Industrial clamping robot with antiskid clamping jaws

Abstract

The industrial clamping robot comprises a base, a mechanical arm assembly, a rotating arm assembly and a clamping jaw assembly, the mechanical arm assembly is installed on the surface of the upper side of the base, and the rotating arm assembly is installed at the end, away from the base, of the mechanical arm assembly. Compared with the prior art, the clamping jaw assembly has the advantages that the clamping jaw assembly and the air cylinder can provide enough pressure and force for the clamping jaw plates, it is ensured that the two clamping jaw plates tightly clamp an object, the clamping force can ensure that the object can be safely and reliably clamped, the clamped object is prevented from being separated from the position between the two clamping jaw plates, and the clamping effect is good. Through the arrangement of the anti-skid block and the abutting piece, the anti-skid block can provide additional friction force and increase the clamping force between the clamping jaw plate and the object, and the abutting piece can provide stable abutting force, so that the clamping force between the clamping jaw plate and the object is further increased, the clamping jaw plate can be kept stable in high-speed operation, and the clamping efficiency is improved. And the risk that the object falls off or slides off is reduced.

Description

Technical Field

[0001] The utility model belongs to the field of clamping claw equipment, in particular to an industrial clamping robot with anti-slip clamping claws. Background Art

[0002] The gripper of an industrial gripping robot is a device used by the robot to grip and grasp objects. It is the end effector of the robot, used to complete tasks such as grasping, placing, and carrying objects. In industrial gripping robots, a common design for gripper anti-slip is to use anti-slip pads or rubber pads. These pads are usually made of materials with a high coefficient of friction, such as rubber, silicone, etc. They are installed on the gripping surface of the gripper to increase the friction between the gripper and the gripped object, provide a more secure gripping effect, and prevent the object from slipping or falling off. However, in actual use, the gripper of the industrial gripping robot has the problem that the anti-slip effect of the rubber pad may be limited due to the surface characteristics of the object. This is because there is a lack of efficient anti-slip components. The lack of efficient anti-slip components will not only lead to the above problems, but also the problem that the adhesion of the rubber pad may be affected by environmental factors such as temperature and humidity. Therefore, the use of rubber pads alone cannot improve the stability of the gripping, so it is necessary to propose a new structure to solve the above technical problems. Utility Model Content

[0003] In view of the deficiencies in the prior art, the utility model aims to provide an industrial gripping robot with anti-slip grippers to solve the problems raised in the above-mentioned background technology.

[0004] The utility model is realized through the following technical scheme: an industrial gripping robot with anti-slip grippers, comprising: a base, a mechanical arm assembly, a rotating arm assembly and a gripper assembly, the mechanical arm assembly being installed on the upper surface of the base, the rotating arm assembly being installed on the end of the mechanical arm assembly away from the base, the gripper assembly being installed on the end of the rotating arm assembly away from the mechanical arm assembly, the gripper assembly comprising a gripper seat, a cylinder, a gripper plate, an anti-sliding block and an abutment, the interior of the gripper seat is provided with two accommodating cavities through a partition, the interior of each of the accommodating cavities is provided with a cylinder, the telescopic rod of the cylinder is provided with a gripper plate, a plurality of anti-sliding blocks are evenly installed on the inner surface of the gripper plate, an abutment is installed through the surface of the gripper plate, the rotating arm assembly comprises a shell, a motor, a rotating arm body and a connecting column, the interior of the shell is provided with a motor, and the right end of the rotating arm body is provided with a connecting column.

[0005] As a preferred embodiment, a base shaft is installed on the upper surface of the base, and the robotic arm assembly includes robotic arm one, robotic arm two, and robotic arm three. Robotic arm one is electrically hinged to the upper surface of the base through the base shaft, robotic arm one is electrically hinged to one end away from the base shaft, and robotic arm three is electrically hinged to one end of robotic arm two away from robotic arm one.

[0006] As a preferred embodiment, a shell is installed at one end of the robot arm three away from the robot arm two, a motor is installed inside the shell, an output shaft of the motor passes through the right side surface of the shell and is connected to the left end of the rotating arm body, a connecting column is installed at one end of the rotating arm body away from the shell, and a clamping claw seat is installed at one end of the connecting column away from the rotating arm.

