A multi-degree-of-freedom industrial robot arm material grabbing device

Abstract

The application relates to the field of intelligent manufacturing equipment industry and discloses a multi-degree-of-freedom industrial robot arm material grabbing device, which comprises a robot body and a machine arm. The robot body can drive the machine arm to grab materials in multiple degrees of freedom. One end of the machine arm is provided with a clamping mechanism for simultaneously grabbing multiple bars. The clamping mechanism comprises multiple sets of upper clamping claws and lower clamping claws that are inclined upward and downward, and the upper clamping claws and the lower clamping claws are driven by upper driving plates and lower driving plates to simultaneously clamp the multiple bars, so that the stability of the clamped multiple bars can be effectively improved. In addition, the upper pair of upper clamping claws can clamp and limit the upper single bar, thereby reducing the activity space range of the upper bar. The stability and safety of the material grabbing can be effectively improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent manufacturing equipment technology, specifically to a multi-degree-of-freedom industrial robot arm material gripping device. Background Technology

[0002] In the production and processing of bar stock components, multi-degree-of-freedom industrial robots are required to grip and transport these parts. Currently, most existing technologies grip the bar stock one at a time. However, to improve the efficiency of gripping and transporting bar stock, it is necessary to grip multiple bar stock components simultaneously. Although this method can improve the efficiency of gripping and transporting bar stock, it still has the following drawbacks: When multiple bars are gripped at the same time, they are generally in point or line contact with each other. For example, when three bars are gripped at the same time, in order to save fixture space and improve the stability of gripping, they are usually arranged in a triangular posture before gripping. That is, the two bars at the bottom are placed in parallel, while the bar at the top is stuck in the groove formed above the two bars at the bottom. However, in this case, due to the limited friction between the cylinders, the uppermost bar lacks effective rigid constraint because it is placed in the groove formed by the two horizontally placed bars. Therefore, the degree of freedom of the upper bar is greater than that of the two mutually supporting bars below. Furthermore, due to the robot's programming, inertial impacts can occur during the gripping and transporting of bar stock. Since the upper bar stock is a separate bar stock, it has a greater degree of freedom in its spatial range and is prone to rolling or sliding within the groove area formed by the two upper bar stock. This not only makes it impossible to control the position of the individual upper bar stock during transport, resulting in loosening, but also further disrupts the positional reference of the lower bar stock once the upper bar stock begins to shake. This causes the three bar stock as a whole to lose stability and shake significantly during transport. This not only affects the subsequent stacking of bar stock and causes positional deviations, but also, if the shaking is severe during transport, the bar stock is very likely to fall off midway, directly affecting the safety of bar stock transport. In view of this, the present invention proposes a material gripping device for a multi-degree-of-freedom industrial robot arm. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides a material gripping device for a multi-degree-of-freedom industrial robot arm, which solves the problem that when multiple bar-shaped parts are being handled, the limited friction and lack of effective rigid constraints of these parts cause the multi-degree-of-freedom industrial robot to easily slip off during gripping.

[0004] To achieve the above objectives, the present invention provides the following technical solution: A multi-degree-of-freedom industrial robot arm material gripping device includes a robot body and a robotic arm. The robot body can drive the robotic arm to grip materials with multiple degrees of freedom. One end of the robotic arm is provided with a clamping mechanism for gripping multiple bars at the same time. The clamping mechanism includes an outer plate fixedly connected to one end of the robotic arm, an inner plate fixedly connected inside the outer plate, and multiple sets of upper and lower grippers arranged vertically inside the inner plate. An upper drive plate and a lower drive plate are slidably connected to the outer side of the outer plate to drive the upper and lower grippers to slide in an inclined state inside the inner plate to clamp multiple bars simultaneously. An upper push plate is fixedly connected to one side of the upper gripper, and a lower push plate is fixedly connected to one side of the lower gripper. The upper push plate and the upper gripper are slidably connected to the inner plate, and an inclined groove is provided at the sliding position.

[0005] Preferably, the inclination angle of the lower active plate near the inner plate is smaller than the overall inclination angle of the lower active plate below the upper active plate, and a compression spring for buffering reset is provided at the upper middle position of the upper active plate.

