Robot cargo grabbing device
By designing a robot cargo grabbing device that includes a machine grabbing body, a clamping lifting assembly, a support support assembly and a clamping mobile assembly, the risk of goods falling during the transfer process in the prior art is solved, and stable clamping and safe bottoming of goods are achieved.
Patent Information
- Application Number
- CN202420258094.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-02-02
- Publication Date
- 2025-03-18
- Estimated Expiration
- 2034-02-02
AI Technical Summary
During the cargo transfer process, the existing robot grasping device has a risk of cargo falling due to the decrease in the bite force of the claws.
A robot cargo grabbing device is designed, including a machine grabbing body, clamping and lifting assembly, support and clamping and moving assembly. Through the coordinated work of these components, clamping and bottoming of the goods is achieved to prevent the goods from falling.
It effectively avoids the risk of goods falling during the grabbing and transfer process, and improves the stability and safety of goods clamping.
Smart Images
Figure CN222627792U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of robots, in particular to a robot cargo grabbing device. Background Art
[0002] Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field. They have a certain degree of automation and can rely on their own power and control capabilities to achieve various industrial processing and manufacturing functions. When industrial robots grab goods, they use a grabbing device to clamp them and then place them.
[0003] In the process of grabbing and transferring goods, the existing robot grabbing device uses the bite force of the claw to grab the goods. The bottom of the claw is suspended in the air. When the bite force decreases, there is a risk of the goods falling. Therefore, a new technical solution needs to be designed to solve this problem. Utility Model Content
[0004] The purpose of the utility model is to provide a robot cargo grabbing device to solve the problem that the robot grabbing device proposed in the above background technology uses the bite force of the claw to grab the cargo during the process of transferring the cargo after grabbing it, and its bottom is in a suspended state. When the bite force decreases, there is a risk of the cargo falling.
[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a robot cargo grabbing device, comprising a machine grabbing body, a clamping and lifting assembly, a supporting and lifting assembly and a clamping and moving assembly, wherein the moving end of the machine grabbing body is installed with a mounting frame, and two columns are distributed below the mounting frame, and a mounting groove is opened on the side where the two columns are close to each other, and a through hole is opened at the bottom of the column; the clamping and lifting assembly is located in the mounting groove, and the clamping and lifting assembly comprises a clamping plate, a first electric push rod and a connecting plate, the first electric push rod is fixed to the bottom of the inner cavity of the mounting groove, and the clamping plate is connected to the moving end of the first electric push rod through the connecting plate; the supporting and lifting assembly is fixed to At the bottom of the column, the supporting lifting assembly includes a mounting plate, a second electric push rod and a lifting block, the lifting block is located in the through hole, the mounting plate is welded to the outer side wall of the column, and the two ends of the second electric push rod are respectively connected to the mounting plate and the lifting block; the clamping and moving assembly is located in the inner cavity of the mounting frame, the clamping and moving assembly includes a motor, a forward and reverse screw rod and a moving block, the motor is fixed to the inner side wall of the mounting frame, one end of the forward and reverse screw rod is connected to the motor key, and the other end is rotatably connected to the inner side wall of the mounting frame through a rotating seat, the two moving blocks are sleeved on the outside of the forward and reverse screw rods and threadedly connected, and the column is fixedly connected to the bottom of the moving block.
[0006] In order to improve the stability of the clamping plate in clamping the cargo, as a preferred robot cargo grasping device of the utility model, a pattern groove is opened on the side of the clamping plate in contact with the cargo, and a support column is welded on the side of the clamping plate close to the column, and the support column is in sliding contact with the column.
[0007] In order to limit the moving block and prevent the moving block and the forward and reverse screw rods from rotating, as a preferred robot cargo grabbing device of the utility model, a sliding rod is horizontally arranged in the inner cavity of the mounting frame and is fixed to the inner wall of the mounting frame by bolts, and the sliding rod passes through the two moving blocks.
