Flexible transfer gripping industrial robot

Abstract

The application discloses a flexible transfer and grabbing industrial robot, and relates to the technical field of industrial robots.The flexible transfer and grabbing industrial robot comprises a four-wheel drive base, a placing plate fixedly installed on the top of the four-wheel drive base, a supporting plate fixedly installed on the front end of the top of the four-wheel drive base, an electric turntable installed on the surface of the supporting plate, a mechanical arm fixedly installed on the top of the electric turntable, a grabbing mechanism fixedly installed on the execution end of the mechanical arm, and protective pieces installed on the outer surface of the four-wheel drive base on both sides.The flexible transfer and grabbing industrial robot drives the grabbing mechanism to approach and grab workpieces through the mechanical arm;when the workpieces are grabbed, the buffer box cooperates with the flexible hook to convert rigid clamping force into flexible buffer clamping force, realizes self-adaptive buffer of the clamping force, solves the problems that local stress concentration, extrusion deformation and flanging are prone to occurring in traditional rigid clamping hooks, and meanwhile, the protective pieces play a protective role in the transfer process, avoid rigid impact from being directly conducted to the robot, and guarantee the stability of the transfer operation of the robot.

Description

Technical Field

[0001] This invention relates to the field of industrial robot technology, specifically to a flexible transfer and gripping industrial robot. Background Technology

[0002] In industrial automated sorting, warehousing palletizing, and production line loading and unloading operations, transfer and gripping robots are the core actuators for achieving automated workpiece transfer. However, the gripping mechanisms of existing transfer and gripping robots all have technical defects in practical use; Traditional gripping robots suffer from poor versatility in their gripping mechanisms, making them unsuitable for stable gripping of workpieces of various sizes and shapes. Existing industrial gripping robots typically employ rigid, symmetrical gripper structures, which are only suitable for clamping regular circular and square standard workpieces. For irregularly shaped workpieces with flanged edges, asymmetrical cross-sections, or thin-walled, easily deformable workpieces, rigid grippers are prone to uneven clamping force and localized stress concentration, which can easily lead to scratches on the workpiece surface and deformation of the flanged structure. Furthermore, rigid gripping structures lack adaptive buffering capabilities and cannot conform to the irregular contours of the workpiece for a close gripping experience, resulting in poor gripping stability.

[0003] In addition, traditional transfer robots lack sufficient protection and flexible buffer protection capabilities. During the transfer process, the robot is prone to collisions with the production line frame, peripheral equipment, tooling fixtures, etc. The rigid impact force generated by the collision will be directly transmitted to the chassis, drive system and gripping mechanism, which can easily cause the robot's positioning accuracy to decrease and the shell to deform, affecting the stable operation of the production line. Summary of the Invention

[0004] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a flexible transfer and gripping industrial robot, comprising: The four-wheel drive base and the placement plate fixedly installed on its top are used for overall machine movement and positioning. The placement plate is used to place the workpiece to be grasped. Anti-slip strips are fixedly installed on the surface of the placement plate to increase the friction between the workpiece and the placement plate, prevent the workpiece from slipping during transfer, movement, start and stop, and ensure the stability of the workpiece placement. A baffle is fixedly installed at the edge of the top of the four-wheel drive base to prevent the workpiece from slipping off the side of the placement plate. A support plate is fixedly installed at the forward end of the top of the four-wheel drive base. An electric turntable is installed on the surface of the support plate. A robotic arm is fixedly installed on the top of the electric turntable. The electric turntable is used to drive the robotic arm to rotate, realize the angle adjustment of the robotic arm's grasping position, and expand the range of the robot's grasping operation. A gripping mechanism is fixedly installed at the execution end of a robotic arm. The robotic arm drives the gripping mechanism to approach and grip the workpiece. The gripping mechanism is used to realize workpiece recognition and flexible gripping. The protective components are installed on both sides of the outer surface of the four-wheel drive base. The protective components are evenly distributed on the surface of the four-wheel drive base. The protective components are used to provide anti-collision buffer during the robot's walking process to prevent the four-wheel drive base from being subjected to hard collisions. The gripping mechanism includes a mounting box, which is fixedly mounted on the execution end of the robotic arm. A visual monitoring component is mounted on the outer surface of the mounting box. The visual monitoring component is used to monitor the position and shape of the workpiece to be gripped in real time, and cooperates with the control system to achieve precise gripping. A guide groove is provided on the lower surface of the mounting box. A gripping component is slidably mounted inside the guide groove. The guide groove is used to limit the radial sliding of the gripping component to avoid offset and jamming. The gripping component directly contacts the workpiece to achieve flexible gripping of the workpiece. A driving component is installed in the middle of the inner cavity of the mounting box. The gripping component is fixedly connected to the execution end of the driving component. The driving component synchronously drives multiple sets of gripping components to retract and open along the guide groove through rope transmission to achieve automatic clamping and releasing of the workpiece. The gripper includes a slider, which is slidably mounted inside the guide groove and fixedly mounted on the drive component. A buffer box is fixedly mounted on the bottom of the slider, and a flexible hook is rotatably mounted on the bottom of the buffer box. The buffer box is used to provide buffering and shock absorption for the flexible hook, so that the flexible hook can adapt to flanging workpieces of different specifications and shapes.