[0006] Preferably, a claw sliding shell is fixedly connected inside the inner plate, and a sliding groove is opened inside the claw sliding shell. A sliding pin is fixedly connected inside the upper claw near the upper push plate, and the sliding pin is slidably engaged with the sliding groove opened inside the claw sliding shell.

[0007] Preferably, the lower push plate is telescopically designed at one end near the lower gripper, and the lower surface of the lower gripper is fixedly connected with a plurality of friction arc plates for assisting in clamping the bar stock, and the friction arc plates are arranged in a strip shape.

[0008] Preferably, the outer side of the outer plate is provided with a driving mechanism for driving the upper active plate and the lower active plate. The driving mechanism includes a connecting plate fixedly connected to one end of the robot arm. The two ends of the connecting plate are fixedly connected to a connecting channel. One end of the connecting channel is connected to a driving cylinder. The output end of the driving cylinder is fixedly connected to the outer side of the lower active plate.

[0009] Preferably, the inner plate is provided with a limiting mechanism for assisting the upper gripper in clamping and limiting the bar stock. The limiting mechanism includes a limiting plate that is in close contact with the upper bar stock. An inclined extrusion rod is provided on the outer side of the limiting plate to apply an inclined extrusion force. A triangular plate is fixedly connected to one side of the lower push plate. The lower push plate drives the limiting plate through the triangular plate to push the bar stock from the middle to both ends.

[0010] Preferably, a sliding rod is slidably engaged on one side of the triangular plate, and an L-shaped push rod is fixedly connected to one end of the sliding rod. One end of the L-shaped push rod is movably connected to the inclined extrusion rod via a hinge ball, and the L-shaped push rod is slidably connected to the limiting plate.

[0011] Preferably, a fixing plate that is elastically connected to the inner plate is provided above the inclined extrusion rod, and an arc-shaped groove is provided inside the fixing plate directly above the inclined extrusion rod, and the inclined extrusion rod slides in contact with the arc-shaped groove.

[0012] Preferably, only one pair of triangular plates is provided on one side of the multiple push plates, and they are arranged diagonally. The sliding position of the L-shaped push rod and the inner plate is provided with a groove, and a return spring is provided inside the groove.

[0013] Preferably, the inner sliding groove of the gripper sliding shell is adapted to the size of the sliding pin, the tilt angle of the gripper sliding shell is the same as the tilt angle of the upper push plate, and the inner arc diameter of the lower gripper is larger than the inner arc diameter of the upper gripper.

[0014] This invention provides a material gripping device for a multi-degree-of-freedom industrial robot arm.

[0015] It has the following beneficial effects: 1. This invention uses multiple sets of upper and lower grippers tilted upwards and downwards, and drives the upper and lower grippers through upper and lower active plates to simultaneously clamp multiple bars. This allows the bars to be fully clamped from the outside, effectively improving the stability of clamping multiple bars. Furthermore, the upper pair of grippers limits the clamping of a single bar above, reducing the range of motion of the bar above. This effectively prevents the bar above from shaking during gripping and handling due to excessive range of motion, thus improving the stability and safety of material gripping.

[0016] 2. This invention uses a limiting plate that rotates at a certain angle during the movement to further limit the upper bar. On the one hand, this can fully limit the upper bar again, preventing its excessive range of motion from affecting the gripping stability of the lower bar. On the other hand, it can suppress the slippage and rotation of the lower bar during the clamping process, which would also affect the rotation of the upper bar, thus preventing axial movement of the bar during gripping and transfer. This can further ensure the stability and safety of the bar during gripping and transfer. Attached Figure Description

[0017] Figure 1 This is a perspective view of the present invention; Figure 2 This is a schematic diagram of the driving mechanism of the present invention; Figure 3 This is a schematic diagram of the clamping mechanism of the present invention; Figure 4 This is a side view schematic diagram of the upper active plate and the lower active plate of the present invention; Figure 5 This is a schematic diagram of the upper and lower grippers of the present invention; Figure 6 This is a schematic diagram of the lower gripper and friction arc plate of the present invention; Figure 7 This is a schematic diagram of the sliding pin and the sliding shell of the gripper in this invention; Figure 8 This is a schematic diagram of the limiting mechanism of the present invention; Figure 9 This is a bottom view of the oblique extrusion rod and arc-shaped groove of the present invention; Figure 10 This is a bottom view of the principle of the limiting mechanism of the present invention.