[0008] In order to pull the connecting plate so that the connecting plate can always move in the vertical direction, as a preferred robot cargo grasping device of the utility model, a guide groove is opened on the inner side wall of the installation groove, and a guide block is welded on the side wall of the connecting plate, and the guide block is slidably connected to the guide groove.
[0009] In order to prevent the positive and negative screw rods from being deformed due to increased force after clamping the cargo, as a preferred robot cargo grabbing device of the utility model, a slider is welded on the top of the moving block, a slide groove is opened on the top of the inner cavity of the installation frame, the slider is slidably connected to the slide groove, and the moving block is suspended on the top of the inner cavity of the installation frame through the slider.
[0010] Compared with the prior art, the beneficial effect of the utility model is as follows: the robot cargo grabbing device, by installing a clamping and moving component inside the installation frame, and installing a clamping and lifting component and a supporting and lifting component inside and at the bottom of the column respectively, at this time, the two columns can approach each other under the action of the clamping and moving component to complete the grabbing of the cargo, and cooperate with the clamping and lifting component to lift the cargo, and finally cooperate with the supporting and lifting component to support the bottom of the cargo, so that the cargo can be clamped and supported, avoiding the falling of the cargo when the robot grabs and transfers the cargo. BRIEF DESCRIPTION OF THE DRAWINGS
[0011] Figure 1 This is a schematic diagram of the main structure of the utility model;
[0012] Figure 2 It is a schematic diagram of the structure of the utility model;
[0013] Figure 3 This is a schematic diagram of the positive and negative screw rod connection structure of the utility model;
[0014] Figure 4 This is a schematic diagram of the column connection structure of the utility model.
[0015] In the figure: 1. Machine grabbing body; 2. Mounting frame; 3. Column; 31. Perforation; 32. Mounting slot; 4. Clamping and lifting assembly; 41. Clamping plate; 42. First electric push rod; 43. Connecting plate; 5. Support and lifting assembly; 51. Mounting plate; 52. Second electric push rod; 53. Lifting block; 6. Clamping and moving assembly; 61. Motor; 62. Forward and reverse screw rods; 63. Moving block; 631. Slider; 7. Sliding rod. DETAILED DESCRIPTION
[0016] 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 in 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.
[0017] See also Figure 1-4 The utility model provides a technical solution: including a machine grabbing body 1, a clamping and lifting component 4, a supporting and lifting component 5 and a clamping and moving component 6.
[0018] A robot cargo grabbing device, wherein a mounting frame 2 is mounted on a mobile end of a robot grabbing body 1, two columns 3 are distributed below the mounting frame 2, a mounting groove 32 is opened on the side where the two columns 3 are close to each other, and a through hole 31 is opened at the bottom of the column 3;
[0019] In this technical solution, the machine grasping body 1 is used to control the movement of the mounting frame 2 to transfer the grasped goods from one place to another. The mounting frame 2 is used to provide installation points for the installation of various parts. The two columns 3 can approach or move away from each other under the action of external force, thereby achieving the clamping and release of the goods.
[0020] The clamping and lifting assembly 4 is located in the installation groove 32. The clamping and lifting assembly 4 includes a clamping plate 41, a first electric push rod 42 and a connecting plate 43. The first electric push rod 42 is fixed to the bottom of the inner cavity of the installation groove 32. The clamping plate 41 is connected to the moving end of the first electric push rod 42 through the connecting plate 43.
[0021] In this technical solution, the first electric push rod 42 is used to control the movement of the connecting plate 43 in the vertical direction, thereby driving the clamping plate 41 to move, and the goods can be lifted over a short distance so that the bottom of the goods is higher than the top surface of the lifting block 53.
[0022] The supporting and lifting assembly 5 is fixed to the bottom of the column 3. The supporting and lifting assembly 5 includes a mounting plate 51, a second electric push rod 52 and a lifting block 53. The lifting block 53 is located in the through hole 31. The mounting plate 51 is welded to the outer wall of the column 3. Both ends of the second electric push rod 52 are connected to the mounting plate 51 and the lifting block 53 respectively.
