Robot grabbing device for transferring special-shaped materials

Abstract

The invention discloses a robot grabbing device for transferring special-shaped materials, and relates to the technical field of material grabbing, the robot grabbing device comprises a mounting bottom plate, a mounting column is fixedly arranged at the top of the mounting bottom plate, and the mounting column plays a role in connecting the mounting bottom plate with a mechanical arm assembly above, so that the structural stability of the whole device is ensured. And the top of the mounting column is fixedly connected with a mechanical arm assembly, the mechanical arm assembly can achieve position movement of the grabbing device in the space, and the grabbing position can be flexibly adjusted. The tail end of the mechanical arm assembly is connected with the grabbing assembly, and the grabbing assembly is responsible for completing specific grabbing actions on the special-shaped materials. The self-adaptive clamping assemblies are arranged on the fixed clamping base and the movable clamping base, each self-adaptive clamping assembly comprises the first-stage self-adaptive chuck and the second-stage self-adaptive chuck, self-adaptive rotation and sliding adjustment can be conducted according to the external shape of the special-shaped material, the grabbing adaptability to the special-shaped material is greatly improved, and stable clamping is ensured.

Description

Technical Field

[0001] This invention relates to the field of material handling technology, specifically a robotic gripping device for transferring irregularly shaped materials. Background Technology

[0002] In modern industrial production and logistics warehousing, it is often necessary to transfer irregularly shaped materials. Traditional gripping devices are often designed for regularly shaped materials, making it difficult to achieve stable and efficient gripping and transfer of irregularly shaped materials.

[0003] Some existing gripping devices, when dealing with irregularly shaped materials, suffer from poor adaptability of the grippers, making it difficult to fit the irregular surface of the material well. This can easily cause the material to slip during the gripping process, resulting in material damage or even safety accidents. Moreover, traditional gripping devices typically lack flexible rotation and displacement adjustment functions, making it difficult to accurately grip irregularly shaped materials based on their specific position and orientation, resulting in low efficiency throughout the material transfer process.

[0004] Therefore, developing a robotic gripping device that can adapt to the shape of irregularly shaped materials and achieve stable gripping and efficient transfer is of great practical significance. Summary of the Invention

[0005] This invention provides a robotic gripping device for transferring irregularly shaped materials, which solves the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: A robotic gripping device for transferring irregularly shaped materials includes a mounting base plate. A mounting column is fixedly mounted on the top of the mounting base plate, connecting it to a robotic arm assembly above it to ensure the structural stability of the entire device. The robotic arm assembly is fixedly connected to the top of the mounting column, enabling the gripping device to move in space and flexibly adjust its gripping position. A gripping component is connected to the end of the robotic arm assembly, which is responsible for performing the specific gripping action on the irregularly shaped materials.

[0007] In a preferred embodiment of the present invention, the gripping assembly includes a mounting base fixedly disposed at the end of the robotic arm assembly, providing a stable mounting space for the internal main rotary motor. The main rotary motor is fixedly disposed within the mounting base, and its output shaft passes through the mounting base and is coaxially fixedly connected to a rotating disk. The main rotary motor drives the rotating disk to rotate, thereby enabling the entire gripping assembly to rotate around its axis, facilitating the gripping of irregularly shaped materials from different angles. A first side bracket and a second side bracket are fixedly disposed on the side of the rotating disk away from the mounting base. These two brackets support and connect a clamping mechanism. A clamping mechanism is connected between the first side bracket and the second side bracket, and the clamping mechanism is responsible for clamping the irregularly shaped materials.

[0008] In a preferred embodiment of the present invention, the clamping mechanism includes a fixed clamping seat and a movable clamping seat, with adaptive clamping components provided on adjacent sides of both the fixed and movable clamping seats. The fixed clamping seat is fixedly connected to the end of the second side bracket, serving as a fixed support; a drive end seat is fixedly connected to the end of the first side bracket, and the drive end seat is provided with a displacement drive mechanism for driving the movable clamping seat to move. The displacement drive mechanism allows adjustment of the distance between the movable clamping seat and the fixed clamping seat to accommodate irregularly shaped materials of different sizes.

[0009] In a preferred embodiment of the present invention, the adaptive clamping assembly includes a primary arc-shaped mounting groove formed on a fixed clamping seat and a movable clamping seat, within which a primary adaptive chuck is slidably connected. This design allows the primary adaptive chuck to slide and adjust within the primary arc-shaped mounting groove according to the surface shape of the irregularly shaped material. Each primary adaptive chuck has multiple secondary arc-shaped mounting grooves, within which a secondary adaptive chuck is rotatably connected. The secondary adaptive chuck can rotate within the secondary arc-shaped mounting grooves, further enhancing its ability to conform to the irregular surface of the irregularly shaped material, thereby achieving stable clamping.

