Industrial robot grabbing safety control device

Abstract

The invention provides an industrial robot grabbing safety control device, and relates to the technical field of industrial robots, the industrial robot grabbing safety control device comprises a conveying table, a recognition assembly is arranged at the inlet end of the conveying table, a collecting frame is arranged on one side of the conveying table, and a rotating mechanical arm is arranged between the conveying table and the collecting frame; clamping mechanical arms are installed on the two sides of the top of the rotating mechanical arm. The recognition assembly comprises a recognition unit, after an object needing to be taken out is recognized through the recognition assembly, a first electric push rod drives an intercepting plate to penetrate out of an intercepting platform to intercept the object, meanwhile, along with movement of the intercepting plate, a movable plate moves along a vertical groove, a push frame is driven by a pull rod to move along a guide plate, and therefore a push plate is far away from the top of a sending-out plate; and after the intercepting plate is taken back, the two clamping mechanical arms move upwards, a push plate and a push frame move along the sending-out plate along with the elastic force of a fourth spring, and the objects falling on the sending-out plate are pushed into a collecting frame.

Description

Technical Field

[0001] This disclosure relates to the field of industrial robot technology, and in particular to a safety control device for industrial robot gripping. Background Technology

[0002] Industrial robots are mechanical devices that perform tasks such as handling, assembly, welding, painting, and inspection of objects in industrial production environments through automatic control and reprogrammability. These robots typically possess programmability, automatic control, and multi-degree-of-freedom motion capabilities, and can execute specific industrial tasks under pre-set programs or external control system instructions, thereby replacing or assisting humans in performing repetitive and precision-required operations. Industrial robots are an important component of industrial automation equipment, and their performance is usually measured by indicators such as repeatability, load capacity, speed, and workspace. Industrial robots typically consist of a main mechanical structure, joint drive and transmission mechanisms, a control system, sensors, and an end effector. Their design and manufacturing require comprehensive consideration of factors such as motion space, load capacity, and repeatability.

[0003] In existing technologies, industrial robot grasping control systems typically rely solely on vision or fixed programs to control the robot for grasping. However, in applications such as logistics sorting, the shapes and hardness of the objects to be sorted vary greatly, which may lead to grasping failure or unstable grasping, especially during the transfer process, which can easily cause objects to fall off. Summary of the Invention

[0004] This disclosure aims to at least partially address one of the technical problems in the related art.

[0005] Therefore, the purpose of this disclosure is to provide a safety control device for industrial robot gripping.

[0006] To achieve the above objectives, this disclosure provides an industrial robot gripping safety control device, comprising: a conveyor table, an identification component at the inlet end of the conveyor table, a collection frame on one side of the conveyor table, and a rotating robotic arm between the conveyor table and the collection frame, with gripping robotic arms mounted on both sides of the top of the rotating robotic arm; the identification component includes an identification unit slidably mounted on the outer walls on both sides of the inlet end of the conveyor table, with an identification end on the top surface of the identification unit; the rotating robotic arm includes a fixed base fixed between the conveyor table and the collection frame, with a rotating shaft rotatably mounted on the top of the fixed base, and a top plate fixed on the top of the rotating shaft; the gripping robotic arms include a fixed plate, with a fixed frame fixed to the bottom of one side of the fixed plate, and a movable frame slidably mounted on the bottom of the other side of the fixed plate, with two vertical rods symmetrically slidably mounted on the bottom of both the fixed frame and the movable frame, and baffles fixed to the bottom of both the fixed frame and the movable frame, with two side plates symmetrically slidably mounted on the inner side of the baffles; and a delivery plate fixed to the top of the collection frame, with a push plate on the outer side of the delivery plate.

[0007] Optionally, the identification component further includes: a slide rail, a third electric push rod, and a clamping plate. The slide rail is fixed on both outer walls of the inlet end of the conveyor table, and the identification unit slides along the slide rail on both sides. The third electric push rod is fixed on both outer walls of the identification component, and the extended end of the third electric push rod passes through the identification unit and is fixed with the clamping plate. A second electric push rod is fixed on the surface of the slide rail, and the extended end of the second electric push rod is fixedly connected to both sides of the identification unit.

[0008] Optionally, the rotating robotic arm further includes: a drive motor, a connecting plate, and a bracket. The top of the fixed base is fixed with a drive motor, and the output end of the drive motor is fixedly connected to the bottom of the rotating shaft. The top of the top plate is provided with a connecting plate, and the bottom of both ends of the connecting plate are fixed with brackets. The brackets slide out of the top plate and are fixedly connected to the two fixed plates. The bottom of the top plate is fixed with a fourth electric push rod on both sides of the rotating shaft, and the extended end of the fourth electric push rod is fixedly connected to the connecting plate.

[0009] Optionally, the gripping robotic arm further includes: a bidirectional screw and a first insert. The bidirectional screw is rotatably installed inside both the fixed frame and the moving frame, and the top of the vertical rod is threaded onto the surface of the bidirectional screw. The top of the vertical rods on both sides of the fixed frame is fixed with the first insert facing the moving frame, and the two vertical rods of the moving frame are slidably sleeved on the vertical rod. A motor for driving the bidirectional screw to rotate is installed on the outside of both the fixed frame and the moving frame.