[0005] Preferably, there are twelve guide grooves, and the twelve guide grooves are distributed circumferentially along the lower surface of the mounting box. The guide grooves cooperate with the gripping component to form a ring-shaped gripping structure, which distributes the force evenly and can adapt to gripping workpieces of various specifications and shapes.

[0006] Preferably, the driving component includes a motor, which is fixedly mounted on the top of the inner cavity of the mounting box via a bracket. A rope winding drum is fixedly mounted on the output end of the motor. The rope winding drum is rotatably mounted in the middle of the mounting box. A pull rope is provided on the outer surface of the rope winding drum. The free end of the pull rope is fixedly mounted on the outer surface of the slider. The motor controls the extension and retraction of the pull rope by forward and reverse rotation, thereby realizing the clamping and releasing of the gripper.

[0007] Preferably, the outer surface of the rope winding drum is provided with a spiral rope guide groove, which is evenly distributed along the axis of the rope winding drum. The spiral rope guide groove is used to limit and guide the pull rope, prevent the pull rope from tangling or overlapping, and ensure that the pull ropes are wound and released synchronously and the force is even.

[0008] Preferably, a rope-fixing plate is fixedly installed at the top of the spiral guide rope groove, the pull rope is fixedly installed on the surface of the rope-fixing plate, and the fixed end of the pull rope is located inside the spiral guide rope groove. The rope-fixing plate is used to lock and fix the end of the pull rope to prevent the pull rope from slipping or loosening under force, ensuring the reliability of the transmission connection and making the power stably transmitted to the slider.

[0009] Preferably, a connecting block is fixedly installed on the top of the slider, and a return spring is fixedly connected between the connecting block and the inner wall of the mounting box. The return spring pulls the slider outward to reset through its own elastic tension, causing the gripper to open automatically and complete the unloading and reset action. The connecting block is squeezed and adapted to the bottom of the inner cavity of the mounting box. The connecting block is used to limit the position of the slider and ensure the stability of the slider movement.

[0010] Preferably, the buffer box includes a box body, which is fixedly installed at the bottom of the slider. A fixing cylinder is fixedly installed at the middle of the bottom of the box body. A through hole is opened on the upper surface of the fixing cylinder. V-shaped springs are fixedly installed on both sides of the inner wall of the box body. The V-shaped springs provide buffering and restoring force for the flexible claw to achieve flexible gripping.

[0011] Preferably, the flexible claw includes a rotating rod and a gripping hook. The gripping hook is used to directly contact the workpiece, encircle and hook the workpiece's edge to achieve stable gripping. The rotating rod is rotatably installed inside the fixed cylinder. A fixed rod is fixedly installed on the top of the gripping hook. Connecting plates are fixedly installed on both ends of the fixed rod. The rotating rod is fixedly installed between the connecting plates. A rotating plate is fixedly installed on the outer surface of the rotating rod. The rotating plate swings as the gripping hook rotates. The rotating plate is disposed inside the through hole. A pressure block is fixedly installed on the top of the rotating plate.

[0012] Preferably, an arc-shaped fixing plate is fixedly installed at the other end of the V-shaped spring sheet. The arc-shaped fixing plate is fixedly installed on both sides of the outer surface of the pressure block. The pressure block, together with the rotating plate, transmits the clamping reaction force received by the grab hook to the V-shaped spring sheet, so as to achieve elastic buffering and adaptive fitting.

