Mechanical grabbing device for industrial robot

Abstract

The utility model relates to the field of industrial robots, in particular to a mechanical gripping device for an industrial robot, which comprises a mounting frame, a retainer, a clamping arm and a mounting plate I. The clamping arm is rotatably mounted on one side of the mounting frame, and the retainer is rotatably mounted on the other side of the mounting frame. The side, away from the rotating end, of the holder is attached to the outer wall of the clamping arm, a hydraulic cylinder is arranged on one side of the mounting frame, and a first mounting plate is arranged on one side of the hydraulic cylinder. According to the device, the high-stability object clamping and conveying effect can be achieved through the clamping arms with the reinforced fixing and clamping effect and the suction cups with the position moving effect, and the problems that an existing industrial robot clamping hand lacks the stable clamping maintaining effect, consequently, objects are prone to disengagement in some severe environments, and the clamping effect is poor are solved. And the normal and efficient conveying state is influenced.

Description

Technical Field

[0001] The utility model relates to the field of industrial robots, in particular to a mechanical grasping device for industrial robots. Background Art

[0002] A gripper for an industrial robot is a device, usually made of various materials (such as metal or plastic), used to grasp, move and handle objects of different shapes and weights. These grippers can be designed according to specific needs and applications, allowing the robot to perform a variety of tasks, such as assembly, packaging, handling and processing. The grippers of industrial robots usually have a certain degree of flexibility and precision to adapt to different working environments and operating requirements.

[0003] In the existing technology, although a certain amount of object transportation can be achieved during use, there is a defect: the existing industrial robot gripper lacks the effect of stable clamping, which makes it easy for objects to fall off in some harsh environments, affecting the normal and efficient transportation state. In view of this, we propose a mechanical grasping device for industrial robots to solve the above problem. Utility Model Content

[0004] The purpose of the utility model is to provide a mechanical grasping device for an industrial robot in view of the problems existing in the background technology.

[0005] The technical solution of the utility model is as follows: a mechanical grasping device for an industrial robot comprises a mounting frame, a holding frame, a clamping arm and a mounting plate, wherein the clamping arm is rotatably mounted on one side of the mounting frame, and the holding frame is rotatably mounted on the other side of the mounting frame, and the holding frame and the side away from the rotating end are in contact with the outer wall of the clamping arm, a hydraulic cylinder is arranged on one side of the mounting frame, and a mounting plate is arranged on one side of the hydraulic cylinder;

[0006] When the device is in use, the bracket can be fixed on the driving end of the industrial robot, and then the device can be controlled to clamp and transport the object. The first step is to get close to the object, and after the position sensor senses it, the motor is started to realize the center clamping of the clamping arm. After clamping, under the action of the torsion spring, the clamping arm can achieve a stable and firm clamping effect under the action of external force and the motor, and a suction cup is provided in the middle position of the clamping arm to cooperate with the negative pressure machine, which can realize the absorption of regular objects and achieve a stable fixing effect, ensuring the stable clamping and transportation effect even in harsh environments.

[0007] Preferably, one side of the mounting plate is provided with suction cups distributed in a linear array, and one side of the mounting frame is provided with a negative pressure machine, and the negative pressure machine is adapted to the suction cups.

[0008] Preferably, a hydraulic rod is provided on one side of the hydraulic cylinder, and one end of the hydraulic rod is fixedly connected to one side of the mounting plate.

[0009] Preferably, a mounting groove is provided on one side of the mounting frame, the retaining frame is rotatably mounted inside the mounting groove, a torsion spring is provided on the outer wall of the mounting groove, and the torsion spring is installed in cooperation with the rotation center of the retaining frame.

[0010] Preferably, a motor is provided on an outer wall of one side of the mounting frame, and an output shaft of the motor is fixedly connected to a rotation center of one side of the clamping arm.

[0011] Preferably, a second mounting plate is provided on the outer walls on both sides of the mounting frame, and a position sensor is provided at the lower end of the second mounting plate.