[0010] Optionally, the tops of the two vertical rods of the movable frame are slidably inserted with second inserts, and the two ends of the second inserts are fixedly connected to the movable frame. A first screw is rotatably installed at the bottom of one end of the fixed frame, and one end of the second insert is threaded onto the surface of the first screw. A motor for driving the first screw to rotate is installed at the bottom of the fixed frame, and a slide rod is fixed at the bottom of the other end of the fixed frame, and the other end of the second insert is slidably sleeved on the slide rod.

[0011] Optionally, the inner side of the baffle is provided with a moving groove, and the side plate slides along the inside of the moving groove. Multiple return springs are fixed at equal intervals between the side plate and the moving groove. A limiting plate is provided at the bottom of the middle of the fixed plate, and a pressing plate is provided at the bottom of the limiting plate. A plug rod is fixed at the top of the pressing plate, and the plug rod slides through the limiting plate and the fixed plate. The limiting plate is symmetrically connected to rotating rods on both sides by rotating shafts, and the other end of the rotating rod is rotatably connected to the two ends of the corresponding fixed frame and the moving frame by rotating shafts.

[0012] Optionally, the fixing plate has a first movable notch in the middle, a second screw is rotatably installed inside the first movable notch, and a screw block is threaded onto the surface of the second screw. The screw block is fixedly connected to the movable frame. The fixing plate has a second movable notch at the position where the insert rod protrudes. A slider is slidably connected inside the second movable notch, and the insert rod slides through the slider. A motor for driving the second screw to rotate is installed at one end of the fixing plate.

[0013] Optionally, a horizontal plate is provided on the side of the fixed plate away from the protruding insertion rod. The horizontal plate is in contact with the vertical rod on one side of the movable frame and the fixed frame. A fixed block is fixed to one end of the horizontal plate. A groove is formed on the surface of the horizontal plate. A movable block is slidably connected inside the groove. A storage frame is fixed to the outside of the baffles of the fixed frame and the movable frame. The fixed block and the movable block are slidably inserted into the storage frame. A third spring is fixed inside the storage frame. The third spring is fixedly connected to the fixed block and the movable block. A long plate is slidably connected to the top of the horizontal plate. The other end of the long plate is rotatably connected to a connecting rod through a pivot. The other end of the connecting rod is rotatably connected to the top of the insertion rod through a pivot. A second spring is sleeved on the surface of the insertion rod protruding from the slider. The two ends of the second spring are fixedly connected to the top of the insertion rod and the slider.

[0014] Optionally, the conveyor table has a placement frame fixed on both sides corresponding to the gripping robot arm. The conveyor table has a hollow notch at the position corresponding to the placement frame, and slots are opened at the top of both sides of the placement frame. A slide is slidably inserted into the top of the slot. Five sets of right-angle frames are equidistantly slidably installed on the surface of the slide. A first spring is sleeved between two sets of right-angle frames on the slide. The bottom of the right-angle frames at both ends of the slide has a slot, and the bottom of the vertical rod is fixed with a plug.

[0015] Optionally, an interception platform is fixed at the middle position of the conveyor platform, and an interception plate slides out from the top of the interception platform. A vertical groove is opened on the side of the conveyor platform near the collection frame, and a movable plate is slidably connected inside the vertical groove. A first electric push rod is fixed to the bottom of the movable plate corresponding to the fixed seat, and the extended end of the first electric push rod is fixedly connected to the movable plate. One end of the movable plate is fixedly connected to the bottom of the interception plate, and a pull rod is rotatably connected to the other end of the movable plate. A push frame is fixed to the back of the push plate, and the other end of the pull rod is rotatably connected to the outer end of the push frame through a rotating shaft. Two guide plates are fixed at the bottom of the collection frame corresponding to the position of the push frame, and the push frame slides along the guide plates. A fourth spring is fixed between the push frame and the collection frame.

[0016] The technical solution provided in this disclosure may include the following beneficial effects:

[0017] 1. The present invention uses a fourth electric push rod to drive the connecting plate, the insert and two sets of clamping robotic arms to move upward, thereby moving the clamping robotic arms away from the conveyor and the collection box, making it convenient to take out the goods and put them into the delivery plate. The drive motor drives the rotating shaft to rotate, so that the two sets of clamping robotic arms can rotate and switch, and can alternately clamp and deliver the goods.

[0018] 2. In this invention, when the vertical rod is located at both ends of the moving frame and the fixed frame, it presses the horizontal plate, thereby moving the insert rod upward through the connecting rod. When the vertical rod moves towards the middle, the horizontal plate moves synchronously under the action of the fixed block, the moving block and the third spring inside the storage frame. Then, the second spring drives the insert rod to move downward, causing the pressing plate to press the top of the object. Thus, the object is fully wrapped and limited by the pressing plate, the baffle, the side plate and the right-angle frame to prevent the object from falling during transportation. When the moving frame moves towards the fixed frame, the moving block slides along the slide groove to maintain the connection with the horizontal plate. The rotating rod drives the limiting plate and the pressing plate to move along the second moving notch to maintain the connection between the horizontal plate and the insert rod, and keeps the limiting plate and the pressing plate in the middle position between the fixed frame and the moving frame. The wrapping range can be adjusted according to the size of the object.