[0013] Preferably, the protective component includes an arc-shaped plate, which is rotatably mounted on the outer surface of the four-wheel drive base via a pivot. The arc-shaped plate preferentially contacts external objects to provide anti-collision protection. A buffer spring is fixedly mounted on the inner curved surface of the arc-shaped plate, and a mounting plate is fixedly mounted on the other end of the buffer spring. The mounting plate is fixedly mounted on the surface of the four-wheel drive base. When a collision occurs, the buffer spring undergoes compression deformation to absorb the impact kinetic energy, buffer the impact force, and prevent rigid impact from being directly transmitted to the four-wheel drive base.

[0014] This invention provides a flexible transfer and gripping industrial robot. It has the following beneficial effects: (i) This flexible transfer and gripping industrial robot, through the setting of the gripping mechanism, the circumferentially distributed guide grooves cooperate with the gripping parts to form a ring-shaped gripping structure. In conjunction with the drive components, it synchronously drives multiple sets of gripping parts to radially retract and open. The buffer box provides a buffering and shock absorption effect for the flexible hook, enabling the flexible hook to adapt to the gripping operation of workpieces with different specifications and shapes. This solves the defect of traditional transfer and gripping industrial robots where a single gripper can only adapt to standard workpieces, and improves the robot's adaptability.

[0015] (II) This flexible transfer and gripping industrial robot, through the setting of the gripping components, has V-shaped springs installed on both sides of the inner wall of the buffer box, and flexible hooks cooperate with the rotating plate and pressure block to convert rigid clamping force into flexible buffer clamping force. The reaction force generated when the flexible hooks contact the workpiece will be transmitted to the V-shaped springs through the rotating plate and pressure block. The V-shaped springs generate elastic deformation to absorb the squeezing force, realize the adaptive buffering of clamping force, and solve the problems of local stress concentration, scratching of workpiece surface, and extrusion deformation and edge flipping that are easy to occur when using traditional rigid grippers.

[0016] (III) The flexible transfer and gripping industrial robot, through the setting of the drive component, the spiral guide grooves distributed on the surface of the rope drum in the drive component can limit and guide the twelve sets of pull ropes, avoid the problems of entanglement and rope stacking during the pull rope retraction and release, ensure that the power output of the motor is synchronously and evenly transmitted to the twelve sets of sliders, realize the synchronous retraction and synchronous opening of all gripping parts, and improve the stability of the gripping action.

[0017] (iv) The flexible transfer and gripping industrial robot, through the setting of the reset spring, when the motor rotates forward to rewind the rope during the gripping operation, pulls the slider inward along the guide groove to complete the clamping, and the reset spring stretches and stores energy synchronously. When unloading, the motor reverses to release the rope, and the reset spring automatically pulls the slider outward along the guide groove through its own elastic tension, driving all flexible hooks to open synchronously to complete the unloading, thereby improving the continuous operation efficiency of the industrial production line.

[0018] (v) The flexible transfer and gripping industrial robot, through the setting of protective components, the protective components first contact the collision with the external object through the arc plate. The impact force generated by the collision is transmitted to the buffer spring through the arc plate. The buffer spring is compressed and deformed to absorb the impact kinetic energy, and converts the rigid impact force into elastic buffer force. This avoids the rigid impact being directly transmitted to the four-wheel drive base, drive system and gripping mechanism, and prevents the deformation of the four-wheel drive base shell and the decrease in the positioning accuracy of the robotic arm and gripping mechanism, thus ensuring the stability and positioning accuracy of the robot during long-term transfer and operation. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the appearance of the present invention; Figure 3 This is a diagram showing the positional relationship between the robotic arm and the gripping mechanism of the present invention; Figure 4 This is a schematic diagram of the gripping mechanism of the present invention; Figure 5 This is a schematic diagram of the mounting box structure of the present invention; Figure 6 This is a schematic diagram of the driving component structure of the present invention; Figure 7 This is a schematic diagram of the rope winding cylinder structure of the present invention; Figure 8 This is a schematic diagram of the gripper structure of the present invention; Figure 9 This is a cross-sectional view of the buffer box portion of the present invention; Figure 10 This is a schematic diagram of the flexible hook structure of the present invention; Figure 11 This is a schematic diagram of the protective component structure of the present invention.

