Manipulator grabbing device

Abstract

The utility model discloses a manipulator gripping device, which relates to the technical field of manipulators, and comprises a manipulator, a placing rack mounted on the manipulator, an air valve component arranged on the upper surface of the placing rack, an adjusting unit arranged on the lower surface of the placing rack, a mounting rack mounted on the adjusting unit, and a cleaning unit and a sleeve mounted on the mounting rack, a suction cup is installed at the lower end of the sleeve, provided with an auxiliary unit and communicated with an air valve assembly. The device has the beneficial effects that a cleaning brush cleans a suction cup through a hydraulic cylinder, a first motor, a supporting frame, a second motor and a rotating shaft, dust on the adsorption face of the suction cup and the surface of a workpiece is blown and cleaned through a spray head, dust on the suction cup and the workpiece is reduced, and air leakage caused by tilting of the edge of the suction cup is prevented through a spring and an annular cover; and therefore, the suction cup can be better attached to and adsorb the workpiece, the firmness and stability of the suction cup in the workpiece adsorption process are improved, and the workpiece is prevented from falling off in the moving process.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a manipulator grasping device. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements of a human arm and is used to grab, carry objects or operate tools according to a fixed program. It is characterized by being able to complete various expected operations through programming, and having the advantages of both human and mechanical machines in terms of structure and performance. The manipulator is the earliest industrial robot and also the earliest modern robot. It can replace heavy labor of humans to realize mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy.

[0003] After searching, the Chinese patent publication number CN219488895U discloses a suction grasping device for robot arm production transfer, which mainly grasps the workpiece by combining the suction cup and the clamp to prevent it from falling during the grasping process.

[0004] By comparing with the existing technologies in related fields, it can be seen that when the robot grasps the workpiece through the grasping device, due to the small thickness of some workpieces, the clamping method can easily cause the workpiece to deform, so the workpiece can only be grasped and moved by a suction cup. When using the suction cup to grasp the workpiece, there will be some dust, debris and other debris on the surface of the workpiece, which will affect the firmness and stability of the suction cup adsorbing the workpiece, increasing the risk of the workpiece falling during the transportation and movement process. Utility Model Content

[0005] The purpose of the utility model is to provide a mechanical hand grasping device in order to solve the above problems.

[0006] The utility model achieves the above-mentioned purpose through the following technical solutions:

[0007] A manipulator grasping device comprises a manipulator, a placing frame is installed on the manipulator, an air valve assembly is arranged on the upper surface of the placing frame, an adjusting unit is arranged on the lower surface of the placing frame, a mounting frame is installed on the adjusting unit, a cleaning unit and a sleeve are installed on the mounting frame, a suction cup is installed on the lower end of the sleeve, an auxiliary unit is installed on the suction cup, the suction cup is connected to the air valve assembly, the air valve assembly is connected to an external vacuum device and an external air supply device, the air valve assembly is connected to the suction cup and the manipulator, the existing technology is adopted, the adjusting unit drives the suction cup to move through the mounting frame and the sleeve, so as to adjust the position of the suction cup, so that the suction cup can adsorb and fix different workpieces, so as to facilitate the movement and transportation of the workpiece, the suction cup is assisted by the auxiliary unit, so that the suction cup can better adsorb and move the workpiece, the suction cup is cleaned by the cleaning unit, and the residual debris on the suction cup is reduced, so that the suction cup can better adsorb and fix the workpiece;