[0007] As a preferred embodiment, a partition is welded at the center position of the jaw seat, and two cylinders are symmetrically installed inside the jaw seat through the partition. The telescopic rods of the cylinders pass through the upper and lower surfaces of the jaw seat and are connected to the jaw plates, and the two jaw plates are symmetrically arranged with each other.

[0008] As a preferred embodiment, two limit rods are symmetrically installed on the upper surface and the lower surface of the clamping jaw seat, and the limit rods pass through the surface of the clamping jaw plate. The cylinder is connected to the compressed air supply equipment through an air pipe, and the inner surface of the clamping jaw plate and the outer surface of the anti-sliding block are wrapped with a rubber pad, and the surface of the rubber pad is provided with an arc groove. The cylinder can provide sufficient pressure and force for the clamping jaw plate to ensure that the two clamping jaw plates can tightly clamp the object. This clamping force can ensure safe and reliable clamping of the object and prevent the clamped object from detaching from between the two clamping jaw plates.

[0009] As a preferred embodiment, the abutment member includes an abutment rod, a spring, and an abutment plate. The abutment rod passes through the surface of the clamping jaw plate, the outer surface of the abutment rod is fitted with a spring, the lower end of the abutment rod is installed with an abutment plate, the upper end of the spring is connected to the inner surface of the clamping jaw plate, and the lower end of the spring is connected to the inner surface of the abutment plate. When the clamping jaw plate contacts the clamped object, the anti-sliding block can provide additional friction to increase the clamping force between the clamping jaw plate and the object, and the abutment member can provide a stable abutment force to further increase the clamping force between the clamping jaw plate and the object, which helps the clamping jaw plate to remain stable during high-speed operation and reduces the risk of the object falling off or slipping.

[0010] After adopting the above technical scheme, the beneficial effect of the utility model is as follows: by setting a clamping jaw assembly, the clamping jaw assembly is installed at the right end of the rotating arm assembly, the clamping jaw assembly includes a clamping jaw seat, a cylinder, a clamping jaw plate, an anti-sliding block, and an abutment. The clamping jaw seat is installed with a cylinder inside, and the upper surface and the lower surface of the clamping jaw seat are installed with a clamping jaw plate through the cylinder, and the inner surface of the clamping jaw plate is installed with an anti-sliding block and an abutment. The cylinder can provide sufficient pressure and force for the clamping jaw plate to ensure that the two clamping jaw plates tightly clamp the object. This clamping force can ensure safe and reliable clamping of the object and prevent the clamped object from detaching from between the two clamping jaw plates.

[0011] By setting an anti-sliding block and an abutment piece, the surface of the anti-sliding block is made of high-friction material, and the rubber pad enables it to have good clamping ability when combined with the clamping claw plate. When the clamping claw plate contacts the clamped object, the anti-sliding block can provide additional friction to increase the clamping force between the clamping claw plate and the object, and the abutment piece can provide a stable abutment force to further increase the clamping force between the clamping claw plate and the object, which helps the clamping claw plate to remain stable during high-speed operation and reduces the risk of the object falling off or slipping. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0013] Figure 1 The utility model is a schematic diagram of the overall structure of an industrial gripping robot with anti-slip grippers.

[0014] Figure 2 The utility model is a schematic diagram of a gripper assembly of an industrial gripping robot with anti-slip grippers.

[0015] Figure 3 The utility model is a schematic diagram of an anti-sliding block of an industrial gripping robot with anti-slip gripping claws.

[0016] In the figure, 100-base, 110-base axis, 120-mechanical arm 1, 130-mechanical arm 2, 140-mechanical arm 3;

[0017] 200-housing, 210-motor, 220-rotating arm body, 230-connecting column;