[0023] In this technical solution, the mounting plate 51 and the second electric push rod 52 are used in combination to control the lifting block 53 to retract into the through hole 31 or be pushed out, so that the lifting block 53 contacts the bottom of the cargo to support the cargo.
[0024] The clamping and moving assembly 6 is located in the inner cavity of the installation frame 2. The clamping and moving assembly 6 includes a motor 61, a positive and negative screw rod 62 and a moving block 63. The motor 61 is fixed to the inner wall of the installation frame 2. One end of the positive and negative screw rod 62 is key-connected to the motor 61, and the other end is rotatably connected to the inner wall of the installation frame 2 through a rotating seat. The two moving blocks 63 are sleeved on the outside of the positive and negative screw rod 62 and are threadedly connected. The column 3 is fixedly connected to the bottom of the moving block 63.
[0025] In this technical solution, after the motor 61 controls the forward and reverse screw rods 62 to rotate, the two moving blocks 63 can move along the forward and reverse screw rods 62 to move closer to or farther from each other, thereby driving the two columns 3 to move closer to or farther away from each other.
[0026] In some technical solutions, reference Figure 1 , Figure 2 and Figure 4 A pattern groove is formed on the side of the splint 41 that contacts the goods, and a support column is welded on the side of the splint 41 close to the column 3, and the support column is in sliding contact with the column 3.
[0027] In this technical solution, after the clamping plate 41 clamps the cargo, the clamping plate 41 can stably and firmly contact the outside of the cargo under the action of the pattern groove and the support column, and can drive the cargo to move upward under the action of the first electric push rod 42 and the connecting plate 43.
[0028] In some technical solutions, reference Figure 3 A slide bar 7 is transversely arranged in the inner cavity of the installation frame 2 and fixed to the inner wall of the installation frame 2 by bolts, and the slide bar 7 passes through the two moving blocks 63.
[0029] In this technical solution, the use of the slide bar 7 can prevent the motor 61 from driving the moving block 63 to rotate when rotating, so that the moving block 63 moves horizontally along the slide bar 7 and the forward and reverse screw rods 62, so that the two moving blocks 63 move closer to or farther away from each other.
[0030] In some technical solutions, reference Figure 2 The inner side wall of the mounting groove 32 is provided with a guide groove, and the side wall of the connecting plate 43 is welded with a guide block, which is slidably connected with the guide groove.
[0031] In this technical solution, in order to prevent the clamping plate 41 from tilting outwards under the force of the cargo's weight when clamping the cargo, the guide block and the guide groove can offset the external force, so that the clamping plate 41 can move stably in the vertical direction.
[0032] In some technical solutions, reference Figure 3 A slider 631 is welded on the top of the moving block 63 , a slide groove is opened on the top of the inner cavity of the installation frame 2 , the slider 631 is slidably connected to the slide groove, and the moving block 63 is suspended on the top of the inner cavity of the installation frame 2 through the slider 631 .
[0033] In this technical solution, the slider 631 is used to generate an upward pulling force on the moving block 63, so as to prevent the moving block 63 from generating a downward pulling force on the forward and reverse screw rods 62 and the slide rod 7 after clamping the goods, thereby causing the forward and reverse screw rods 62 to bend, so that the moving block 63 can move stably in the horizontal direction.