[0020] In the diagram: 1. Four-wheel drive base; 2. Placement plate; 3. Support plate; 4. Electric turntable; 5. Robotic arm; 6. Gripping mechanism; 61. Mounting box; 62. Vision monitoring component; 63. Guide groove; 64. Drive component; 641. Motor; 642. Rope winding drum; 643. Spiral rope guide groove; 644. Rope fixing plate; 645. Pull rope; 65. Gripping component; 651. Slider; 652. Connecting block; 653. Return spring; 654. 6541. Buffer box; 6542. Box body; 6543. Fixing cylinder; 6544. Through hole; 6545. V-shaped spring; 6546. Arc-shaped fixing plate; 655. Flexible hook; 6551. Rotating rod; 6552. Grab hook; 6553. Fixing rod; 6554. Connecting plate; 6555. Rotating plate; 6556. Pressure block; 7. Protective component; 71. Arc-shaped plate; 72. Buffer spring; 73. Mounting plate; 8. Baffle; 9. Anti-slip strip. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings.

[0022] Example 1, please refer to Figure 1 and 11 This invention provides a technical solution: a flexible transfer and gripping industrial robot, comprising: The four-wheel drive base 1 and the placement plate 2 fixedly installed on its top are used to realize the overall machine's walking and positioning. The placement plate 2 is used to place the workpiece to be grasped. The surface of the placement plate 2 is fixedly installed with anti-slip strips 9, which are used to increase the friction between the workpiece and the placement plate 2, prevent the workpiece from slipping during the transfer, walking, starting and stopping process, and ensure the stability of the workpiece placement. A baffle 8 is fixedly installed at the top edge of the four-wheel drive base 1, which is used to prevent the workpiece from slipping off the side of the placement plate 2. A support plate 3 is fixedly installed at the front end of the top of the four-wheel drive base 1. An electric turntable 4 is installed on the surface of the support plate 3. A robotic arm 5 is fixedly installed on the top of the electric turntable 4. The electric turntable 4 is used to drive the robotic arm 5 to rotate, realize the angle adjustment of the robotic arm 5's grasping position, and expand the range of the robot's grasping operation. The gripping mechanism 6 is fixedly installed at the execution end of the robotic arm 5. The robotic arm 5 drives the gripping mechanism 6 to approach and grip the workpiece. The gripping mechanism 6 is used to realize workpiece recognition and flexible gripping. Protective component 7 is installed on both sides of the outer surface of the four-wheel drive base 1. The protective component 7 is evenly distributed on the surface of the four-wheel drive base 1. The protective component 7 is used to provide anti-collision buffer during the robot's walking process to avoid hard collisions to the four-wheel drive base 1. The protective component 7 includes an arc-shaped plate 71, which is rotatably mounted on the outer surface of the four-wheel drive base 1 via a pivot. The arc-shaped plate 71 preferentially contacts external objects to prevent collisions. A buffer spring 72 is fixedly mounted on the inner curved surface of the arc-shaped plate 71, and a mounting plate 73 is fixedly mounted on the other end of the buffer spring 72. The mounting plate 73 is fixedly mounted on the surface of the four-wheel drive base 1. When a collision occurs, the buffer spring 72 undergoes compression deformation to absorb the impact kinetic energy, buffer the impact force, and prevent rigid impacts from being directly transmitted to the four-wheel drive base 1.