[0010] In a preferred embodiment of the present invention, the displacement driving mechanism includes a displacement driving motor disposed within a driving end seat, and a displacement driving screw coaxially and fixedly connected to the output shaft of the displacement driving motor. Multiple fixing rods are fixedly disposed on the outer side of the movable clamping seat, and the multiple fixing rods are jointly and fixedly connected to the displacement seat. The displacement driving screw passes through the displacement seat and is threadedly connected to it. When the displacement driving motor is started, it drives the displacement driving screw to rotate. Since the displacement seat is threadedly connected to the displacement driving screw and connected to the movable clamping seat through the fixing rods, linear movement of the movable clamping seat is achieved, facilitating adjustment of the clamping distance for irregularly shaped materials.

[0011] In a preferred embodiment of the present invention, the drive end seat is fixedly connected to multiple guide rods, each of which passes through and is slidably connected to the shift seat, and each guide rod is threadedly connected to the shift drive screw. The guide rods provide guidance for the movement of the shift seat, ensuring the stability of the moving clamping seat during movement, preventing deviation, and ensuring accurate clamping of irregularly shaped materials.

[0012] In a preferred embodiment of the present invention, a primary guide block is fixedly disposed within the primary arc-shaped mounting groove, and a primary arc-shaped back groove is formed on the back side of the primary adaptive chuck. The primary guide block is located within and slidably connected to the primary arc-shaped back groove. The cooperation between the primary guide block and the primary arc-shaped back groove makes the sliding of the primary adaptive chuck within the primary arc-shaped mounting groove more stable, enabling better adaptive adjustment according to the surface shape of irregularly shaped materials.

[0013] As a preferred embodiment of the present invention, a secondary guide block is fixedly disposed within the secondary arc-shaped mounting groove, and a secondary arc-shaped back groove is formed on the back side of the secondary adaptive chuck. The secondary guide block is located within and slidably connected to the secondary arc-shaped back groove. This structure ensures the stability of the secondary adaptive chuck's rotation within the secondary arc-shaped mounting groove, enabling it to more accurately conform to the surface of irregularly shaped materials.

[0014] In a preferred embodiment of the present invention, the clamping surface of the secondary adaptive chuck is provided with anti-slip gripping grooves. These anti-slip gripping grooves increase the friction with the surface of irregularly shaped materials, preventing the material from slipping during gripping. The anti-slip gripping grooves include multiple horizontally opening straight grooves and multiple vertically opening straight grooves, which are interconnected. This staggered and interconnected straight groove design further enhances the friction and improves the stability of the gripping process.

[0015] The present invention has the following advantages: By setting adaptive clamping components, including a primary adaptive chuck and a secondary adaptive chuck, on the fixed clamping seat and the movable clamping seat, adaptive rotation and sliding adjustment can be performed according to the external shape of the irregular material, which greatly improves the gripping adaptability of irregular materials and ensures stable clamping.

[0016] The main rotary motor can drive the gripping component to rotate, and the shifting drive mechanism can drive the moving clamp to move, so that the gripping device can grip irregularly shaped materials from different angles and distances, making it flexible in operation and adaptable to a variety of complex working scenarios.

[0017] The design of guide rods, primary guide blocks, and secondary guide blocks ensures the stability of each component during movement. In addition, the anti-slip gripping groove effectively prevents irregularly shaped materials from slipping during gripping and transfer, thus improving the reliability of the entire device. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of a robotic gripping device used for transferring irregularly shaped materials.

[0019] Figure 2 This is a schematic diagram of the top structure of the gripping component in a robotic gripping device used for transferring irregularly shaped materials.

[0020] Figure 3 This is a schematic diagram of the bottom structure of the gripping component in a robotic gripping device used for transferring irregularly shaped materials.

[0021] Figure 4 This is a schematic diagram of the adaptive gripping component in a robotic gripping device used for transferring irregularly shaped materials.

[0022] Figure 5 This is a three-dimensional exploded view of the adaptive gripping component in a robotic gripping device used for transferring irregularly shaped materials.

[0023] In the diagram: 1. Mounting base plate; 2. Mounting column; 3. Robotic arm assembly; 4. Gripping assembly; 5. Mounting seat; 6. Rotary disk; 7. Main rotary motor; 8. First side bracket; 9. Second side bracket; 10. Drive end seat; 11. Fixed clamping seat; 12. Shifting seat; 13. Shifting drive screw; 14. Guide rod; 15. Fixed rod; 16. Moving clamping seat; 17. Adaptive clamping assembly; 18. First-level adaptive chuck; 19. Second-level adaptive chuck; 20. Anti-detachment gripping groove; 21. First-level arc-shaped back groove; 22. First-level guide block; 23. Second-level arc-shaped back groove; 24. Second-level guide block. Detailed Implementation

[0024] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0025] It should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0026] Please see Figure 1-5A robotic gripping device for transferring irregularly shaped materials includes a mounting base plate. A mounting column is fixedly mounted on the top of the mounting base plate, and a robotic arm assembly is fixedly connected to the top of the mounting column. This assembly enables the gripping device to move in space, allowing for flexible adjustment of the gripping position and providing a basis for accurate gripping of irregularly shaped materials. The end of the robotic arm assembly is connected to a gripping component, which is responsible for performing the specific gripping action on the irregularly shaped materials.