[0018] 300-claw assembly, 310-claw seat, 311-partition, 320-cylinder, 330-limit rod, 340-claw plate, 350-anti-sliding block, 351-rubber pad, 352-arc groove, 360-abutment rod, 361-spring. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0020] See also Figures 1 to 3 The utility model provides a technical solution: an industrial gripping robot with anti-slip gripper, comprising: a base 100, a mechanical arm assembly, a rotating arm assembly and a gripper assembly 300, the upper surface of the base 100 is equipped with the mechanical arm assembly, the end of the mechanical arm assembly away from the base 100 is equipped with the rotating arm assembly, the end of the rotating arm assembly away from the mechanical arm assembly is equipped with the gripper assembly 300, the gripper assembly 300 comprises a gripper seat 310, a cylinder 320, a gripper plate 340, an anti-sliding block 350, an abutment, the gripper seat 310 Two accommodating cavities are provided inside through a partition 311, a cylinder 320 is installed inside each accommodating cavity, a clamping plate 340 is installed on the telescopic rod of the cylinder 320, a plurality of anti-sliding blocks 350 are evenly installed on the inner surface of the clamping plate 340, abutments are installed through the surface of the clamping plate 340, the rotating arm assembly includes a housing 200, a motor 210, a rotating arm body 220, and a connecting column 230, a motor 210 is installed inside the housing 200, and a connecting column 230 is installed on the right end of the rotating arm body 220.

[0021] See also Figure 1 , Figure 2 , Figure 3 As the first embodiment of the utility model: a base shaft 110 is installed on the upper side surface of the base 100, and the robot arm assembly includes a robot arm 1 120, a robot arm 2 130, and a robot arm 3 140. The upper side surface of the base 100 is electrically hinged with the robot arm 1 120 through the base shaft 110, and the end of the robot arm 1 120 away from the base shaft 110 is electrically hinged with the robot arm 2 130, and the end of the robot arm 2 130 away from the robot arm 1 120 is electrically hinged with the robot arm 3 140;

[0022] The end of the robot arm 3 140 away from the robot arm 2 130 is installed with a housing 200, and a motor 210 is installed inside the housing 200. The output shaft of the motor 210 passes through the right side surface of the housing 200 and is connected to the left end of the rotating arm body 220. The end of the rotating arm body 220 away from the housing 200 is installed with a connecting column 230, and the end of the connecting column 230 away from the rotating arm is installed with a clamping claw seat 310;

[0023] A partition plate 311 is welded at the center of the clamping jaw seat 310. Two cylinders 320 are symmetrically installed inside the clamping jaw seat 310 through the partition plate 311. The telescopic rod of the cylinder 320 penetrates the upper and lower surfaces of the clamping jaw seat 310 and is connected to the clamping jaw plate 340. The two clamping jaw plates 340 are symmetrically arranged with each other.

[0024] When in use, the user first starts the compressed air device, and then makes the compressed air device work, generating compressed air to start the cylinder 320 through the air pipe 321, so that the telescopic rod of the cylinder 320 is started, and then the clamping plate 340 is driven to move outward, and then the clamping jaw assembly 300 is driven by the mechanical arm assembly and the rotating arm assembly to clamp the object (the movement mode of the mechanical arm assembly is the existing technology, and its movement structure is not repeated here), and then after moving to the clamped object, the user turns off the compressed air device, so that the telescopic rod of the cylinder 320 retracts, and then drives the clamping jaw plate 340 to retract inward, and then the clamping jaw plate 340 clamps the object (the clamped object must not exceed the distance between the two clamping jaw plates 340 opened by the cylinder 320).

[0025] See also Figure 1 , Figure 2 , Figure 3 As the second embodiment of the utility model: two limit rods 330 are symmetrically installed on the upper and lower surfaces of the clamping jaw seat 310, and the limit rods 330 penetrate the surface of the clamping jaw plate 340. The cylinder 320 is connected to the compressed air supply device through the air pipe 321. The inner surface of the clamping jaw plate 340 and the outer surface of the anti-sliding block 350 are wrapped with a rubber pad 351, and the surface of the rubber pad 351 is provided with an arc groove 352;

[0026] The abutment member includes an abutment rod 360, a spring 361, and an abutment plate. The abutment rod 360 penetrates the surface of the clamping claw plate 340, the outer surface of the abutment rod 360 is sleeved with the spring 361, the lower end of the abutment rod 360 is installed with the abutment plate, the upper end of the spring 361 is connected to the inner surface of the clamping claw plate 340, and the lower end of the spring 361 is connected to the inner surface of the abutment plate;

[0027] When in use, the clamped object will first contact the anti-sliding block 350 and the abutment plate, and the abutment plate will compress the spring 361 on the outer surface of the abutment rod 360, so that the spring 361 is compressed, and then the abutment plate clamps the clamped object. At the same time, the surface of the anti-sliding block 350 is made of high-friction material, and the rubber pad 351 enables it to have good clamping ability when matched with the clamping claw plate 340. When the clamping claw plate 340 contacts the clamped object, the anti-sliding block 350 can provide additional friction to increase the clamping force between the clamping claw plate 340 and the object, and the abutment can provide a stable abutment force to further increase the clamping force between the clamping claw plate 340 and the object, which helps the clamping claw plate 340 to remain stable during high-speed operation and reduce the risk of the object falling off or slipping.