[0023] Example 2, based on Example 1, please refer to... Figure 1-8 As shown, the gripping mechanism 6 includes a mounting box 61, which is fixedly mounted on the execution end of the robotic arm 5. A vision monitoring component 62 is mounted on the outer surface of the mounting box 61. The vision monitoring component 62 is used to monitor the position and shape of the workpiece to be gripped in real time, and cooperate with the control system to achieve precise gripping. A guide groove 63 is provided on the lower surface of the mounting box 61. A gripping component 65 is slidably mounted inside the guide groove 63. The guide groove 63 is used to limit the radial sliding of the gripping component 65 to avoid offset and jamming. The gripping component 65 directly contacts the workpiece to achieve flexible gripping of the workpiece. A drive component 64 is installed in the middle of the inner cavity of the mounting box 61. The gripping component 65 is fixedly connected to the execution end of the drive component 64. The drive component 64 drives multiple sets of gripping components 65 to retract and open along the guide groove 63 through rope transmission to achieve automatic clamping and releasing of the workpiece. There are twelve guide grooves 63, and the twelve guide grooves 63 are distributed circumferentially along the lower surface of the mounting box 61. The guide grooves 63, together with the gripper 65, form a ring-shaped gripping structure, which is uniformly stressed and can be adapted to gripping workpieces of various specifications and shapes. The driving component 64 includes a motor 641, which is fixedly mounted on the top of the inner cavity of the mounting box 61 by a bracket. A rope winding drum 642 is fixedly mounted on the output end of the motor 641. The rope winding drum 642 is rotatably mounted in the middle of the mounting box 61. A pull rope 645 is provided on the outer surface of the rope winding drum 642. The free end of the pull rope 645 is fixedly mounted on the outer surface of the gripper 65. The motor 641 controls the pull rope 645 to retract and extend by forward and reverse rotation, thereby realizing the clamping and releasing of the gripper 65. The outer surface of the winding drum 642 is provided with a spiral guide groove 643. The spiral guide groove 643 is evenly distributed along the axis of the winding drum 642. The spiral guide groove 643 is used to limit and guide the pull rope 645, prevent the pull rope 645 from getting tangled or overlapping, and ensure that the multiple pull ropes 645 are wound and released synchronously and the force is even. A rope fixing plate 644 is fixedly installed at the top of the spiral rope guide groove 643. The pull rope 645 is fixedly installed on the surface of the rope fixing plate 644. The fixed end of the pull rope 645 is located inside the spiral rope guide groove 643. The rope fixing plate 644 is used to lock and fix the end of the pull rope 645 to prevent the pull rope 645 from slipping or loosening under force, ensuring the reliability of the transmission connection, and making the power stably transmitted to the gripper 65. The gripper 65 includes a slider 651, which is slidably mounted inside the guide groove 63. The slider 651 is fixedly mounted on the drive component 64. A buffer box 654 is fixedly mounted on the bottom of the slider 651. A flexible hook 655 is rotatably mounted on the bottom of the buffer box 654. The buffer box 654 is used to provide buffering and shock absorption for the flexible hook 655, so that the flexible hook 655 can adapt to flanging workpieces of different specifications and shapes. A connecting block 652 is fixedly installed on the top of the slider 651. A return spring 653 is fixedly connected between the connecting block 652 and the inner wall of the mounting box 61. The return spring 653 pulls the slider 651 outward through its own elastic tension, causing the gripper 65 to open automatically and complete the unloading and resetting action. The connecting block 652 is squeezed and matched with the bottom of the inner cavity of the mounting box 61. The connecting block 652 is used to limit the position of the slider 651 and ensure the stability of the movement of the slider 651.

[0024] Example 3, based on Examples 1 and 2, please refer to... Figure 9-10 As shown, the buffer box 654 includes a box body 6541, which is fixedly installed at the bottom of the slider 651. A fixing cylinder 6542 is fixedly installed at the middle of the bottom of the box body 6541. A through hole 6543 is opened on the upper surface of the fixing cylinder 6542. V-shaped spring pieces 6544 are fixedly installed on both sides of the inner wall of the box body 6541. The V-shaped spring pieces 6544 provide buffering and restoring force for the flexible claw 655 to achieve flexible gripping. The flexible hook 655 includes a rotating rod 6551 and a gripping hook 6552. The gripping hook 6552 is used to directly contact the workpiece, hooking and holding the workpiece edge to achieve stable gripping. The rotating rod 6551 is rotatably installed inside the fixed cylinder 6542. A fixed rod 6553 is fixedly installed on the top of the gripping hook 6552. Connecting plates 6554 are fixedly installed at both ends of the fixed rod 6553. The rotating rod 6551 is fixedly installed between the connecting plates 6554. A rotating plate 6555 is fixedly installed on the outer surface of the rotating rod 6551. The rotating plate 6555 swings as the gripping hook 6552 rotates. The rotating plate 6555 is located inside the through hole 6543. A pressure block 6556 is fixedly installed on the top of the rotating plate 6555. An arc-shaped fixing piece 6545 is fixedly installed at the other end of the V-shaped spring piece 6544. The arc-shaped fixing piece 6545 is fixedly installed on both sides of the outer surface of the pressure block 6556. The pressure block 6556, together with the rotating plate 6555, transmits the clamping reaction force received by the grab hook 6552 to the V-shaped spring piece 6544, so as to achieve elastic buffering and adaptive fitting.