[0019] 3. In this invention, when the bidirectional screw drives the vertical rod to move towards the center, the insert block at the bottom of the vertical rod will insert into the slot, forming a snap-fit ​​between the vertical rod and the right-angle frame. The movement of the vertical rod will also drive the movement of the slide and the right-angle frame. The bottom of the right-angle frame is inserted into the bottom of the object for limiting. The two vertical rods of the moving frame or the fixed frame will move along the first insert. The motor drives the first screw to rotate, driving the second insert to move. At the same time, the motor drives the second screw to rotate. The screw block and the second screw are threaded together and move along the first moving notch, bringing the moving frame closer to the fixed frame, bringing the vertical rod and the two sets of baffles closer together, and pushing the object towards the center. When the vertical rod moves towards the center of the baffle, the vertical rod presses against the side plate, and the side plate limits the two sides of the object.

[0020] 4. After the identification component identifies the object to be retrieved, the first electric push rod drives the intercepting plate to pass through the intercepting platform and intercept the object. At the same time, as the intercepting plate moves, the moving plate moves along the vertical groove, and the pull rod drives the pusher to move along the guide plate, thereby moving the pusher away from the top of the delivery plate, so that the gripping robotic arm can carry the object onto the delivery plate. After the intercepting plate is retracted, the two sets of gripping robotic arms move upward, and the pusher and pusher move along the delivery plate with the elastic force of the fourth spring, pushing the object on the delivery plate into the collection box.

[0021] Additional aspects and advantages of this disclosure will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this disclosure. Attached Figure Description

[0022] The above and / or additional aspects and advantages of this disclosure will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, in which:

[0023] Figure 1 This is a schematic diagram of the overall structure of an industrial robot gripping safety control device according to an embodiment of the present disclosure;

[0024] Figure 2 This is a schematic diagram of the identification component structure in an industrial robot gripping safety control device according to an embodiment of the present disclosure;

[0025] Figure 3 This is a schematic diagram of the top structure of the conveyor and collection frame in an industrial robot gripping safety control device according to an embodiment of the present disclosure;

[0026] Figure 4 This is a schematic diagram of the rotating robotic arm structure in an industrial robot gripping safety control device according to an embodiment of this disclosure;

[0027] Figure 5 This is a schematic diagram of the connection between the push plate and the intercepting plate in an industrial robot gripping safety control device according to an embodiment of this disclosure;

[0028] Figure 6 This is a schematic diagram of the gripping robotic arm structure in an industrial robot gripping safety control device according to an embodiment of the present disclosure;

[0029] Figure 7 This is a schematic diagram of the structure on both sides of the baffle in an industrial robot gripping safety control device according to an embodiment of the present disclosure;

[0030] Figure 8 This is a schematic diagram of the connection between the vertical rod and the first screw in an industrial robot gripping safety control device according to an embodiment of this disclosure;

[0031] Figure 9 This is a schematic diagram of the connection between the vertical rod and the right-angle frame in an industrial robot gripping safety control device according to an embodiment of this disclosure;

[0032] Figure 10 This is a schematic diagram of the top structure of the fixed plate in an industrial robot gripping safety control device according to an embodiment of the present disclosure;

[0033] Figure 11 This is a schematic diagram of the inner surface structure of a baffle in an industrial robot gripping safety control device according to an embodiment of this disclosure;

[0034] Figure 12 This is a schematic diagram of the connection between the extrusion plate and the limiting plate in an industrial robot gripping safety control device according to an embodiment of this disclosure;

[0035] As shown in the figure: 1. Conveyor platform; 11. Interception platform; 12. Interception plate; 13. Placement frame; 14. Hollowed-out notch; 15. Vertical groove; 16. Moving plate; 17. First electric push rod; 18. Slot;

[0036] 2. Identification component; 21. Identification unit; 22. Identification end; 23. Slide rail; 24. Second electric push rod; 25. Third electric push rod; 26. Clamping plate;

[0037] 3. Rotating robotic arm; 31. Fixed base; 32. Drive motor; 33. Rotating shaft; 34. Top plate; 35. Connecting plate; 36. Fourth electric push rod; 37. Insertion bracket;

[0038] 4. Clamping robotic arm; 41. Fixed frame; 42. Moving frame; 43. Fixed plate; 44. Vertical rod; 45. Baffle; 46. First insert; 47. Right-angle frame; 48. Slide; 49. First spring; 410. Moving slot; 411. Side plate; 412. Return spring; 413. First screw; 414. Second insert; 415. Insert block; 416. Slot; 417. First moving notch; 41 8. Second screw; 419. Screw block; 420. Second moving notch; 421. Slider; 422. Insert rod; 423. Second spring; 424. Connecting rod; 425. Long plate; 426. Horizontal plate; 427. Fixing block; 428. Storage frame; 429. Third spring; 430. Slide groove; 431. Moving block; 432. Bidirectional screw; 433. Limiting plate; 434. Extrusion plate; 435. Rotating rod

[0039] 5. Collection box; 51. Delivery plate; 52. Push plate; 53. Push frame; 54. Guide plate; 55. Fourth spring; 56. Pull rod. Detailed Implementation

[0040] Embodiments of this disclosure are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are used only to explain this disclosure, and should not be construed as limiting this disclosure. Rather, embodiments of this disclosure include all variations, modifications, and equivalents falling within the spirit and scope of the appended claims.