[0027] The gripping assembly includes a mounting base fixedly mounted at the end of the robotic arm assembly. The mounting base provides a stable space for mounting the main rotary motor. The main rotary motor, fixed within the mounting base, has its output shaft passing through the mounting base and coaxially connected to a rotating disk. The main rotary motor drives the rotating disk to rotate, enabling the entire gripping assembly to rotate around its axis, facilitating the gripping of irregularly shaped materials from different angles. A first side bracket and a second side bracket are fixedly mounted on the side of the rotating disk away from the mounting base. These two brackets support and connect the clamping mechanism. The clamping mechanism, located between the first and second side brackets, is responsible for clamping the irregularly shaped materials.

[0028] The clamping mechanism consists of a fixed clamping seat and a movable clamping seat, with adaptive clamping components on their adjacent sides. The fixed clamping seat is fixedly connected to the end of the second side bracket, providing fixed support. A drive end seat is fixedly connected to the end of the first side bracket, and the drive end seat is equipped with a displacement drive mechanism for moving the movable clamping seat. The displacement drive mechanism allows adjustment of the distance between the movable clamping seat and the fixed clamping seat, thus accommodating irregularly shaped materials of different sizes.

[0029] Specifically, the shifting drive mechanism includes a shifting drive motor housed within the drive end seat, with a shifting drive screw coaxially and fixedly connected to the output shaft of the motor. Multiple fixing rods are fixedly mounted on the outer side of the movable clamping seat, all of which are fixedly connected to the shifting seat. The shifting drive screw passes through the shifting seat and is threadedly connected to it. When the shifting drive motor starts, it drives the shifting drive screw to rotate. Because the shifting seat is threadedly connected to the shifting drive screw and connected to the movable clamping seat via the fixing rods, linear movement of the movable clamping seat is achieved, facilitating adjustment of the clamping distance for irregularly shaped materials. To ensure the smoothness of the movable clamping seat's movement, multiple guide rods are fixedly connected to the drive end seat. These guide rods all pass through the shifting seat and are slidably connected to it, providing guidance for the movement of the shifting seat, preventing deviation, and ensuring accurate clamping of irregularly shaped materials.

[0030] The adaptive clamping assembly includes a primary arc-shaped mounting slot formed on a fixed clamping base and a movable clamping base, within which a primary adaptive chuck is slidably connected. This design allows the primary adaptive chuck to slide and adjust within the primary arc-shaped mounting slot according to the surface shape of irregularly shaped materials. Each primary adaptive chuck has multiple secondary arc-shaped mounting slots, within which secondary adaptive chucks are rotatably connected. The secondary adaptive chucks can rotate within the secondary arc-shaped mounting slots, further enhancing the ability to conform to irregular surfaces of irregularly shaped materials, thereby achieving stable clamping.

[0031] To ensure more stable sliding of the primary adaptive chuck within the primary arc-shaped mounting groove, a primary guide block is fixedly installed within the primary arc-shaped mounting groove. A primary arc-shaped back groove is formed on the back side of the primary adaptive chuck, with the primary guide block located within and slidably connected to it, allowing for better adaptive adjustment according to the surface shape of irregularly shaped materials. Similarly, a secondary guide block is fixedly installed within the secondary arc-shaped mounting groove, and a secondary arc-shaped back groove is formed on the back side of the secondary adaptive chuck. The secondary guide block is located within and slidably connected to the secondary arc-shaped back groove, ensuring the stability of the secondary adaptive chuck's rotation within the secondary arc-shaped mounting groove, enabling it to more accurately conform to the surface of irregularly shaped materials.

[0032] In addition, to prevent material from slipping during gripping, the secondary adaptive gripper has anti-slip gripping grooves on its gripping surface. These anti-slip gripping grooves increase friction with the surface of irregularly shaped materials. Their structure includes multiple transversely and longitudinally opening straight grooves, which are interconnected. This staggered, interconnected groove design further enhances friction and improves gripping stability.