[0025] When in use, the operator turns on the power of the whole machine, and the four-wheel drive base 1 drives the whole machine to the work station where the workpiece to be grabbed is to complete the transfer and positioning. After the machine is positioned, the electric turntable 4 is started, which drives the top robotic arm 5 to rotate and adjust in all directions, adjusting the gripping position and working angle of the gripping mechanism 6 at the execution end of the robotic arm 5, so that the gripping mechanism 6 is aligned with the gripping position of the workpiece to be gripped. When the gripping mechanism 6 approaches the workpiece, the visual monitoring component 62 on the outer surface of the mounting box 61 is activated to collect the position, outline and size of the workpiece to be gripped in real time, and transmit the data to the control system in real time. The control system issues a gripping command to the gripping mechanism 6 to realize the automatic identification and positioning of the workpiece. When the gripping action is executed, the motor 641 starts to rotate forward, driving the rope drum 642 at the output end to rotate synchronously. The spiral guide groove 643 on the outer surface of the rope drum 642 synchronously limits and winds the twelve sets of pull ropes 645, pulling the twelve sets of sliders 651 to slide radially inward along the twelve sets of guide grooves 63 on the lower surface of the mounting box 61. When the sliders 651 slide inward, the top connecting block 652 synchronously pulls the return spring 653 to stretch. At the same time, the buffer box 654 at the bottom of the slider 651 and the flexible hook 655 synchronously retract inward to fit against the outer wall of the workpiece. When the gripper 6552 of the flexible claw 655 contacts the workpiece's flange structure, the reverse extrusion force generated by the workpiece causes the gripper 6552 to rotate adaptively around the rotating rod 6551. The rotating rod 6551 causes the connecting plate 6554 and the rotating plate 6555 to swing synchronously, which in turn causes the top pressure block 6556 to squeeze the V-shaped spring 6544 inside the buffer box 654. The V-shaped spring 6544 generates elastic deformation to absorb the extrusion force, achieving flexible buffering and uniform distribution of the clamping force, thus completing the stable and flexible gripping of various specifications of irregularly shaped workpieces. After the gripping is completed, the robotic arm 5 places the workpiece steadily on the placement plate 2 on the top of the four-wheel drive base 1. The anti-slip strips 9 on the surface of the placement plate 2 increase the friction between the workpiece and the plate surface. At the same time, the baffle 8 on the top edge of the four-wheel drive base 1 blocks the workpiece from the side to prevent the workpiece from slipping, tipping over and falling during the start-up, stop and transfer of the four-wheel drive base 1, thus ensuring the stability of the workpiece loading and transfer process. The four-wheel drive base 1 starts up again, driving the entire machine and the gripped workpiece to transfer. During the transfer process, if the two sides of the four-wheel drive base 1 collide with the production line frame, peripheral equipment, etc., the protective part 7 will contact the collision object first. The arc plate 71 of the protective part 7 will rotate inward under force, squeezing the internal buffer spring 72. The buffer spring 72 will quickly compress and deform to absorb the impact kinetic energy, buffer the rigid impact force, and prevent the impact force from being transmitted to the four-wheel drive base 1, the robotic arm 5 and the gripping mechanism 6, thus ensuring the safety of the equipment during the transfer process. When unloading is required, the gripper 65 grabs the workpiece from the placement plate 2 and moves it to the unloading station via the robotic arm 5. The motor 641 reverses, driving the rope drum 642 to rotate in the opposite direction to release the pull rope 645. At this time, the elastic tension of the return spring 653 at the top of the slider 651 is released, automatically pulling the connecting block 652 and the slider 651 to slide outward along the guide groove 63, driving the flexible hook 655 to open outward synchronously, releasing the clamping of the workpiece. The workpiece falls smoothly to the unloading station, completing all gripping, transferring and unloading operations.