[0012] Preferably, a bracket is provided on the outer wall of the mounting frame on a side facing away from the clamping arm.

[0013] Preferably, the retaining frame is designed to be arc-shaped, and the center point of the arc is located at the center of the lower surface of the mounting frame.

[0014] Compared with the prior art, the advantages of the present invention are:

[0015] 1. The utility model can utilize the clamping arm with a holding effect to achieve a stable clamping effect on the object and prevent the phenomenon of unhooking.

[0016] 2. Based on the first beneficial effect, the device can utilize the suction cup on the surface of the mounting plate to achieve secondary fixation of the upper surface of the object, thereby increasing the stability of transportation.

[0017] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a three-dimensional schematic diagram of the utility model;

[0019] Figure 2 It is a bottom view schematic diagram of the utility model;

[0020] Figure 3 It is a main schematic diagram of the utility model;

[0021] Figure 4 It is a side view schematic diagram of the utility model.

[0022] Reference numerals:

[0023] 1. Mounting frame; 2. Bracket; 3. Torsion spring; 4. Retaining frame; 5. Mounting plate 2; 6. Negative pressure machine; 7. Hydraulic cylinder; 8. Hydraulic rod; 9. Suction cup; 10. Clamping arm; 11. Position sensor; 12. Motor; 13. Mounting plate 1; 14. Mounting slot. DETAILED DESCRIPTION

[0024] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below with reference to the accompanying drawings.

[0025] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific implementation methods disclosed below.

[0026] Secondly, the present invention is described in detail with reference to the schematic diagram. When describing the implementation of the present invention, for the sake of convenience, the cross-sectional diagram showing the device structure will not be partially enlarged according to the general scale, and the schematic diagram is only an example, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0027] In order to make the purpose, technical solution and advantages of the present invention more clear, the implementation mode of the present invention will be further described in detail below with reference to the accompanying drawings.

[0028] Example 1

[0029] See also Figure 1-Figure 4 As shown, this embodiment is a mechanical grasping device for an industrial robot, comprising a mounting frame 1, a retaining frame 4, a clamping arm 10 and a mounting plate 13, the clamping arm 10 is rotatably mounted on one side of the mounting frame 1, the retaining frame 4 is rotatably mounted on the other side of the mounting frame 1, the retaining frame 4 and the side away from the rotating end are in contact with the outer wall of the clamping arm 10, a hydraulic cylinder 7 is arranged on one side of the mounting frame 1, and a mounting plate 13 is arranged on one side of the hydraulic cylinder 7;

[0030] When the device is in use, the bracket 2 can be fixed on the driving end of the industrial robot, and then the device can be controlled to clamp and transport the object. First, it is necessary to approach the object, and after the position sensor 11 senses it, the motor 12 is started to realize the centering clamping of the clamping arm 10. After clamping, under the action of the torsion spring 3, the clamping arm 10 can achieve a stable and firm clamping effect under the action of the external force and the motor 12, and a suction cup 9 is provided in the middle position of the clamping arm 10 to cooperate with the negative pressure machine 6, which can realize the suction of regular objects and achieve a stable fixing effect, ensuring the stable clamping and transportation effect even in harsh environments.

[0031] One side of the mounting plate 13 is provided with suction cups 9 distributed in a linear array, and one side of the mounting frame 1 is provided with a negative pressure machine 6, which is adapted to the suction cups 9. The suction cups 9 can cooperate with the negative pressure machine 6 to absorb objects with a flat upper surface, thereby achieving the effect of reinforcing and stabilizing transportation.

[0032] Example 2

[0033] See also Figure 1-Figure 4 As shown, this embodiment is based on the embodiment 1 and also includes: a hydraulic rod 8 is provided on one side of the hydraulic cylinder 7, and one end of the hydraulic rod 8 is fixedly connected to one side of the mounting plate 13. The hydraulic cylinder 7 can drive the suction cup 9 to move, so as to facilitate the adaptation of objects of different sizes.