[0018] The components include: 1. Robot body; 2. Robot arm; 3. Drive mechanism; 301. Connecting plate; 302. Connecting channel; 303. Drive cylinder; 4. Clamping mechanism; 401. Outer plate; 402. Upper active plate; 403. Lower active plate; 404. Inner plate; 405. Compression spring; 406. Gripper sliding shell; 407. Upper push plate; 408. Upper gripper; 409. Lower push plate; 410. Lower gripper; 411. Friction arc plate; 412. Sliding pin; 413. Triangular plate; 5. Limiting mechanism; 501. Slide rod; 502. L-shaped push rod; 503. Angled extrusion rod; 504. Limiting plate; 505. Fixing plate; 506. Arc groove. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Please see Figures 1 to 5 As shown, the present invention provides a multi-degree-of-freedom industrial robot arm material gripping device, including a robot body 1 and a robotic arm 2. The robot body 1 can drive the robotic arm 2 to grip materials with multiple degrees of freedom. One end of the robotic arm 2 is provided with a clamping mechanism 4 for gripping multiple bars at the same time. The clamping mechanism 4 includes an outer plate 401 fixedly connected to one end of the robotic arm 2. An inner plate 404 is fixedly connected inside the outer plate 401. Multiple sets of upper jaws 408 and lower jaws 410 are arranged vertically inside the inner plate 404. An upper active plate 402 and a lower active plate 403 are slidably connected to the outer side of the outer plate 401 to drive the upper jaws 408 and lower jaws 410 to slide in an inclined state inside the inner plate 404 to clamp multiple bars simultaneously. An upper push plate 407 is fixedly connected to one side of the upper jaw 408, and a lower push plate 409 is fixedly connected to one side of the lower jaw 410. The upper push plate 407 and the upper jaws 408 are slidably connected to the inner plate 404, and an inclined groove is provided at the sliding position.

[0021] Please see Figures 1 to 5 As shown, in industrial production processes, multi-degree-of-freedom industrial robots are needed to grasp bar stock. When grasping multiple bar stock, after setting the grasping program, the robot body 1 will control multiple sets of upper grippers 408 and lower grippers 410 through the robotic arm 2 to grasp the bar stock. Specifically: After the outer plate 401 and inner plate 404, which are fixedly connected to the robotic arm 2, reach the designated position, the robot body 1 drives the upper active plate 402 and lower active plate 403, which slide with the outer plate 401, to move towards the middle position. Since the side of the upper active plate 402 near the inner plate 404 is opened at an angle, and the lower active plate 403 is directly fixedly connected to the lower part of the upper active plate 402 in an overall inclined state, the upper active plate 402 will push one end of the upper push plate 407 through the inclined surface during the movement. The upper push plate 407 will slide upward after being squeezed. However, since the upper part of the upper push plate 407 is slidably connected to the inner plate 404, and the sliding groove opened at the sliding position is inclined, the upper gripper 408 at one end of the upper push plate 407 will move towards the upper bar material position in an inclined state, thereby clamping the upper bar material. During the movement of the upper active plate 402, the lower active plate 403 also moves synchronously. The movement of the lower active plate 403 will directly push the lower push plate 409 inward through the inclined surface, allowing it to slide inside the inner plate 404. Since the lower push plate 409 is already inclined at a certain angle inside the inner plate 404, its sliding motion will cause the lower gripper 410 to clamp the pair of bars below. Figure 2 As shown, the three bars are clamped in a triangular shape. Moreover, because the contact area between the lower pair of grippers 410 and the bars is larger than that of the upper grippers 408, the grippers 410 will clamp the bars below more stably, which will effectively improve the stability of the robot body 1 driving the robotic arm 2 to grasp and transport multiple bars at the same time. Please see Figures 3 to 5It should be explained that, since the upper pair of upper jaws 408 are arranged in an inverted V-shape inside the inner plate 404, and the lower pair of lower jaws 410 are arranged in a regular V-shape inside the inner plate 404, when the upper jaws 408 and lower jaws 410 clamp multiple bars, the lower jaws 410 will apply an upward compressive force to the lower bars, while the upper jaws 408 will apply a downward compressive force to the upper bars. At this time, the three bars will be tightly pressed together, while the upper jaws 408 will stably clamp the single upper bar, ensuring effective stability for all three bars whether they are being clamped or being moved and transported.