[0026] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A flexible transfer and gripping industrial robot, characterized in that, include: A four-wheel drive base and a placement plate fixedly installed on its top, the surface of which is fixedly fitted with anti-slip strips, a baffle fixedly installed at the edge of the top of the four-wheel drive base, a support plate fixedly installed at the forward end of the top of the four-wheel drive base, an electric turntable installed on the surface of the support plate, and a robotic arm fixedly installed on the top of the electric turntable. A gripping mechanism, which is fixedly installed at the execution end of the robotic arm; Protective components are installed on both sides of the outer surface of the four-wheel drive base, and the protective components are evenly distributed on the surface of the four-wheel drive base. The gripping mechanism includes a mounting box, which is fixedly mounted on the execution end of the robotic arm. A visual monitoring component is mounted on the outer surface of the mounting box. A guide groove is provided on the lower surface of the mounting box. A gripping component is slidably mounted inside the guide groove. A driving component is mounted in the middle of the inner cavity of the mounting box. The gripping component is fixedly connected to the execution end of the driving component. The gripper includes a slider, which is slidably mounted inside a guide groove and fixedly mounted on a drive component. A buffer box is fixedly mounted on the bottom of the slider, and a flexible hook is rotatably mounted on the bottom of the buffer box.

2. The flexible transfer and gripping industrial robot according to claim 1, characterized in that: The number of guide grooves is twelve, and the twelve guide grooves are distributed circumferentially along the lower surface of the mounting box.

3. The flexible transfer and gripping industrial robot according to claim 1, characterized in that: The driving component includes a motor, which is fixedly mounted on the top of the inner cavity of the mounting box via a bracket. A rope winding drum is fixedly mounted on the output end of the motor. The rope winding drum is rotatably mounted in the middle of the mounting box. A pull rope is provided on the outer surface of the rope winding drum, and the free end of the pull rope is fixedly mounted on the outer surface of the slider.

4. The flexible transfer and gripping industrial robot according to claim 3, characterized in that: The outer surface of the rope winding drum is provided with a spiral rope guide groove, which is evenly distributed along the axis of the rope winding drum.

5. The flexible transfer and gripping industrial robot according to claim 4, characterized in that: A rope-fixing plate is fixedly installed at the top of the spiral rope guide groove, and the pull rope is fixedly installed on the surface of the rope-fixing plate. The fixed end of the pull rope is located inside the spiral rope guide groove.

6. The flexible transfer and gripping industrial robot according to claim 5, characterized in that: A connecting block is fixedly installed on the top of the slider, and a return spring is fixedly connected between the connecting block and the inner wall of the mounting box. The connecting block is squeezed and adapted to the bottom of the inner cavity of the mounting box.

7. The flexible transfer and gripping industrial robot according to claim 6, characterized in that: The buffer box includes a box body, which is fixedly installed at the bottom of the slider. A fixing cylinder is fixedly installed at the middle of the bottom of the box body. A through hole is opened on the upper surface of the fixing cylinder. V-shaped spring pieces are fixedly installed on both sides of the inner wall of the box body.

8. The flexible transfer and gripping industrial robot according to claim 7, characterized in that: The flexible hook includes a rotating rod and a gripping hook. The rotating rod is rotatably installed inside the fixed cylinder. A fixed rod is fixedly installed on the top of the gripping hook. Connecting plates are fixedly installed at both ends of the fixed rod. The rotating rod is fixedly installed between the connecting plates. A rotating plate is fixedly installed on the outer surface of the rotating rod. The rotating plate is disposed inside the through hole. A pressure block is fixedly installed on the top of the rotating plate.

9. A flexible transfer and gripping industrial robot according to claim 8, characterized in that: An arc-shaped fixing plate is fixedly installed at the other end of the V-shaped spring sheet, and the arc-shaped fixing plate is fixedly installed on both sides of the outer surface of the pressure block.

10. A flexible transfer and gripping industrial robot according to claim 1, characterized in that: The protective component includes an arc-shaped plate, which is rotatably mounted on the outer surface of the four-wheel drive base via a pivot. A buffer spring is fixedly mounted on the inner curved surface of the arc-shaped plate, and a mounting plate is fixedly mounted on the other end of the buffer spring. The mounting plate is fixedly mounted on the surface of the four-wheel drive base.

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