranged in a ring, and the space between the four gripping structures (1) is for placing a ball lock head (5); a sleeve structure (3) is provided coaxially on the outside of the drive structure (2), and the outside of the sleeve structure (3) is fixedly connected to the support structure (4); the end of the support structure (4) away from the gripping structure (1) is connected to the robotic arm (6); The gripping structure (1) includes an arc-shaped clamp (12), one end of which is integrally fixedly connected to a semi-circular gear (11), and the other end of which is fitted with an anti-slip sleeve (15); the middle section of the arc-shaped clamp (12) is provided with an arc-shaped groove (10), one end of which is provided with a pushing component (13), and the other end of which is provided with an auxiliary clamping component (14); multiple balls (19) are provided between the pushing component (13) and the auxiliary clamping component (14); The pushing component (13) includes a push plate (131), which is arc-shaped and has a connecting rod (132) integrally fixedly connected to the top center of the push plate (131). The end of the connecting rod (132) away from the push plate (131) is fixedly connected to a push block (133). The push block (133) is located in the arc-shaped groove (10) and is slidably connected to the arc-shaped clamp (12). The bottom surface of the push plate (131) is provided with an anti-slip layer. The auxiliary clamping assembly (14) includes a clamping plate (141), which is fixedly connected to a connecting rod (142) at the middle of the side away from the spherical lock head (5); the connecting rod (142) is fixedly connected to a slider (143) at the end away from the clamping plate (141), which is located in the arc groove (10) and slidably connected to the arc clamp (12); the bottom of the arc clamp (12) is provided with a front through groove (17) and a rear through groove (18) communicating with the arc groove (10), wherein the connecting rod (132) is located in the front through groove (17) and the connecting rod (142) is located in the rear through groove (18); the clamping plate (141) is provided with an anti-slip layer on the side near the spherical lock head (5); The drive structure (2) includes a toothed column (21), which has a plurality of toothed grooves uniformly provided on its outer side for meshing with a semi-circular gear (11); a connecting rod (22) is coaxially fixedly connected to one end of the toothed column (21) away from the spherical lock head (5); a spring (23) is sleeved on the outer side of the connecting rod (22); a sleeve plate (24) is coaxially provided on the outer side of one end of the connecting rod (22) away from the toothed column (21); a through hole is provided in the middle of the sleeve plate (24) for the connecting rod (22) to pass through and move; one end of the spring (23) is in contact with the sleeve plate (24), and the other end of the spring (23) is in contact with the end face of the toothed column (21).

2. The adjustable gripping robot for industrial processing as described in claim 1, characterized in that: The arc of the arc groove (10) is the same as that of the arc clamp (12); multiple balls (19) are evenly distributed in an arc shape inside the arc groove (10), and multiple balls (19) are movably connected to the arc clamp (12); the space between the push block (133) and the slider (143) is for the multiple balls (19) to move.

3. The adjustable gripping robot for industrial processing as described in claim 1, characterized in that: The arc of the push plate (131) is the same as the arc of the outer surface of the spherical lock head (5); the clamping plate (141) is L-shaped on the side near the spherical lock head (5) and both ends are arc-shaped and the arc of the spherical lock head (5) near the clamping plate (141) is the same; the width of the cross section of the connecting rod one (132) is smaller than the width of the front through groove (17), the width of the cross section of the connecting rod two (142) is smaller than the width of the rear through groove (18), and the front through groove (17) and the rear through groove (18) are located at the two ends of the arc groove (10) respectively.

4. The adjustable gripping robot for industrial processing as described in claim 1, characterized in that: The connecting rod (22) is coaxially fixedly connected to an extension rod (26) at the end away from the toothed post (21). The extension rod (26) is fixedly connected to a locking post assembly (25) at the end near the connecting rod (22). The extension rod (26) is coaxially sleeved with a connecting sleeve (27) at the end away from the connecting rod (22).

5. The adjustable gripping robot for industrial processing as described in claim 4, characterized in that: The pin assembly (25) includes an annular sleeve (256), which is coaxially arranged with the extension rod (26) and integrally fixedly connected to the outer wall of the extension rod (26); the outer wall of the annular sleeve (256) is symmetrically fixedly connected with two protrusions (251), and the two protrusions (251) are symmetrically provided with two movable grooves (252) with a cross-section of convex shape, and the two ends of the movable grooves (252) are cylindrical.

6. The adjustable gripping robot for industrial processing as described in claim 5, characterized in that: The movable groove (252) is coaxially connected to a locking post (253). One end of the locking post (253) is located outside the movable groove (252) and is spherical. The other end of the locking post (253) is coaxially fixedly connected to a limiting plate (254). The diameter of the limiting plate (254) is larger than the diameter of the locking post (253). The movable groove (252) is provided with a second spring (255). One end of the second spring (255) is attached to the side of the limiting plate (254) away from the locking post (253), and the other end of the second spring (255) is attached to the inner wall of the protrusion (251).

7. The adjustable gripping robot for industrial processing as described in claim 6, characterized in that: The sleeve structure (3) includes a sleeve (31), which has four openings (33) evenly provided at one end near the semi-circular gear (11) for the semi-circular gear (11) to pass through and move; side plates (32) are provided on both sides of the four semi-circular gears (11), and a connecting shaft (16) is coaxially fixedly connected to the semi-circular gears (11). The two ends of the connecting shaft (16) are rotatably connected to the side plates (32) on both sides of the semi-circular gears (11); all eight side plates (32) are integrally fixedly connected to the sleeve (31).

8. The adjustable gripping robot for industrial processing as described in claim 7, characterized in that: The sleeve (31) is symmetrically fixedly connected to two inserts (35) at the end away from the side plate (32). The two inserts (35) correspond to the positions of the two protrusions (251) respectively. The two inserts (35) are symmetrically provided with two slots (36) for engaging with the locking post (253) on the side that is close to each other. The sleeve (31) is coaxially fixedly connected to an end plate (34) at the end that is close to the inserts (35). The end plate (34) is coaxially movably connected to the extension rod (26). The sleeve plate (24) is coaxially arranged with the sleeve (31), and the outer wall of the sleeve plate (24) is fixedly connected to the inner wall of the sleeve (31).

9. The adjustable gripping robot for industrial processing as described in claim 7, characterized in that: The support structure (4) includes a second connecting plate (47) and two first connecting plates (41). A connecting sleeve (42) is integrally fixedly connected in the middle of the two first connecting plates (41). The side of the second connecting plate (47) away from the sleeve (31) is connected to the robotic arm (6). The two connecting sleeves (42) are located outside the sleeve (31) and are coaxially fixedly connected to the sleeve (31). A cylinder (45) is fixedly connected in the middle of the side of the second connecting plate (47) near the sleeve (31). The telescopic rod of the cylinder (45) is sleeved with a top block (46), and the top block (46) corresponds to the position of the connecting sleeve (27).

10. The adjustable gripping robot for industrial processing as described in claim 9, characterized in that: The four corners of the connecting plate 2 (47) are fixedly connected with connecting rods (43), and the four corners of the two connecting plates 1 (41) are movably connected to the four connecting rods (43); the ends of the four connecting rods (43) near the sleeve (31) are all threaded with nuts (44), and the four nuts (44) are all in contact with the connecting plate 2 (47) near the side plate (32) of the two connecting plates 2 (47).

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