[0008] The auxiliary unit includes an annular cover, the center position of the annular cover is slidably connected to the sleeve, the annular cover is located above and outside the suction cup, an elastic component is installed on the upper surface of the annular cover, and a driving component and a supporting seat are arranged at equal angles on the side of the annular cover. The driving component and the supporting seat are installed correspondingly, and the supporting seat is located obliquely below the driving component. A force arm is rotatably installed on the support seat, and the upper end of the force arm is rotatably connected to the driving component. A nozzle is installed at the lower end of the force arm, and the nozzle is connected to the air valve assembly. A first air outlet and a second air outlet are arranged on the nozzle, and the first air outlet and the second air outlet are arranged perpendicular to each other. The air valve assembly is connected to the nozzle using existing technology. During the movement of the suction cup toward the workpiece, the driving assembly drives the nozzle to move to the bottom of the suction cup through the force arm. The external air supply device delivers the gas to the nozzle through the air valve assembly and sprays it out through the nozzle, and the dust on the adsorption surface of the suction cup and the surface of the workpiece can be blown at the same time through the first air outlet and the second air outlet, so as to reduce the dust on the surface of the suction cup and the workpiece, so that the suction cup can better fit and adsorb the workpiece, and improve the firmness and stability of the suction cup when adsorbing the workpiece. When the suction cup adsorbs the workpiece, the internal air of the suction cup is extracted, and the suction cup will be deformed and fit the surface of the workpiece. The elastic component applies pressure to the edge of the suction cup through the annular cover, so that the suction cup can better fit the workpiece, and prevent the edge of the suction cup from warping up and causing air leakage, thereby effectively improving the firmness of the suction cup when adsorbing the workpiece and preventing the workpiece from falling during movement.

[0009] Furthermore, the air valve assembly includes a first air valve and a second air valve, both of which are installed on the upper surface of the placement rack, the first air valve is an air supply valve, the first air valve is connected to the nozzle, the second air valve is an air extraction valve, the second air valve is connected to the suction cup, the first air valve connecting the nozzle and the second air valve connecting the suction cup adopt the existing technology, the first air valve is connected to an external air supply device, the external air supply device delivers gas to the nozzle through the first air valve, the second air valve is connected to an external vacuum device, the external vacuum device extracts the air in the suction cup through the second air valve, so that the suction cup can adsorb and grasp the workpiece.

[0010] Furthermore, the elastic component includes a spring, which is sleeved on the sleeve. The two ends of the spring are respectively connected to the mounting frame and the annular cover. The spring applies elastic force to the annular cover, so that the lower end of the annular cover can fit on the suction cup and apply force to the suction cup to tighten it.

[0011] Furthermore, the driving assembly includes a mounting seat, which is arranged at an equal angle on the annular cover. The mounting seat is located obliquely above the support seat. The mounting seat is rotatably connected to one end of the electric push rod, and the other end of the electric push rod is rotatably connected to the upper end of the force arm. The input end of the electric push rod is electrically connected to the output end of the external controller. The external controller controls the operation of the electric push rod using existing technology, and the electric push rod drives the power arm to move, thereby adjusting the position of the force arm.

[0012] Furthermore, the cleaning unit includes a lifting and rotating assembly and a support frame. The lifting and rotating assembly is installed on the mounting frame, and the support frame is installed on the lifting and rotating assembly. A second motor is installed in the support frame. A rotating shaft is installed on the output shaft of the second motor. The rotating shaft is rotatably connected to the support frame. A cleaning brush is installed on the part of the rotating shaft located above the support frame. The input end of the second motor is electrically connected to the input end of an external controller. The external controller controls the operation of the second motor using existing technology, and drives the support frame to lift and rotate through the lifting and rotating assembly, so that the cleaning brush can move into the suction cup, and the second motor drives the cleaning brush through the rotating shaft to clean the suction cup.

[0013] Furthermore, the lifting and rotating assembly includes a hydraulic cylinder, which is installed on a mounting frame. A mounting box is installed on the telescopic end of the hydraulic cylinder. A first motor is arranged in the mounting box. The output shaft of the first motor is rotatably connected to the mounting box. The output shaft of the first motor is fixedly connected to the support frame. The input ends of the hydraulic cylinder and the first motor are electrically connected to the output end of an external controller. The external controller controls the operation of the hydraulic cylinder and the first motor using existing technology. The cleaning brush is driven to lift and lower by the hydraulic cylinder, and the support frame is driven to rotate by the first motor, thereby adjusting the position of the cleaning brush, thereby avoiding affecting the suction cup when grabbing the material, and cleaning the suction cup after the workpiece is grabbed.