[0028] 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 in the protection scope of the present invention.

Claims

1. An industrial gripping robot with anti-slip gripper, comprising: A base (100), a mechanical arm assembly, a rotating arm assembly and a clamping claw assembly (300), characterized in that the mechanical arm assembly is installed on the upper surface of the base (100), the rotating arm assembly is installed at one end of the mechanical arm assembly away from the base (100), and the clamping claw assembly (300) is installed at one end of the rotating arm assembly away from the mechanical arm assembly; The clamping jaw assembly (300) comprises a clamping jaw seat (310), a cylinder (320), a clamping jaw plate (340), an anti-sliding block (350), and an abutting member. The interior of the clamping jaw seat (310) is provided with two accommodating cavities via a partition (311), a cylinder (320) is installed in each of the accommodating cavities, and a clamping jaw plate (340) is installed on the telescopic rod of the cylinder (320); The inner surface of the clamping claw plate (340) is evenly installed with a plurality of anti-sliding blocks (350), and the surface of the clamping claw plate (340) is penetrated by an abutment member. The rotating arm assembly comprises a housing (200), a motor (210), a rotating arm body (220), and a connecting column (230). The motor (210) is installed inside the housing (200), and the connecting column (230) is installed at the right end of the rotating arm body (220).

2. An industrial gripping robot with anti-slip gripper according to claim 1, characterized in that: The upper surface of the base (100) is installed with a base shaft (110), and the robot arm assembly includes a robot arm 1 (120), a robot arm 2 (130), and a robot arm 3 (140). The upper surface of the base (100) is electrically hinged with the robot arm 1 (120) through the base shaft (110), the end of the robot arm 1 (120) away from the base shaft (110) is electrically hinged with the robot arm 2 (130), and the end of the robot arm 2 (130) away from the robot arm 1 (120) is electrically hinged with the robot arm 3 (140).

3. An industrial gripping robot with anti-slip gripper according to claim 2, characterized in that: A housing (200) is installed at one end of the robot arm three (140) away from the robot arm two (130), and a motor (210) is installed inside the housing (200). The output shaft of the motor (210) passes through the right side surface of the housing (200) and is connected to the left end of the rotating arm body (220). A connecting column (230) is installed at one end of the rotating arm body (220) away from the housing (200), and a clamping claw seat (310) is installed at one end of the connecting column (230) away from the rotating arm.

4. An industrial gripping robot with anti-slip gripper according to claim 3, characterized in that: A partition (311) is welded at the center position of the clamping jaw seat (310), and two cylinders (320) are symmetrically installed inside the clamping jaw seat (310) through the partition (311). The telescopic rods of the cylinders (320) penetrate the upper surface and the lower surface of the clamping jaw seat (310) and are connected to the clamping jaw plate (340), and the two clamping jaw plates (340) are symmetrically arranged with each other.

5. An industrial gripping robot with anti-slip gripper according to claim 4, characterized in that: Two limit rods (330) are symmetrically installed on the upper and lower surfaces of the clamping jaw seat (310), and the limit rods (330) penetrate the surface of the clamping jaw plate (340). The cylinder (320) is connected to the compressed air supply equipment through the air pipe (321). The inner surface of the clamping jaw plate (340) and the outer surface of the anti-sliding block (350) are wrapped with a rubber pad (351), and the surface of the rubber pad (351) is provided with an arc groove (352).

6. An industrial gripping robot with anti-slip gripper according to claim 1, characterized in that: The abutment member comprises an abutment rod (360), a spring (361), and an abutment plate. The abutment rod (360) passes through the surface of the clamping claw plate (340). The outer surface of the abutment rod (360) is fitted with a spring (361). The lower end of the abutment rod (360) is installed with an abutment plate. The upper end of the spring (361) is connected to the inner surface of the clamping claw plate (340), and the lower end of the spring (361) is connected to the inner surface of the abutment plate.

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