[0033] In the implementation of this invention, the robotic arm assembly first moves the gripping component above the irregularly shaped material. Then, the main rotary motor drives the gripping component to rotate, adjusting it to a suitable gripping angle. Next, the shift drive motor is activated, driving the shift drive screw to rotate. Since the shift seat is threadedly connected to the shift drive screw, and the shift seat is connected to the movable clamping seat via a fixed rod, the rotation of the shift drive screw causes the shift seat and the movable clamping seat to move, thus clamping the irregularly shaped material using the movable clamping seat and the fixed clamping seat.

[0034] During the clamping process, based on the external shape of the irregularly shaped material, the primary adaptive chuck slides along the primary guide block within the primary arc-shaped mounting groove, while the secondary adaptive chuck rotates around the secondary guide block within the secondary arc-shaped mounting groove. This adaptive adjustment allows the primary and secondary adaptive chucks to better conform to the surface of the irregularly shaped material, achieving stable clamping. The anti-slip gripping grooves on the clamping surface of the secondary adaptive chuck further increase the friction with the irregularly shaped material, preventing it from slipping. Through the coordinated work of its components, the entire device efficiently and stably completes the transfer of irregularly shaped materials.

[0035] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A robotic gripping device for transferring irregularly shaped materials, comprising a mounting base plate (1), characterized in that, The top of the mounting base plate (1) is fixedly provided with a mounting column (2), and the top of the mounting column (2) is fixedly connected with a robotic arm assembly (3), and the end of the robotic arm assembly (3) is connected to a gripping assembly (4). The gripping assembly (4) includes a mounting base (5) fixedly disposed at the end of the robotic arm assembly (3). A main rotary motor (7) is fixedly disposed inside the mounting base (5). The output shaft of the main rotary motor (7) passes through the mounting base (5) and is coaxially fixedly connected to the rotary disk (6). A first side bracket (8) and a second side bracket (9) are fixedly disposed on the side of the rotary disk (6) away from the mounting base (5). A clamping mechanism is connected between the first side bracket (8) and the second side bracket (9). The clamping mechanism includes a fixed clamping seat (11) and a movable clamping seat (16). Adaptive clamping components (17) are provided on adjacent sides of the fixed clamping seat (11) and the movable clamping seat (16). The fixed clamping seat (11) is fixedly connected to the end of the second side bracket (9). The end of the first side bracket (8) is fixedly connected to a drive end seat (10). The drive end seat (10) is provided with a displacement drive mechanism for driving the movable clamping seat (16) to move. The adaptive clamping assembly (17) includes a primary arc-shaped mounting groove on the fixed clamping seat (11) and the movable clamping seat (16). A primary adaptive chuck (18) is slidably connected in the primary arc-shaped mounting groove. Each primary adaptive chuck (18) has multiple secondary arc-shaped mounting grooves. A secondary adaptive chuck (19) is rotatably connected in the secondary arc-shaped mounting groove.

2. The robotic gripping device for transferring irregularly shaped materials according to claim 1, characterized in that, The displacement drive mechanism includes a displacement drive motor disposed in the drive end seat (10), the output shaft of the displacement drive motor is coaxially fixedly connected to a displacement drive screw (13), a plurality of fixing rods (15) are fixedly disposed on the outer side of the movable clamping seat (16), the plurality of fixing rods (15) are jointly fixedly connected to the displacement seat (12), and the displacement drive screw (13) passes through the displacement seat (12) and is threadedly connected to it.

3. The robotic gripping device for transferring irregularly shaped materials according to claim 2, characterized in that, The drive end seat (10) is fixedly connected to multiple guide rods (14), all of which pass through the shift seat (12) and are slidably connected thereto. All of the guide rods (14) are threadedly connected to the shift drive screw (13).

4. The robotic gripping device for transferring irregularly shaped materials according to claim 1, characterized in that, A first-level guide block (22) is fixedly installed in the first-level arc-shaped mounting groove, and a first-level arc-shaped back groove (21) is opened on the back side of the first-level adaptive clamp (18). The first-level guide block (22) is located in the first-level arc-shaped back groove (21) and is slidably connected to it.

5. The robotic gripping device for transferring irregularly shaped materials according to claim 1, characterized in that, A secondary guide block (24) is fixedly provided in the secondary arc-shaped mounting groove, and a secondary arc-shaped back groove (23) is provided on the back side of the secondary adaptive clamp (19). The secondary guide block (24) is located in the secondary arc-shaped back groove (23) and is slidably connected to it.

6. The robotic gripping device for transferring irregularly shaped materials according to claim 1, characterized in that, The clamping surface of the secondary adaptive chuck (19) is provided with an anti-detachment gripping groove (20).

7. The robotic gripping device for transferring irregularly shaped materials according to claim 6, characterized in that, The anti-detachment gripping groove (20) includes multiple horizontally opened straight grooves and multiple vertically opened straight grooves, which are connected to each other.

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