[0014] Furthermore, the adjusting unit includes a third motor and a bidirectional screw. The third motor is installed on the side of the placement rack, the bidirectional screw is rotatably installed on the placement rack, the bidirectional screw is connected to the output shaft of the third motor, the threads at both ends of the bidirectional screw are in opposite directions, and the opposite threads at both ends of the bidirectional screw are respectively threadedly connected with crossbeams, the crossbeam is slidably connected to the placement rack, and the crossbeam is connected to the mounting rack. The input end of the third motor is electrically connected to the output end of the external controller, and the external controller controls the operation of the third motor using existing technology. The third motor drives the crossbeam to move through the bidirectional screw, and the crossbeam drives the mounting rack to move, thereby adjusting the position of the suction cup, so that the position of the workpiece grasping can be adjusted according to the shape of the workpiece, so that the workpiece can be better grasped.

[0015] The beneficial effects compared with the prior art are as follows:

[0016] 1. Use the electric push rod and the force arm to drive the nozzle to move to the bottom of the suction cup, blow the dust on the suction surface of the suction cup and the surface of the workpiece to reduce the dust on the suction cup and the surface of the workpiece, and then use the spring and the annular cover to apply pressure to the edge of the suction cup so that the suction cup can better fit the workpiece and prevent the edge of the suction cup from warping and causing air leakage, so that the suction cup can better fit and adsorb the workpiece, improve the firmness and stability of the suction cup when adsorbing the workpiece, ensure the efficiency of grasping the workpiece, and prevent the workpiece from falling during movement.

[0017] 2. Through the hydraulic cylinder, the first motor, the support frame, the second motor, and the rotating shaft, the cleaning brush can clean the suction cup, and the nozzle can be used to blow air, thereby effectively reducing the dust and debris adhering to the suction cup, preventing the suction cup from being dirty and unable to effectively adsorb and move the workpiece, so that the suction cup can better adsorb and move the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] 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 work.

[0019] Figure 1 It is a schematic diagram of the overall structure of a manipulator grasping device described in the utility model;

[0020] Figure 2 It is a partial bottom view structural diagram of a manipulator grasping device described in the utility model;

[0021] Figure 3 It is a partial cross-sectional structural schematic diagram of a manipulator grasping device described in the utility model;

[0022] Figure 4 The utility model is a kind of mechanical hand grasping device Figure 3 The enlarged structural diagram at A in the middle;

[0023] Figure 5 It is a schematic diagram of the enlarged structure of the connection between the suction cup and the auxiliary unit of a manipulator grasping device described in the utility model;

[0024] Figure 6 It is an enlarged structural schematic diagram of a cleaning unit of a manipulator grasping device described in the utility model;

[0025] Figure 7 It is a structural schematic diagram of a state in which a suction cup of a manipulator grasping device described in the utility model is connected with an auxiliary unit and a cleaning unit when the suction cup does not grasp a material;

[0026] Figure 8 It is a structural schematic diagram of a state in which a suction cup of a manipulator grasping device described in the utility model is connected with an auxiliary unit and a cleaning unit when grasping a material;

[0027] Fig. 9 It is a schematic diagram of the cross-sectional structure of the connection between the cleaning unit and the suction cup of a manipulator grasping device described in the utility model;

[0028] Fig.10 It is a schematic diagram of the nozzle structure of a mechanical arm grasping device described in the utility model.

[0029] The following are the descriptions of the reference numerals:

[0030] 1. Manipulator; 2. Auxiliary unit; 21. Spring; 22. Ring cover; 23. Mounting seat; 24. Electric push rod; 25. Support seat; 26. Lever; 27. Nozzle; 271. First air outlet; 272. Second air outlet; 3. Cleaning unit; 31. Hydraulic cylinder; 32. Mounting box; 33. First motor; 34. Support frame; 35. Second motor; 36. Rotating shaft; 37. Cleaning brush; 4. First air valve; 5. Second air valve; 6. Suction cup; 7. Placement rack; 8. Adjustment unit; 81. Third motor; 82. Bidirectional screw; 83. Crossbeam; 9. Sleeve; 10. Mounting rack. DETAILED DESCRIPTION