[0022] Please continue reading. Figure 3 and Figure 5 As shown, the inclination angle of the inclined surface of the lower active plate 403 near the inner plate 404 is smaller than the overall inclination angle of the lower active plate 403 below the upper active plate 402. A compression spring 405 for buffer reset is provided at the middle position above the upper active plate 402.

[0023] Please continue reading. Figure 3 and Figure 5 As shown, when the upper active plate 402 and the lower active plate 403 slide inside the robot body 1, the lower gripper 410 is tilted upwards, as... Figure 5As shown, to facilitate the simultaneous gripping of multiple bars without affecting their upward movement into the inner plate 404, the space between the pair of lower jaws 410 needs to be sufficiently large during the initial gripping phase. This ensures the bars are stably squeezed into the inner plate 404 and held securely. Therefore, the inclination angle of the lower active plate 403 is set to be greater than the inclination angle of the upper active plate 402 on the side closest to the inner plate 404. In the initial state, when the upper jaws 408 and lower jaws 410 are not gripping the bars, the lower jaws 410 are at their outermost limit position inside the inner plate 404. Thus, the space between the pair of lower jaws 410 is maximized, while the space between the upper jaws 408 is relatively small in the initial state. This allows the bars to smoothly enter the inner plate 404. The bar stock is held by the upper jaw 408 and the lower jaw 410. On the other hand, it can prevent multiple bars from entering at the same time. The upper jaw 408 can effectively block the entering bars, ensuring the efficiency of the upper jaw 408 and the lower jaw 410 in holding the bars. Moreover, when the upper active plate 402 and the lower active plate 403 slide inside the outer plate 401, they will also compress the compression spring 405 above for buffer reset. When holding the bars, the compression spring 405 can perform buffer work to ensure that the upper jaw 408 and the lower jaw 410 hold the bars flexibly. After the bars are transferred, the compression spring 405 will cause the upper active plate 402 and the lower active plate 403 to slide outward and reset inside the outer plate 401, which is convenient for handling multiple bars again next time. This can effectively ensure the efficiency and stability of bar transfer.

[0024] Please see Figures 5 to 7 As shown, a claw sliding shell 406 is fixedly connected inside the inner plate 404. A sliding groove is provided inside the claw sliding shell 406. A sliding pin 412 is fixedly connected inside the upper claw 408 near the upper push plate 407. The sliding pin 412 is slidably engaged with the sliding groove provided inside the claw sliding shell 406.

[0025] Please see Figures 5 to 7 As shown, when the upper active plate 402 pushes the upper push plate 407 to move inside the inner plate 404 via the inclined surface, the upper push plate 407 will also slide inside the claw sliding shell 406 because the outer side of the inner plate 404 is provided with a claw sliding shell 406. When the inclined surface of the upper active plate 402 pushes the upper push plate 407 to move upward first, the upper push plate 407 will drive the sliding pin 412 to slide in the groove opened inside the claw sliding shell 406. Therefore, the upward movement of the upper push plate 407 will drive the upper claw 408 to move inward in an inclined posture, thereby clamping the bar stock. Furthermore, since the upper push plate 407 is arc-shaped and connected to the upper gripper 408 with rounded corners, after the upper push plate 407 moves upward a short distance, it directly converts the upward force into an inward force through the sliding pin 412, thereby driving the upper gripper 408 to clamp the bar stock. Through the conversion of force, the stability of the upper gripper 408 in clamping the upper bar stock is improved, avoiding the situation where the upper gripper 408 still shakes even after clamping the bar stock due to the large range of movement of the upper bar stock. This is because the upper push plate 407 and the gripper sliding shell 406 can effectively form a limiting structure, thereby ensuring the stability of the upper gripper 408 in clamping the bar stock.