[0041] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 6 , Figure 7 and Figure 8 As shown in the figure, this disclosure proposes an industrial robot gripping safety control device, including: a conveyor 1, an identification component 2 at the entrance end of the conveyor 1, a collection frame 5 on one side of the conveyor 1, and a rotating robotic arm 3 between the conveyor 1 and the collection frame 5, with gripping robotic arms 4 mounted on both sides of the top of the rotating robotic arm 3; the identification component 2 includes an identification unit 21, which is slidably mounted on the outer walls on both sides of the entrance end of the conveyor 1, and an identification end 22 is provided on the top surface of the identification unit 21; the rotating robotic arm 3 includes a fixed base 31, which is fixed between the conveyor 1 and the collection frame 5, and a rotating shaft 33 is rotatably mounted on the top of the fixed base 31, with a top plate 34 fixed on the top of the rotating shaft 33; the gripping robotic arm 4 includes a fixed plate 43, with a fixed frame 41 fixed to the bottom of one side of the fixed plate 43, and a fixed... A movable frame 42 is slidably installed on the bottom of the other side of the plate 43. Two vertical rods 44 are symmetrically slidably installed on the bottom of both the fixed frame 41 and the movable frame 42. A baffle 45 is fixed on the bottom of both the fixed frame 41 and the movable frame 42. Two side plates 411 are symmetrically slidably installed on the inner side of the baffle 45. A delivery plate 51 is fixed on the top of the collection frame 5, and a push plate 52 is provided on the outer side of the delivery plate 51. The rotating robotic arm 3 and the clamping robotic arm 4 of this solution are similar to the control methods of industrial robots, special operation robots and service consumption robots in the existing intelligent manufacturing equipment industry and additive manufacturing equipment industry. When using the device, the object is sent in from the inlet end of the conveyor table 1, identified by the identification component 2, and the object to be taken out is fully wrapped and clamped by the clamping robotic arm 4. The object is then transported to the delivery plate 51 of the collection frame 5 by the rotating robotic arm 3 and pushed into the collection frame 5 by the push plate 52.

[0042] like Figure 2As shown, in some embodiments, the identification component 2 further includes: a slide rail 23, a third electric push rod 25, and a clamping plate 26. The slide rail 23 is fixed on both outer walls of the inlet end of the conveyor table 1, and the identification unit 21 slides along the slide rail 23 on both sides. The third electric push rod 25 is fixed on both outer walls of the identification component 2, and the extended end of the third electric push rod 25 passes through the identification unit 21 and is fixed with the clamping plate 26. A second electric push rod 24 is fixed on the surface of the slide rail 23, and the extended end of the second electric push rod 24 is fixedly connected to both sides of the identification unit 21.

[0043] Understandably, the object is fed into the bottom of the recognition component 2 via the conveyor 1, and the clamping plate 26 is driven by the third electric push rod 25 to clamp the object for easy recognition. When the clamping robotic arm 4 rotates, the recognition unit 21 is driven by the second electric push rod 24 to slide along the slide rail 23 to avoid interfering with the rotation of the clamping robotic arm 4.

[0044] like Figure 4 As shown, in some embodiments, the rotating robotic arm 3 further includes: a drive motor 32, a connecting plate 35, and a bracket 37. The top of the fixed base 31 is fixed with the drive motor 32, and the output end of the drive motor 32 is fixedly connected to the bottom of the rotating shaft 33. The top of the top plate 34 is provided with the connecting plate 35, and the bottom ends of the connecting plate 35 are fixed with brackets 37. The brackets 37 slide out of the top plate 34 and are fixedly connected to two fixed plates 43. The bottom of the top plate 34 is located on both sides of the rotating shaft 33 and a fourth electric push rod 36 is fixedly fixed, and the extended end of the fourth electric push rod 36 is fixedly connected to the connecting plate 35.

[0045] Understandably, the fourth electric push rod 36 drives the connecting plate 35, the insert 37 and the two sets of clamping robotic arms 4 to move upward, thereby moving the clamping robotic arms 4 away from the conveyor table 1 and the collection frame 5, making it easier to take out the goods and put them on the delivery plate 51. The drive motor 32 drives the rotating shaft 33 to rotate, so that the two sets of clamping robotic arms 4 can rotate and switch, and can alternately clamp and deliver the goods.