[0031] Example

[0032] like Figure 1-Figure 10As shown, a manipulator grasping device includes a manipulator 1, a placing frame 7 is installed on the manipulator 1, an air valve assembly is arranged on the upper surface of the placing frame 7, an adjusting unit 8 is arranged on the lower surface of the placing frame 7, a mounting frame 10 is installed on the adjusting unit 8, a cleaning unit 3 and a sleeve 9 are installed on the mounting frame 10, a suction cup 6 is installed at the lower end of the sleeve 9, an auxiliary unit 2 is installed on the suction cup 6, the suction cup 6 is connected to the air valve assembly, the air valve assembly is connected to the external vacuum device and the external gas delivery device, and the air valve assembly is connected to the suction cup 6 and the manipulator 1. The existing technology is adopted, such as Figure 1 , Figure 2 As shown, the adjustment unit 8 drives the suction cup 6 to move through the mounting frame 10 and the sleeve 9, thereby adjusting the position of the suction cup 6, so that the suction cup 6 can adsorb and fix different positions of the workpiece according to the different workpieces, which is convenient for moving and transporting the workpiece. The suction cup 6 is assisted by the auxiliary unit 2, so that the suction cup 6 can better adsorb and move the workpiece. The suction cup 6 is cleaned by the cleaning unit 3 to reduce the residual debris on the suction cup 6, so that the suction cup 6 can better adsorb and fix the workpiece;

[0033] The auxiliary unit 2 includes an annular cover 22, the center of which is slidably connected to the sleeve 9, the annular cover 22 is located above and outside the suction cup 6, an elastic component is installed on the upper surface of the annular cover 22, and a driving component and a support seat 25 are arranged at equal angles on the side of the annular cover 22, the driving component and the support seat 25 are installed correspondingly, the support seat 25 is located obliquely below the driving component, a force arm 26 is rotatably installed on the support seat 25, the upper end of the force arm 26 is rotatably connected to the driving component, a nozzle 27 is installed at the lower end of the force arm 26, the nozzle 27 is connected to the air valve component, a first air outlet 271 and a second air outlet 272 are arranged on the nozzle 27, the first air outlet 271 and the second air outlet 272 are arranged perpendicular to each other, and the air valve component is connected to the nozzle 27 using existing technology, such as Figure 2 , Figure 3 , Figure 5 , Figure 7 , Figure 8 , Fig.10As shown, during the movement of the suction cup 6 toward the workpiece, the driving assembly drives the nozzle 27 to move to the bottom of the suction cup 6 through the force arm 26, and the external gas supply device delivers gas to the nozzle 27 through the gas valve assembly, and sprays the gas through the nozzle 27, and the dust on the adsorption surface of the suction cup 6 and the surface of the workpiece can be blown at the same time through the first gas outlet 271 and the second gas outlet 272, so as to reduce the dust on the suction cup 6 and the surface of the workpiece, so that the suction cup 6 can better fit and adsorb the workpiece, and improve the firmness and stability of the suction cup 6 when adsorbing the workpiece. After the soot blowing is completed, the driving assembly is The lever arm 26 drives the nozzle 27 to move in the opposite direction, so that the nozzle 27 is separated from the suction cup 6, and the suction cup 6 contacts the surface of the workpiece. When the suction cup 6 adsorbs the workpiece, the internal air of the suction cup 6 is extracted, and the suction cup 6 is deformed and fits the surface of the workpiece. The annular cover 22 pushes the elastic component, and the elastic component applies pressure to the edge of the suction cup 6 through the annular cover 22, so that the suction cup 6 can better fit the workpiece and prevent the edge of the suction cup 6 from warping up and causing air leakage, thereby effectively improving the firmness of the suction cup 6 when adsorbing the workpiece and preventing the workpiece from falling during movement.

[0034] The gas valve assembly includes a first gas valve 4 and a second gas valve 5, both of which are mounted on the upper surface of the placement rack 7. The first gas valve 4 is a gas delivery valve connected to the nozzle 27, and the second gas valve 5 is a gas extraction valve connected to the suction cup 6. Figure 1 , Figure 3 As shown, the first air valve 4 connects the nozzle 27 and the second air valve 5 connects the suction cup 6 using the existing technology. The first air valve 4 is connected to an external gas supply device, and the external gas supply device supplies gas to the nozzle 27 through the first air valve 4. The second air valve 5 is connected to an external vacuum pumping device, and the external vacuum pumping device extracts the air in the suction cup 6 through the second air valve 5, so that the suction cup 6 can adsorb and grasp the workpiece.