[0026] Please continue reading. Figure 5 and Figure 6 As shown, the lower push plate 409 is telescopically mounted at one end near the lower clamping jaw 410. Multiple friction arc plates 411 for assisting in clamping the bar stock are fixedly connected to the lower surface of the lower clamping jaw 410, and the friction arc plates 411 are arranged in a strip shape.

[0027] Please continue reading. Figure 5 and Figure 6 As shown, when the robot body 1 drives the outer plate 401 to be positioned above the bar to be clamped and transferred via the robotic arm 2, the feeding space between the pair of lower grippers 410 is limited, and the bar is usually cylindrical. Therefore, the bar may slip and rotate during the clamping process, preventing it from being quickly and timely gripped into the inner plate 404. Therefore, by fixing a friction arc plate 411 below the lower grippers 410, when the inner plate 404 is above the clamped bar, it presses the bar downwards. The bar will then be guided by the arc-shaped friction arc plate 411 into the inner plate 404. The friction arc plate 411 is arranged in a strip shape below the lower jaw 410. It generates a large friction force with the surface of the bar stock. Therefore, during the process of the bar stock contacting the friction arc plate 411 and being guided by its arc surface, it can prevent the bar stock from sliding and rotating too much. This allows the bar stock to be stably squeezed into the inner plate 404. After one bar stock enters the inner plate 404 and is squeezed upward to the position of the upper jaw 408, the two bars below are also in the position of the lower jaw 410. Therefore, the three bars stock can be clamped in the middle position of the inner plate 404 in a triangular shape, which improves the stability of material handling.

[0028] Please see Figure 1 and Figure 2As shown, the outer side of the outer plate 401 is provided with a drive mechanism 3 for driving the upper active plate 402 and the lower active plate 403. The drive mechanism 3 includes a connecting plate 301 fixedly connected to one end of the robotic arm 2. The two ends of the connecting plate 301 are fixedly connected to a connecting channel 302. One end of the connecting channel 302 is connected to a drive cylinder 303. The output end of the drive cylinder 303 is fixedly connected to the outer side of the lower active plate 403.

[0029] Please see Figure 1 and Figure 2 As shown, when the outer plate 401 and the inner plate 404 are above the bar to be gripped, the robot body 1 drives the robotic arm 2 to control the outer plate 401 to feed towards the bar, and then the bar is squeezed into the interior of the inner plate 404. Figure 2 After the bar is in a triangular position, the drive cylinder 303 is activated to push the upper active plate 402 and the lower active plate 403 to slide on the outside of the outer plate 401, thereby driving the upper jaw 408 and the lower jaw 410 to fully clamp the bar, so that the bar can be effectively and stably clamped. See Figure 2 It should be noted that the connecting plate 301 is internally connected to the connecting channel 302, and the connecting channel 302 is internally connected to the driving cylinder 303. Therefore, the upper active plate 402 and the lower active plate 403 on one side of the driving cylinder 303 can be driven to slide inside the outer plate 401 by air pressure or hydraulic pressure. Since this is prior art, the present invention will not elaborate further here.

[0030] Please see Figure 8 and Figure 10 As shown, the inner plate 404 is provided with a limiting mechanism 5 for assisting the upper gripper 408 in clamping and limiting the bar stock. The limiting mechanism 5 includes a limiting plate 504 that is in close contact with the upper bar stock. An inclined extrusion rod 503 that applies an inclined extrusion force to the outer side of the limiting plate 504 is provided. A triangular plate 413 is fixedly connected to one side of the lower push plate 409. The lower push plate 409 drives the limiting plate 504 to push the bar stock from the middle to both ends through the triangular plate 413.