[0046] like Figure 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10 , Figure 11 and Figure 12As shown, in some embodiments, the gripping robotic arm 4 further includes: a bidirectional screw 432 and a first insert 46. The bidirectional screw 432 is rotatably mounted inside both the fixed frame 41 and the movable frame 42, and the top of the vertical rod 44 is threaded onto the surface of the bidirectional screw 432. The tops of the vertical rods 44 on both sides of the fixed frame 41 are fixed with the first insert 46 facing the movable frame 42, and the two vertical rods 44 of the movable frame 42 are slidably sleeved on the vertical rods 44. Motors for driving the bidirectional screw 432 to rotate are mounted on the outside of both the fixed frame 41 and the movable frame 42. Second inserts 414 are slidably inserted into the tops of the two vertical rods 44 of the movable frame 42, and both ends of the second insert 414 are fixed to the movable frame 42. The connection is as follows: a first screw 413 is rotatably mounted on the bottom of one end of the fixed frame 41, and one end of the second insert 414 is threaded onto the surface of the first screw 413; a motor for driving the first screw 413 to rotate is mounted on the bottom of the fixed frame 41; a sliding rod is fixed on the bottom of the other end of the fixed frame 41, and the other end of the second insert 414 is slidably sleeved on the sliding rod; a moving groove 410 is opened on the inner side of the baffle 45, and the side plate 411 slides along the inside of the moving groove 410; multiple return springs 412 are fixed at equal intervals between the side plate 411 and the moving groove 410; a limiting plate 433 is provided at the bottom of the middle of the fixed plate 43, and a pressing plate 434 is provided at the bottom of the limiting plate 433; the pressing plate 43... A rod 422 is fixed to the top of the 4, and the rod 422 slides through the limiting plate 433 and the fixing plate 43; wherein, the limiting plate 433 is symmetrically connected to the two sides by a rotating shaft, and the other end of the rotating rod 435 is rotatably connected to the two ends of the corresponding fixing frame 41 and the moving frame 42 by a rotating shaft; the fixing plate 43 has a first moving notch 417 in the middle, and a second screw 418 is rotatably installed inside the first moving notch 417, and a screw block 419 is threaded onto the surface of the second screw 418, the screw block 419 is fixedly connected to the moving frame 42; the fixing plate 43 has a second moving notch 420 at the position where the rod 422 passes through, and the second moving notch 420... The internal sliding connection includes a slider 421, through which the insertion rod 422 slides. One end of the fixing plate 43 is equipped with a motor that drives the second screw 418 to rotate. A horizontal plate 426 is provided on the side of the fixing plate 43 away from the insertion rod 422. The horizontal plate 426 is in contact with the vertical rod 44 on one side of the moving frame 42 and the fixing frame 41. A fixing block 427 is fixed to one end of the horizontal plate 426. A groove 430 is formed on the surface of the horizontal plate 426. The moving block 431 is slidably connected inside the groove 430. A storage frame 428 is fixed to the outside of the baffles 45 of the fixing frame 41 and the moving frame 42, and the fixing block 427 and the moving block 431 are slidably inserted into the storage frame 428.The storage frame 428 has a third spring 429 fixed inside, and the third spring 429 is fixedly connected to the fixed block 427 and the moving block 431. The top of the horizontal plate 426 is slidably connected to a long plate 425, and the other end of the long plate 425 is rotatably connected to a connecting rod 424 via a pivot. The other end of the connecting rod 424 is rotatably connected to the top of the insert rod 422 via a pivot. The insert rod 422 protrudes from the surface of the slider 421 and is fitted with a second spring 423, and both ends of the second spring 423 are fixedly connected to the top of the insert rod 422 and the slider 421. The conveyor table 1 has placement frames 13 fixed on both sides corresponding to the gripping robotic arm 4. A notch 14 is provided on the conveyor table 1 at the position corresponding to the placement frame 13, and slots 18 are provided on the top of both sides of the placement frame 13. A slide 48 is slidably inserted into the top of the slot 18. Five sets of right-angle brackets 47 are equidistantly mounted on the surface of the slide 48. A first spring 49 is sleeved between two sets of right-angle brackets 47 on the slide 48. The bottom of the right-angle brackets 47 at both ends of the slide 48 has a slot 416, and a plug 415 is fixed to the bottom of the vertical rod 44.

[0047] It should be noted that initially, the vertical rod 44 is moved to both ends by the bidirectional screw 432 inside the moving frame 42 and the fixed frame 41, so that it can be inserted into the bottom of the right-angle bracket 47 at both ends of the carriage 48. Subsequently, when the bidirectional screw 432 drives the vertical rod 44 to move towards the middle, the insert 415 at the bottom of the vertical rod 44 will insert into the slot 416, forming a locking connection between the vertical rod 44 and the right-angle bracket 47. The movement of the vertical rod 44 will also drive the movement of the carriage 48 and the right-angle bracket 47. The bottom of the right-angle bracket 47 is inserted into the bottom of the object for limiting the movement. 2. The two vertical rods 44 of the fixed frame 41 move along the first insert 46. The motor drives the first screw 413 to rotate, which in turn drives the second insert 414 to move. At the same time, the motor drives the second screw 418 to rotate. The screw block 419 and the second screw 418 are threaded together and move along the first moving notch 417, bringing the moving frame 42 closer to the fixed frame 41, bringing the vertical rods 44 and the two sets of baffles 45 closer together, and pushing the object towards the middle. When the vertical rods 44 move toward the middle of the baffles 45, the vertical rods 44 press against the side plate 411, and the side plate 411 presses against the object. The object is limited on both sides. When the vertical rod 44 is at both ends of the moving frame 42 and the fixed frame 41, it presses against the horizontal plate 426, thereby moving the insert rod 422 upward through the connecting rod 424. When the vertical rod 44 moves towards the middle, the horizontal plate 426 moves synchronously under the action of the fixed block 427, the moving block 431 and the third spring 429 inside the storage frame 428. Then, the second spring 423 drives the insert rod 422 downward, which drives the pressing plate 434 to press against the top of the object. Thus, through the pressing plate 434, the baffle 45, the side plate 411 and the vertical rod 426, the object is pressed against the horizontal plate 426. The corner frame 47 provides comprehensive wrapping and positioning for the object, preventing it from falling during transport. As the moving frame 42 moves toward the fixed frame 41, the moving block 431 slides along the slide groove 430, maintaining its connection with the horizontal plate 426. The rotating rod 435 drives the limiting plate 433 and the pressing plate 434 to move along the second moving notch 420, maintaining the connection between the horizontal plate 426 and the insert rod 422, and keeping the limiting plate 433 and the pressing plate 434 in the middle position between the fixed frame 41 and the moving frame 42, adjusting the wrapping range according to the size of the object.