[0035] The elastic component includes a spring 21, which is sleeved on the sleeve 9, and the two ends of the spring 21 are respectively connected to the mounting frame 10 and the annular cover 22. Figure 2 , Figure 3 , Figure 5 , Figure 7-Figure 9 As shown, when the suction cup 6 is deformed and fits onto the workpiece, the annular cover 22 is pushed upward by the reverse force, and the annular cover 22 compresses the spring 21 in the reverse direction. At the same time, the spring 21 applies elastic force to the annular cover 22, so that the lower end of the annular cover 22 can fit onto the suction cup 6, and exerts force to press the edge of the suction cup 6 to avoid warping and air leakage at the edge of the suction cup 6, thereby improving the firmness and stability of the suction cup 6 during adsorption.

[0036] The driving assembly includes a mounting seat 23, which is arranged at an equal angle on the annular cover 22. The mounting seat 23 is located obliquely above the support seat 25. The mounting seat 23 is rotatably connected to one end of the electric push rod 24, and the other end of the electric push rod 24 is rotatably connected to the upper end of the force arm 26. The input end of the electric push rod 24 is electrically connected to the output end of the external controller. The external controller controls the operation of the electric push rod 24 using existing technologies, such as Figure 5 , Figure 7-Figure 9 As shown, the power arm 26 is moved by the electric push rod 24, so that the position of the power arm 26 is adjusted, thereby moving the nozzle 27.

[0037] The cleaning unit 3 includes a lifting and rotating assembly and a support frame 34. The lifting and rotating assembly is mounted on the mounting frame 10. The support frame 34 is mounted on the lifting and rotating assembly. A second motor 35 is mounted in the support frame 34. A rotating shaft 36 is mounted on the output shaft of the second motor 35. The rotating shaft 36 is rotatably connected to the support frame 34. A cleaning brush 37 is mounted on the portion of the rotating shaft 36 located above the support frame 34. The input end of the second motor 35 is electrically connected to the input end of the external controller. The external controller controls the operation of the second motor 35 using existing technology, such as Figure 2-Figure 4 , Figure 6-Figure 9 As shown, when the suction cup 6 is not picking up materials, the lifting and rotating assembly drives the support frame 34 to be lifted and rotated, so that the cleaning brush 37 can move into the suction cup 6, and the second motor 35 drives the cleaning brush 37 to rotate through the rotating shaft 36, and the suction cup 6 is cleaned by the cleaning brush 37 to reduce the adhesion of dust on the suction cup 6, so that the suction cup 6 can better adsorb the workpiece. When the suction cup 6 is picking up materials from the workpiece, the lifting and rotating assembly drives the cleaning brush 37 to move out of the suction cup 6 through the support frame 34 and the rotating shaft 36 to avoid affecting the normal operation of the suction cup 6.

[0038] The lifting and rotating assembly includes a hydraulic cylinder 31, which is mounted on the mounting frame 10. A mounting box 32 is mounted on the telescopic end of the hydraulic cylinder 31. A first motor 33 is arranged in the mounting box 32. The output shaft of the first motor 33 is rotatably connected to the mounting box 32. The output shaft of the first motor 33 is fixedly connected to the support frame 34. The input ends of the hydraulic cylinder 31 and the first motor 33 are electrically connected to the output end of the external controller. The external controller controls the operation of the hydraulic cylinder 31 and the first motor 33 using existing technologies, such as Figure 2-Figure 4 , Figure 6-Figure 9 As shown, the cleaning brush 37 is lifted and lowered by the hydraulic cylinder 31, and the support frame 34 is rotated by the first motor 33, so as to adjust the position of the cleaning brush 37, thereby avoiding affecting the suction cup 6 when grabbing the material, and cleaning the suction cup 6 after the workpiece is grabbed.