[0031] Please see Figure 8 and Figure 10 As shown, although the three bars can be clamped and fixed by the inclined upper gripper 408 and lower gripper 410, the bars are in line contact with each other after being clamped. Therefore, if the robot body 1 drives the robot arm 2 to move the bars in multiple degrees of freedom, the bars are very likely to detach during the grasping and moving process if the axis of the bars is perpendicular to the ground. Moreover, since the upper bars have a larger range of motion, even if the outer side of the bars is clamped at multiple angles, the bars may still fall off during the air transport process, resulting in a reduction in transport safety and quality. Therefore, to avoid the above situation, when the upper bar is about to be clamped by a pair of downwardly inclined upper jaws 408, before clamping, the lower push plate 409 will drive the limiting plate 504 to move towards the surface of the upper bar through the triangular plate 413. At this time, the pair of limiting plates 504 will be subjected to the oblique extrusion force from the obliquely set oblique extrusion rod 503, so that the pair of limiting plates 504 will move in opposite directions on the surface of the upper bar and then adhere to the surface of the bar, so that the pair of limiting plates 504 will move from the middle position of the bar to both ends, thereby pushing the bar. After the bar is limited by the pair of limiting plates 504, the upper jaws 408 and the lower jaws 410 will completely limit the bar from all sides. The clamping force applied to the bar by the pair of limiting plates 504 serves two purposes. First, it prevents the upper bar from slipping and rotating during clamping, thus preventing it from being fully clamped by the upper jaw 408 and lower jaw 410 due to its large range of motion. Second, it allows the bar to be clamped by the upper jaw 408 and lower jaw 410 in a more gentle manner, preventing the lower bar from shaking due to its large range of motion and affecting the reference of the pair of horizontally placed bars below. This would prevent the bar from slipping and falling off when its axis is perpendicular to the ground during the movement of the robot body 1 driving the robotic arm 2 to transport the bar, thereby effectively improving the bar gripping and transport efficiency and safety.

[0032] Please continue reading. Figures 8 to 10 As shown, a sliding rod 501 is slidably engaged on one side of the inclined surface of the triangular plate 413. One end of the sliding rod 501 is fixedly connected to an L-shaped push rod 502. One end of the L-shaped push rod 502 is movably connected to the inclined extrusion rod 503 through a hinge ball. The L-shaped push rod 502 is slidably connected to the limiting plate 504.

[0033] Please continue reading. Figures 8 to 10 As shown, when the lower active plate 403 and the upper active plate 402 slide inward synchronously inside the outer plate 401, driving the upper jaw 408 and the lower jaw 410 to clamp the bar stock, the lower active plate 403 pushes the lower push plate 409 to slide inside the inner plate 404 via the inclined surface. The lower push plate 409 will drive the triangular plate 413 to move synchronously. The triangular plate 413 will push the L-shaped push rod 502 at one end of the slide rod 501 to slide inside the inner plate 404 via the inclined surface. The L-shaped push rod 502... 2. The sliding action will pull the inclined extrusion rod 503 and the limiting plate 504 at one end of it toward the surface of the bar through the hinge ball. When the triangular plate 413 continuously applies a pushing force to the sliding rod 501, the limiting plate 504 will continuously move toward the surface of the bar. Then, the inclined extrusion rod 503 will be driven by the hinge ball to apply a pressing force to the limiting plate 504, so that a pair of limiting plates 504 can be squeezed and pushed from the middle of the bar to both ends, thereby effectively improving the stability of the bar being clamped.

[0034] Please see Figure 9 and Figure 10 As shown, a fixing plate 505 that is elastically connected to the inner plate 404 is provided above the inclined extrusion rod 503. An arc-shaped groove 506 is provided inside the fixing plate 505 directly above the inclined extrusion rod 503. The inclined extrusion rod 503 slides in contact with the arc-shaped groove 506.

[0035] Please see Figure 9 and Figure 10 As shown, when the L-shaped push rod 502 drives one end of the inclined extrusion rod 503 to move via the hinged ball, the upper end of the inclined extrusion rod 503 will slide inside the arc-shaped groove 506 opened inside the fixed plate 505. Since the arc-shaped groove 506 is arc-shaped, during the linear movement of the inclined extrusion rod 503 sliding inside the arc-shaped groove 506, it will also rotate at a certain angle and move towards the surface of the bar stock until the limiting plate 504 contacts the bar stock, at which point a momentary twisting force will be applied to the bar stock. This is because even through the limiting plate 504 and The upper jaw 408 can clamp and fix the bar stock above it, and the friction arc plate 411 below the lower jaw 410 restricts the rotation of the bar stock entering the inner plate 404 to prevent it from slipping and rotating. However, after the bar stock is positioned between the upper jaws 408, the lower bar stock will still affect the stability of the upper bar stock during the process of entering the inner plate 404. It may cause the upper bar stock to rotate, resulting in a deviation in the clamping reference and affecting the clamping effect and stability of the bar stock. Furthermore, because the inner plate 404 and the fixed plate 505 are elastically connected, when the L-shaped push rod 502 drives the limiting plate 504 below the inclined extrusion rod 503 to move towards the bar material through the hinge ball, the limiting plate 504 will continuously move closer to the middle position of the inner plate 404. Therefore, in order to ensure that the upper end of the inclined extrusion rod 503 can slide stably inside the arc groove 506 opened below the fixed plate 505, it will clamp the bar material in a rotating posture, similar to the action of twisting a rope. This can prevent the bar material below from slipping and rotating during the clamping and pushing process, which would cause positional deviation. This can effectively improve the stability of the bar material clamping.