[0048] like Figure 3 and Figure 5As shown, in some embodiments, an interception platform 11 is fixed at the middle position of the conveying platform 1, and an interception plate 12 slides through the top of the interception platform 11. A vertical groove 15 is provided on the side of the conveying platform 1 near the collection frame 5. A movable plate 16 is slidably connected inside the vertical groove 15. A first electric push rod 17 is fixed to the bottom of the movable plate 16 corresponding to the fixed seat 31, and the extended end of the first electric push rod 17 is fixedly connected to the movable plate 16. One end of the movable plate 16 is fixedly connected to the bottom of the interception plate 12, and the other end of the movable plate 16 is rotatably connected to a pull rod 56. A push frame 53 is fixed to the back of the push plate 52. The other end of the pull rod 56 is rotatably connected to the outer end of the push frame 53 through a rotating shaft. Two guide plates 54 are fixed to the bottom of the collection frame 5 at the position corresponding to the push frame 53, and the push frame 53 slides along the guide plates 54. A fourth spring 55 is fixed between the push frame 53 and the collection frame 5.

[0049] It should be noted that after the object to be retrieved is identified by the identification component 2, the first electric push rod 17 drives the intercepting plate 12 to pass through the intercepting platform 11 to intercept the object. At the same time, as the intercepting plate 12 moves, the moving plate 16 moves along the vertical groove 15, and drives the pusher 53 to move along the guide plate 54 through the pull rod 56, thereby moving the pusher 52 away from the top of the delivery plate 51, so that the gripping robotic arm 4 can carry the object onto the delivery plate 51. After the intercepting plate 12 is retracted, the two sets of gripping robotic arms 4 move upward, and the pusher 52 and the pusher 53 move along the delivery plate 51 with the elastic force of the fourth spring 55, pushing the object that has fallen on the delivery plate 51 into the collection box 5.

[0050] Working principle:

[0051] When using the device, the object is fed in from the inlet end of the conveyor table 1. The object is fed into the bottom of the identification component 2 via the conveyor table 1. The clamping plate 26 clamps the object via the third electric push rod 25 for easy identification. When the clamping robotic arm 4 rotates, the identification unit 21 slides along the slide rail 23 via the second electric push rod 24 to avoid interfering with the rotation of the clamping robotic arm 4. The connecting plate 35, the insert 37, and the two sets of clamping robotic arms 4 move upward via the fourth electric push rod 36, thereby moving the clamping robotic arms 4 away from the conveyor table 1 and the collection frame 5, making it easier to remove the object and place it on the delivery plate 51. The rotating shaft 33 is rotated by the drive motor 32, causing the two sets of clamping robotic arms 4 to rotate and switch, allowing for alternating clamping and removal of the object. When an item is sent out, after the identification component 2 identifies the item to be retrieved, the first electric push rod 17 drives the intercepting plate 12 to pass through the intercepting platform 11 to intercept the item. At the same time, as the intercepting plate 12 moves, the moving plate 16 moves along the vertical groove 15, and the pull rod 56 drives the pusher 53 to move along the guide plate 54, thereby moving the pusher 52 away from the top of the delivery plate 51, so that the gripping robotic arm 4 can carry the item onto the delivery plate 51. After the intercepting plate 12 is retracted, the two sets of gripping robotic arms 4 move upward, and the pusher 52 and the pusher 53 move along the delivery plate 51 with the elastic force of the fourth spring 55, pushing the item that has fallen onto the delivery plate 51 into the collection frame 5. Initially, the bidirectional screw 432 inside the moving frame 42 and the fixed frame 41 pushes the item into the collection frame 5. The vertical rod 44 is moved to both ends so that it can be inserted into the bottom of the right-angle bracket 47 at both ends of the carriage 48. Then, when the bidirectional screw 432 drives the vertical rod 44 to move towards the middle, the insert block 415 at the bottom of the vertical rod 44 will insert into the slot 416, forming a snap-fit ​​between the vertical rod 44 and the right-angle bracket 47. The movement of the vertical rod 44 will also drive the movement of the carriage 48 and the right-angle bracket 47. The bottom of the right-angle bracket 47 is inserted into the bottom of the object for limiting. The two vertical rods 44 of the moving frame 42 or the fixed frame 41 will move along the first insert 46. The motor drives the first screw 413 to rotate, which drives the second insert 414 to move. At the same time, the motor drives the second screw 418 to rotate. The screw block 419 and the second screw 418 are threaded together along the first moving notch. 417 moves the moving frame 42 closer to the fixed frame 41, bringing the vertical rod 44 and the two sets of baffles 45 closer together, and pushing the object towards the center. As the vertical rod 44 moves towards the center of the baffles 45, it presses against the side plate 411, limiting the two sides of the object. When the vertical rod 44 is at both ends of the moving frame 42 and the fixed frame 41, it presses against the horizontal plate 426, thereby moving the insert rod 422 upward through the connecting rod 424. As the vertical rod 44 moves towards the center, the horizontal plate 426 moves synchronously under the action of the fixed block 427, the moving block 431, and the third spring 429 inside the storage frame 428. Then, the second spring 423 drives the insert rod 422 downward, causing the pressing plate 434 to press against the top of the object.The compression plate 434, baffle 45, side plate 411, and right-angle bracket 47 comprehensively wrap and limit the object, preventing it from falling during transport. When the moving frame 42 moves towards the fixed frame 41, the moving block 431 slides along the groove 430, maintaining connection with the horizontal plate 426. The rotating rod 435 drives the limiting plate 433 and compression plate 434 to move along the second moving notch 420, maintaining connection between the horizontal plate 426 and the insert rod 422, and keeping the limiting plate 433 and compression plate 434 in the middle position between the fixed frame 41 and the moving frame 42. The wrapping range can be adjusted according to the size of the object.