[0039] The adjusting unit 8 includes a third motor 81 and a bidirectional screw 82. The third motor 81 is installed on the side of the placement rack 7. The bidirectional screw 82 is rotatably installed on the placement rack 7. The bidirectional screw 82 is connected to the output shaft of the third motor 81. The two ends of the bidirectional screw 82 have opposite thread directions. The two ends of the bidirectional screw 82 are respectively threadedly connected with a beam 83 on the opposite threads. The beam 83 is slidably connected to the placement rack 7. The beam 83 is connected to the mounting rack 10. The input end of the third motor 81 is electrically connected to the output end of the external controller. The external controller controls the operation of the third motor 81 using existing technology, such as Figure 2 , Figure 3 As shown, the bidirectional screw 82 is driven to rotate by the third motor 81, the bidirectional screw 82 is driven to move the crossbeam 83, and the crossbeam 83 drives the mounting frame 10 to move, thereby adjusting the position of the suction cup 6, so that the position of the workpiece grasping can be adjusted according to the shape of the workpiece, so that the workpiece can be better grasped.

[0040] Working principle: According to the shape and surface condition of the workpiece, such as Figure 2 , Figure 3 As shown, the bidirectional screw 82 is driven to rotate by the third motor 81, the bidirectional screw 82 drives the crossbeam 83 to move, and the crossbeam 83 drives the mounting frame 10 to move, thereby adjusting the position of the suction cup 6, so that the suction cup 6 can adsorb the appropriate position of the workpiece;

[0041] like Figure 1 As shown, the manipulator 1 drives the suction cup 6 to move toward the workpiece to pick up the material. Figure 5 , Figure 7-Figure 9 As shown, the electric push rod 24 drives the power arm 26 to move, as shown in FIG. Figure 2 , Figure 3 , Figure 5 , Figure 7 As shown, the spray head 27 is moved to the bottom of the suction cup 6 by the force arm 26, as shown in FIG. Figure 1 , Figure 3 , Fig.10 As shown, the external gas supply device delivers gas to the nozzle 27 through the first gas valve 4, and the gas in the nozzle 27 is ejected through the first gas outlet 271 and the second gas outlet 272, thereby blowing the dust on the adsorption surface of the suction cup 6 and the surface of the workpiece to reduce the dust on the suction cup 6 and the surface of the workpiece; Figure 8 As shown, after the soot blowing is completed, the electric push rod 24 drives the power arm 26 to move in the opposite direction, so that the nozzle 27 is away from the suction cup 6;

[0042] like Figure 1 As shown, the manipulator 1 drives the suction cup 6 to press down and fit on the workpiece, as shown in FIG. Figure 1 , Figure 3As shown, the external vacuum device extracts the air in the suction cup 6 through the second air valve 5, and the suction cup 6 is attached to the workpiece and adsorbs and fixes the workpiece. At the same time, when the suction cup 6 is adsorbed on the surface of the workpiece, as shown in FIG. Figure 2 , Figure 3 , Figure 5 , Figure 7-Figure 9 As shown, the annular cover 22 is moved upward by the reverse thrust, and the annular cover 22 compresses the spring 21 in the reverse direction. At the same time, the spring 21 applies elastic force to the annular cover 22, so that the lower end of the annular cover 22 can fit on the suction cup 6, and exerts a force to press the edge of the suction cup 6 to prevent the edge of the suction cup 6 from warping and causing air leakage;

[0043] like Figure 1 , Figure 8 As shown, the manipulator 1 moves the workpiece by adsorbing it through the suction cup 6, thereby completing the grasping movement of the workpiece;