[0034] Working principle: In the initial state, the first electric push rod 42 is in place, at this time, the bottom of the splint 41 is lower than the bottom of the column 3, and the lifting block 53 is located in the through hole 31. When the robot cargo grabbing device is used, the cargo is pushed to the middle of the two columns 3. At this time, the second electric push rod 52, the first electric push rod 42, and the motor 61 work under the external control device. The motor 61 drives the forward and reverse screw rods 62 to rotate. At this time, the two moving blocks 63 approach each other along the slide rod 7 and the forward and reverse screw rods 62 until the splint 41 contacts the cargo. At this time, the first electric push rod 42 pushes the connecting plate 43 and the splint 41 to move up synchronously until the bottom of the cargo is higher than the lifting block 53. The lifting block 53 is pushed out of the through hole 31 under the action of the second electric push rod 52 and placed at the bottom of the cargo. After the machine grabbing body 1 works, it drives the mounting frame 2 to move in the horizontal and vertical directions to move the cargo from one place to another. During the movement, the cargo can be effectively clamped to prevent it from falling.
[0035] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.
[0036] Although the present invention has been described above with reference to the embodiments, various modifications may be made thereto and parts thereof may be replaced with equivalents without departing from the scope of the present invention. In particular, as long as there is no structural conflict, the various features in the embodiments disclosed in the present invention may be used in combination with each other in any manner, and the fact that these combinations are not exhaustively described in this specification is only for the sake of omitting space and saving resources. Therefore, the present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.
Claims
1. A robot cargo grabbing device, characterized in that: The invention comprises a machine grabbing body (1), a clamping and lifting assembly (4), a supporting and lifting assembly (5) and a clamping and moving assembly (6); a mounting frame (2) is installed at the moving end of the machine grabbing body (1); two columns (3) are distributed below the mounting frame (2); a mounting groove (32) is provided on the side where the two columns (3) are close to each other; and a through hole (31) is provided at the bottom of the column (3); The clamping and lifting assembly (4) is located in the installation groove (32), and the clamping and lifting assembly (4) comprises a clamping plate (41), a first electric push rod (42) and a connecting plate (43), wherein the first electric push rod (42) is fixed to the bottom of the inner cavity of the installation groove (32), and the clamping plate (41) is connected to the moving end of the first electric push rod (42) through the connecting plate (43); The supporting and lifting assembly (5) is fixed to the bottom of the column (3), and the supporting and lifting assembly (5) comprises a mounting plate (51), a second electric push rod (52) and a lifting block (53), wherein the lifting block (53) is located in the through hole (31), the mounting plate (51) is welded to the outer wall of the column (3), and the two ends of the second electric push rod (52) are respectively connected to the mounting plate (51) and the lifting block (53); The clamping and moving assembly (6) is located in the inner cavity of the installation frame (2), and the clamping and moving assembly (6) comprises a motor (61), a forward and reverse screw rod (62) and a moving block (63). The motor (61) is fixed to the inner wall of the installation frame (2), one end of the forward and reverse screw rod (62) is key-connected to the motor (61), and the other end is rotatably connected to the inner wall of the installation frame (2) through a rotating seat, the two moving blocks (63) are sleeved on the outside of the forward and reverse screw rod (62) and are threadedly connected, and the column (3) is fixedly connected to the bottom of the moving block (63).
2. A robot cargo grabbing device according to claim 1, characterized in that: A pattern groove is formed on the side of the clamping plate (41) in contact with the goods, and a support column is welded to the side of the clamping plate (41) close to the column (3), and the support column is in sliding contact with the column (3).
3. A robot cargo grabbing device according to claim 1, characterized in that: A sliding rod (7) is transversely arranged in the inner cavity of the installation frame (2) and is fixed to the inner side wall of the installation frame (2) by means of bolts, and the sliding rod (7) passes through the two moving blocks (63).
4. The robot cargo grabbing device according to claim 1, characterized in that: The inner side wall of the installation groove (32) is provided with a guide groove, and the side wall of the connecting plate (43) is welded with a guide block, and the guide block is slidably connected to the guide groove.
5. The robot cargo grabbing device according to claim 1, characterized in that: A slider (631) is welded to the top of the moving block (63), a slide groove is provided at the top of the inner cavity of the installation frame (2), the slider (631) is slidably connected to the slide groove, and the moving block (63) is suspended on the top of the inner cavity of the installation frame (2) via the slider (631).