[0052] In the description of this disclosure, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, in the description of this disclosure, unless otherwise stated, "a plurality of" means two or more.

[0053] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of preferred embodiments of this disclosure includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the function involved, as will be understood by those skilled in the art to which embodiments of this disclosure pertain.

[0054] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0055] Although embodiments of the present disclosure have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present disclosure.

Claims

1. A safety control device for industrial robot gripping, characterized in that, include: A conveyor (1) is provided with an identification component (2) at the entrance end of the conveyor (1), a collection frame (5) is provided on one side of the conveyor (1), and a rotating mechanical arm (3) is provided between the conveyor (1) and the collection frame (5). Clamping mechanical arms (4) are installed on both sides of the top of the rotating mechanical arm (3). The identification component (2) includes an identification unit (21), which is slidably installed on the outer walls on both sides of the inlet end of the conveyor (1), and an identification end (22) is provided on the top surface of the identification unit (21). The rotating robotic arm (3) includes a fixed seat (31), which is fixed between the conveyor table (1) and the collection frame (5), and a rotating shaft (33) is rotatably mounted on the top of the fixed seat (31), and a top plate (34) is fixed on the top of the rotating shaft (33). The gripping robotic arm (4) includes a fixed plate (43), a fixed frame (41) is fixed to one bottom side of the fixed plate (43), and a movable frame (42) is slidably installed on the other bottom side of the fixed plate (43). Two vertical rods (44) are symmetrically slidably installed on the bottom of both the fixed frame (41) and the movable frame (42), and a baffle (45) is fixed to the bottom of both the fixed frame (41) and the movable frame (42). Two side plates (411) are symmetrically slidably installed on the inner side of the baffle (45). The top of the collection box (5) is fixed with a delivery plate (51), and a push plate (52) is provided on the outside of the delivery plate (51).

2. The industrial robot gripping safety control device according to claim 1, characterized in that, The identification component (2) further includes: The slide rail (23), the third electric push rod (25), and the clamping plate (26) are fixed on the outer walls of both sides of the inlet end of the conveyor (1). The two sides of the identification unit (21) slide along the slide rail (23). The two sides of the outer walls of the identification component (2) are fixed with the third electric push rod (25). The extended end of the third electric push rod (25) passes through the identification unit (21) and is fixed with the clamping plate (26). The slide rail (23) has a second electric push rod (24) fixed on its surface, and the extended end of the second electric push rod (24) is fixedly connected to both sides of the identification unit (21).

3. The industrial robot gripping safety control device according to claim 1, characterized in that, The rotating robotic arm (3) also includes: The top of the fixed base (31) is fixed with a drive motor (32), a connecting plate (35), and a bracket (37). The output end of the drive motor (32) is fixedly connected to the bottom of the rotating shaft (33). The top of the top plate (34) is provided with a connecting plate (35), and the bottom of both ends of the connecting plate (35) is fixed with a bracket (37). The bracket (37) slides out of the top plate (34) and is fixedly connected to two fixed plates (43). The top plate (34) is fixed with a fourth electric push rod (36) on both sides of the rotating shaft (33) at the bottom, and the extended end of the fourth electric push rod (36) is fixedly connected to the connecting plate (35).

4. The industrial robot gripping safety control device according to claim 1, characterized in that, The gripping robotic arm (4) also includes: The double-ended screw (432) and the first insert (46) are rotatably installed inside the fixed frame (41) and the movable frame (42), and the top of the vertical rod (44) is threaded onto the surface of the double-ended screw (432). The top of the vertical rod (44) on both sides of the fixed frame (41) is fixed with the first insert (46) facing the movable frame (42), and the two vertical rods (44) of the movable frame (42) are slidably sleeved on the vertical rod (44). The fixed frame (41) and the movable frame (42) are both equipped with motors that drive the bidirectional screw (432) to rotate.