[0036] Please see Figure 2 and Figure 8 As shown, only one pair of triangular plates 413 are provided on one side of the multiple push plates 409, and they are arranged diagonally. The sliding position of the L-shaped push rod 502 and the inner plate 404 is provided with a groove, and a return spring is provided inside the groove.

[0037] Please see Figure 2 and Figure 8As shown, in order to ensure that the limiting plate 504 can stably and effectively suppress slippage and rotation of the bar before it is fully clamped, and to improve the stability of the upper jaw 408 and lower jaw 410 clamping the bar, triangular plates 413 are diagonally distributed on one side of the two lower push plates 409 near the middle, as shown. Figure 8 As shown, when the two push plates 409 drive the triangular plate 413 to push the L-shaped push rod 502 at one end of the slide rod 501 through its inclined surface to slide inside the groove opened in the inner plate 404, the limiting plate 504 can be effectively driven to slide towards the surface position of the bar in a moving and rotating state. Moreover, at the moment when the limiting plate 504 contacts the bar, a twisting force can be applied to the bar, thereby fully ensuring the stability of the bar being clamped. This ensures a certain stability before the bar is fully clamped, playing a pre-clamping role. Furthermore, when the slide rod 501 below the L-shaped push rod 502 is no longer pushed by the triangular plate 413, the L-shaped push rod 502 can be reset under the action of the reset spring inside the inner plate 404.

[0038] Please see Figures 4 to 7 As shown, the inner sliding groove of the gripper sliding shell 406 is matched with the size of the sliding pin 412. The tilt angle of the gripper sliding shell 406 is the same as the tilt angle of the upper push plate 407. The inner arc diameter of the lower gripper 410 is larger than the inner arc diameter of the upper gripper 408.

[0039] Please see Figures 4 to 7 As shown, when the upper push plate 407 is driven by the inclined surface of the upper active plate 402 to move the upper gripper 408 in an inclined downward motion, the sliding pin 412 slides in the groove opened inside the gripper sliding shell 406. Since the gripper sliding shell 406 is also inclined and has the same inclination angle as the upper push plate 407, the sliding pin 412 can convert the upward motion force of the upper push plate 407 into an inclined extrusion force, thereby driving the upper gripper 408 to clamp the bar. Since the diameter of the upper gripper 408 is smaller than the diameter of the lower gripper 410, the pair of lower grippers 410 can effectively and stably apply an inclined clamping force to the two horizontally clamped bars below, thereby improving the efficiency and safety of gripping and transferring the bar.