[0034] A mounting groove 14 is provided on one side of the mounting frame 1, and the retaining frame 4 is rotatably installed inside the mounting groove 14. A torsion spring 3 is provided on the outer wall of the mounting groove 14. The torsion spring 3 is installed in coordination with the rotation center of the retaining frame 4. The torsion spring 3 can ensure that the retaining frame 4 can stably exert a certain pressure effect on the outer wall of the clamping arm 10.

[0035] A motor 12 is disposed on the outer wall of one side of the mounting frame 1, and the output shaft of the motor 12 is fixedly connected to the rotation center of one side of the clamping arm 10. The motor 12 can drive the clamping arm 10 to rotate to achieve clamping of the object.

[0036] The outer walls of both sides of the mounting frame 1 are provided with mounting plates 5, and the lower end of the mounting plates 5 is provided with position sensors 11. The position sensors 11 can cooperate with the rear end to realize high-precision object detection to prevent the clamping arm 10 from colliding with the object and being damaged.

[0037] A bracket 2 is disposed on the outer wall of the mounting frame 1 on the side away from the clamping arm 10 . The bracket 2 is the torsional motion part of the industrial robot and will not be described in detail here.

[0038] The retaining frame 4 is designed to be arc-shaped, and the center point of the arc is located at the center of the lower surface of the mounting frame 1.

[0039] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0040] Finally, it should be noted that the above description is only a preferred embodiment of the utility model and is not intended to limit the utility model. Although the utility model is described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions recorded in the above embodiments or replace some of the technical features therein with equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A mechanical gripping device for an industrial robot, comprising a mounting frame (1), a retaining frame (4), a clamping arm (10) and a mounting plate (13), characterized in that: A clamping arm (10) is rotatably mounted on one side of the mounting frame (1), and a retaining frame (4) is rotatably mounted on the other side of the mounting frame (1); the retaining frame (4) and the side facing away from the rotating end are in contact with the outer wall of the clamping arm (10); a hydraulic cylinder (7) is provided on one side of the mounting frame (1), and a mounting plate (13) is provided on one side of the hydraulic cylinder (7).

2. A mechanical grasping device for an industrial robot according to claim 1, characterized in that: One side of the mounting plate (13) is provided with suction cups (9) distributed in a linear array, and one side of the mounting frame (1) is provided with a negative pressure machine (6), and the negative pressure machine (6) is adapted to the suction cups (9).

3. The mechanical grasping device for an industrial robot according to claim 1, characterized in that: A hydraulic rod (8) is provided on one side of the hydraulic cylinder (7), and one end of the hydraulic rod (8) is fixedly connected to one side of the mounting plate (13).

4. The mechanical grasping device for an industrial robot according to claim 1, characterized in that: The retaining frame (4) is designed to be arc-shaped, and the center point of the arc is located at the center of the lower surface of the mounting frame (1).

5. The mechanical grasping device for an industrial robot according to claim 1, characterized in that: A motor (12) is provided on an outer wall of one side of the mounting frame (1), and an output shaft of the motor (12) is fixedly connected to a rotation center of one side of the clamping arm (10).

6. The mechanical grasping device for an industrial robot according to claim 1, characterized in that: The outer walls of both sides of the mounting frame (1) are provided with mounting plates 2 (5), and the lower end of the mounting plates 2 (5) is provided with a position sensor (11).

7. The mechanical grasping device for an industrial robot according to claim 1, characterized in that: A bracket (2) is provided on the outer wall of the mounting frame (1) on a side facing away from the clamping arm (10).

8. The mechanical grasping device for an industrial robot according to claim 4, characterized in that: A mounting groove (14) is provided on one side of the mounting frame (1), the retaining frame (4) is rotatably mounted inside the mounting groove (14), a torsion spring (3) is provided on the outer wall of the mounting groove (14), and the torsion spring (3) is mounted in cooperation with the rotation center of the retaining frame (4).

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