5. The industrial robot gripping safety control device according to claim 4, characterized in that, The top of the two vertical rods (44) of the movable frame (42) is slidably inserted with a second insert (414), and the two ends of the second insert (414) are fixedly connected to the movable frame (42). A first screw (413) is rotatably installed at the bottom of one end of the fixed frame (41), and one end of the second insert (414) is threaded onto the surface of the first screw (413). The fixed frame (41) is equipped with a motor that drives the first screw (413) to rotate at the bottom. A sliding rod is fixed at the bottom of the other end of the fixed frame (41), and the other end of the second insert (414) is slidably sleeved on the sliding rod.

6. The industrial robot gripping safety control device according to claim 5, characterized in that, The baffle (45) has a moving groove (410) on its inner side, and the side plate (411) slides along the moving groove (410). Multiple return springs (412) are fixed at equal intervals between the side plate (411) and the moving groove (410). The bottom of the fixed plate (43) has a limiting plate (433), and the bottom of the limiting plate (433) has a pressing plate (434). The top of the pressing plate (434) has a plug rod (422), and the plug rod (422) slides through the limiting plate (433) and the fixed plate (43). The limiting plate (433) has rotating rods (435) symmetrically connected on both sides by rotating shafts, and the other end of the rotating rods (435) is rotatably connected to the two ends of the corresponding fixed frame (41) and moving frame (42) by rotating shafts.

7. The industrial robot gripping safety control device according to claim 6, characterized in that, The fixing plate (43) has a first movable notch (417) in the middle. A second screw (418) is rotatably installed inside the first movable notch (417), and a screw block (419) is threaded onto the surface of the second screw (418). The screw block (419) is fixedly connected to the movable frame (42). The fixing plate (43) has a second movable notch (420) at the position where the insert rod (422) passes through. A slider (421) is slidably connected inside the second movable notch (420), and the insert rod (422) slides through the slider (421). One end of the fixing plate (43) is equipped with a motor that drives the second screw (418) to rotate.

8. The industrial robot gripping safety control device according to claim 7, characterized in that, A horizontal plate (426) is provided on the side of the fixed plate (43) away from the insertion rod (422). The horizontal plate (426) is in contact with the vertical rod (44) on one side of the movable frame (42) and the fixed frame (41). A fixed block (427) is fixed at one end of the horizontal plate (426). A sliding groove (430) is provided on the surface of the horizontal plate (426). A movable block (431) is slidably connected inside the sliding groove (430). A storage frame (428) is fixed on the outside of the baffle (45) of the fixed frame (41) and the movable frame (42). The fixed block (427) and the movable block (431) are slidably inserted into the storage frame (428). The storage frame (428) has a third spring (429) fixed inside, and the third spring (429) is fixedly connected to the fixed block (427) and the moving block (431). The top of the horizontal plate (426) is slidably connected to the long plate (425), and the other end of the long plate (425) is rotatably connected to the connecting rod (424) through the pivot. The other end of the connecting rod (424) is rotatably connected to the top of the insert rod (422) through the pivot. The insert rod (422) passes through the surface of the slider (421) and is fitted with a second spring (423). The two ends of the second spring (423) are fixedly connected to the top of the insert rod (422) and the slider (421).

9. The industrial robot gripping safety control device according to claim 8, characterized in that, The conveyor (1) has a placement frame (13) fixed on both sides corresponding to the gripping mechanical arm (4). The conveyor (1) has a hollow notch (14) at the position corresponding to the placement frame (13), and slots (18) are opened on the top of both sides of the placement frame (13). A slide (48) is slidably inserted into the top of the slot (18). Five sets of right-angle frames (47) are equidistantly mounted on the surface of the slide (48). A first spring (49) is sleeved between two sets of right-angle frames (47) of the slide (48). Among them, the bottom of the right-angle bracket (47) at both ends of the slide (48) is provided with a slot (416), and the bottom of the vertical rod (44) is fixed with a plug (415).

10. The industrial robot gripping safety control device according to claim 9, characterized in that: An intercepting platform (11) is fixed in the middle of the conveying platform (1), and an intercepting plate (12) slides out from the top of the intercepting platform (11). A vertical groove (15) is opened on the side of the conveying platform (1) near the collection frame (5). A moving plate (16) is slidably connected inside the vertical groove (15). A first electric push rod (17) is fixed to the bottom of the moving plate (16) of the fixed seat (31), and the extended end of the first electric push rod (17) is fixedly connected to the moving plate (16). One end of the movable plate (16) is fixedly connected to the bottom of the interceptor plate (12), and the other end of the movable plate (16) is rotatably connected to a pull rod (56). A push frame (53) is fixed on the back of the push plate (52). The other end of the pull rod (56) is rotatably connected to the outer end of the push frame (53) through a rotating shaft. Two guide plates (54) are fixed at the bottom of the collection frame (5) corresponding to the position of the push frame (53), and the push frame (53) slides along the guide plates (54). A fourth spring (55) is fixed between the push frame (53) and the collection frame (5).

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