[0044] After the workpiece is grasped and moved, the workpiece is separated from the suction cup 6. Figure 2-Figure 4 , Figure 6-Figure 9 As shown, the hydraulic cylinder 31 drives the installation box 32 and the support frame 34 to move downward, so that the cleaning brush 37 moves below the height of the suction cup 6, and the first motor 33 drives the support frame 34 to rotate, so that the cleaning brush 37 moves to the bottom of the suction cup 6, and the hydraulic cylinder 31 drives the installation box 32 to rise, so that the cleaning brush 37 enters the suction cup 6, and the second motor 35 drives the cleaning brush 37 to rotate through the rotating shaft 36, and the suction cup 6 is cleaned by the cleaning brush 37; at the same time, Figure 5 , Figure 7-Figure 9 As shown, the electric push rod 24 drives the nozzle 27 to move to the bottom of the suction cup 6 through the force arm 26. While the cleaning brush 37 cleans the suction cup 6, the gas ejected from the nozzle 27 blows away the dust, thereby cleaning the suction cup 6, reducing the adhesion of dust on the suction cup 6, ensuring the cleanliness of the suction cup 6, and enabling the suction cup 6 to better grasp the material.

[0045] The above shows and describes the basic principle, main features and advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments, and the above embodiments and descriptions are only for explaining the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, and these changes and improvements fall within the scope of the utility model to be protected.

Claims

1. A manipulator grasping device, characterized in that: The robot comprises a placing rack installed on the robot, an air valve assembly is arranged on the upper surface of the placing rack, an adjusting unit is arranged on the lower surface of the placing rack, a mounting rack is installed on the adjusting unit, a cleaning unit and a sleeve are installed on the mounting rack, a suction cup is installed at the lower end of the sleeve, an auxiliary unit is installed on the suction cup, and the suction cup is connected to the air valve assembly; The auxiliary unit includes an annular cover, the center position of which is slidably connected to the sleeve, the annular cover is located above and outside the suction cup, an elastic component is installed on the upper surface of the annular cover, and a driving component and a support seat are arranged at equal angles on the side of the annular cover, the driving component and the support seat are installed correspondingly, the support seat is located obliquely below the driving component, a force arm is rotatably installed on the support seat, the upper end of the force arm is rotatably connected to the driving component, a nozzle is installed at the lower end of the force arm, the nozzle is connected to the air valve assembly, a first air outlet and a second air outlet are arranged on the nozzle, and the first air outlet and the second air outlet are arranged perpendicular to each other.

2. A manipulator grasping device according to claim 1, characterized in that: The air valve assembly includes a first air valve and a second air valve, both of which are installed on the upper surface of the placement rack. The first air valve is an air supply valve connected to the nozzle, and the second air valve is an air extraction valve connected to the suction cup.

3. A robot gripping device according to claim 1, characterized in that: The elastic component comprises a spring, the spring is sleeved on the sleeve, and two ends of the spring are respectively connected to the mounting frame and the annular cover.

4. A robot gripping device according to claim 1, characterized in that: The driving assembly includes a mounting seat, which is arranged at an equal angle on the annular cover and is located obliquely above the support seat. The mounting seat is rotatably connected to one end of the electric push rod, and the other end of the electric push rod is rotatably connected to the upper end of the force arm.

5. A robot gripping device according to claim 1, characterized in that: The cleaning unit includes a lifting and rotating assembly and a support frame. The lifting and rotating assembly is mounted on the mounting frame, and the support frame is mounted on the lifting and rotating assembly. A second motor is mounted in the support frame, and a rotating shaft is mounted on the output shaft of the second motor. The rotating shaft is rotatably connected to the support frame, and a cleaning brush is mounted on the part of the rotating shaft located above the support frame.

6. A robot gripping device according to claim 5, characterized in that: The lifting and rotating assembly includes a hydraulic cylinder, which is installed on the mounting frame. A mounting box is installed on the telescopic end of the hydraulic cylinder. A first motor is arranged in the mounting box. The output shaft of the first motor is rotatably connected to the mounting box, and the output shaft of the first motor is fixedly connected to the support frame.

7. A robot gripping device according to claim 1, characterized in that: The adjusting unit includes a third motor and a bidirectional screw, wherein the third motor is mounted on a side of the placement rack, the bidirectional screw is rotatably mounted on the placement rack, the bidirectional screw is connected to the output shaft of the third motor, the threads at both ends of the bidirectional screw are in opposite directions, and the opposite threads at both ends of the bidirectional screw are respectively threadedly connected with cross beams, the cross beams are slidably connected to the placement rack, and the cross beams are connected to the mounting rack.

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