[0040] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A multi-degree-of-freedom industrial robot arm material gripping device, comprising a robot body (1) and a robotic arm (2), characterized in that, The robot body (1) can drive the robotic arm (2) to grasp materials with multiple degrees of freedom. One end of the robotic arm (2) is provided with a clamping mechanism (4) for grasping multiple bars at the same time. The clamping mechanism (4) includes an outer plate (401) fixedly connected to one end of the robotic arm (2). An inner plate (404) is fixedly connected inside the outer plate (401). Multiple sets of upper jaws (408) and lower jaws (410) are arranged vertically inside the inner plate (404). An upper active plate (402) and a lower active plate (403) are slidably connected to the outer side of the outer plate (401) for driving the upper jaws (408) and lower jaws (410) to slide in an inclined state inside the inner plate (404) to clamp multiple bars simultaneously. An upper push plate (407) is fixedly connected to one side of the upper jaw (408), and a lower push plate (409) is fixedly connected to one side of the lower jaw (410). The upper push plate (407) and upper jaws (408) are slidably connected to the inner plate (404), and a slanted groove is provided at the sliding position. The inclination angle of the inclined surface of the lower active plate (403) near the inner plate (404) is smaller than the overall inclination angle of the lower active plate (403) below the upper active plate (402). A compression spring (405) for buffer reset is provided at the middle position above the upper active plate (402). The outer plate (401) is provided with a drive mechanism (3) for driving the upper active plate (402) and the lower active plate (403). The drive mechanism (3) includes a connecting plate (301) fixedly connected to one end of the robot arm (2). The two ends of the connecting plate (301) are fixedly connected to a connecting channel (302). One end of the connecting channel (302) is connected to a drive cylinder (303). The output end of the drive cylinder (303) is fixedly connected to the outer side of the lower active plate (403). When the outer plate (401) and inner plate (404) are above the bar to be gripped, the robot body (1) drives the robot arm (2) to control the outer plate (401) to feed towards the bar. Then the bar will be squeezed into the interior of the inner plate (404). When the bar inside is in a triangular shape, the drive cylinder (303) is activated to push the upper active plate (402) and lower active plate (403) to slide on the outside of the outer plate (401), thereby driving the upper gripper (408) and lower gripper (410) to completely clamp the bar.

2. The multi-degree-of-freedom industrial robot arm material gripping device according to claim 1, characterized in that, The inner plate (404) is fixedly connected to a claw sliding shell (406), and a sliding groove is provided inside the claw sliding shell (406). The upper claw (408) is fixedly connected to a sliding pin (412) on the side near the upper push plate (407). The sliding pin (412) is slidably engaged with the sliding groove provided inside the claw sliding shell (406).

3. The material gripping device for a multi-degree-of-freedom industrial robot arm according to claim 2, characterized in that, The lower push plate (409) is telescopically positioned at one end near the lower gripper (410). The lower surface of the lower gripper (410) is fixedly connected with a plurality of friction arc plates (411) for assisting in clamping the bar stock, and the friction arc plates (411) are arranged in a strip shape.

4. The material gripping device for a multi-degree-of-freedom industrial robot arm according to claim 1, characterized in that, The inner plate (404) is provided with a limiting mechanism (5) for assisting the upper gripper (408) in clamping and limiting the bar stock. The limiting mechanism (5) includes a limiting plate (504) that is in close contact with the upper bar stock. An inclined extrusion rod (503) is provided on the outer side of the limiting plate (504) to apply an inclined extrusion force. A triangular plate (413) is fixedly connected to one side of the lower push plate (409). The lower push plate (409) drives the limiting plate (504) to push the bar stock from the middle to both ends through the triangular plate (413).

5. The material gripping device for a multi-degree-of-freedom industrial robot arm according to claim 4, characterized in that, A sliding rod (501) is slidably engaged on one side of the triangular plate (413). One end of the sliding rod (501) is fixedly connected to an L-shaped push rod (502). One end of the L-shaped push rod (502) is movably connected to the inclined extrusion rod (503) via a hinge ball. The L-shaped push rod (502) is slidably connected to the limiting plate (504).

6. The material gripping device for a multi-degree-of-freedom industrial robot arm according to claim 5, characterized in that, Above the inclined extrusion rod (503) is a fixing plate (505) that is elastically connected to the inner plate (404). The inside of the fixing plate (505) is provided with an arc groove (506) directly above the inclined extrusion rod (503). The inclined extrusion rod (503) slides in contact with the arc groove (506).

7. A multi-degree-of-freedom industrial robot arm material gripping device according to claim 5, characterized in that, The triangular plate (413) is provided in only one pair on one side of the multiple push plates (409) and is arranged diagonally. The L-shaped push rod (502) has a sliding groove at the sliding position of the inner plate (404) and a return spring is provided inside the sliding groove.

8. A multi-degree-of-freedom industrial robot arm material gripping device according to claim 2, characterized in that, The inner groove of the claw sliding shell (406) is adapted to the size of the sliding pin (412). The tilt angle of the claw sliding shell (406) is the same as the tilt angle of the upper push plate (407). The inner arc diameter of the lower claw (410) is greater than the inner arc diameter of the upper claw (408).

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