Multifunctional grabbing device for robot

Abstract

The utility model relates to the technical field of multifunctional gripping devices, in particular to a multifunctional gripping device for a robot, which comprises a gripping plate, a plurality of moving ports are arranged on the upper surface of the gripping plate, a fitting moving disc is arranged at the upper ends of the moving ports, and a conveying end is arranged at the upper end of the fitting moving disc. A telescopic pipe is arranged on the end face of one side of the conveying end and connected to a hydraulic control end, meanwhile, a telescopic arm is arranged in the attaching moving disc, the tail end of the telescopic arm is arranged on a hydraulic power end, the hydraulic power end is arranged on the lower surface of the hydraulic control end, and meanwhile, a hydraulic oil end is arranged at the upper end of the hydraulic control end. The grabbing device has the advantages that the overall grabbing height of the grabbing device is adjusted through the telescopic arm which is arranged at the upper end of the grabbing arm and driven through the hydraulic effect, and the defect that the grabbing length of the grabbing arm is not enough and grabbing operation cannot be conducted due to the fact that the height of part of grabbed objects is too high is overcome; in addition, the device is provided with a hydraulic system to change pressure and increase acting force, which is more efficient than kinetic energy in other modes.

Description

Technical Field

[0001] The utility model relates to the technical field of multifunctional grasping devices, in particular to a multifunctional grasping device for a robot. Background Art

[0002] At present, robots are used more and more widely in the casting, processing and assembly of diesel engine cylinder blocks. However, for the co-production of multiple varieties of cylinder blocks, one type of gripping cannot meet the needs of multiple varieties. The following two solutions are usually adopted: one solution is to design multiple gripping device fingers and manually replace the fingers when changing varieties; the other solution is to design multiple gripping devices and the robot automatically replaces the gripping device when changing varieties. Both methods can meet the co-production of multiple varieties, but the first method has low efficiency in manually replacing the grippers and there is a possibility of operational errors; the second solution requires making multiple sets of gripping devices and designing hand-changing devices, which is costly, complex in structure and increases the logistics area.

[0003] For example, a multifunctional grasping device of an industrial robot with announcement number CN115056252A includes a central axis and a suction cup mechanism, a cavity is opened in the central axis, a groove is opened in the cavity, a reduction motor is fixedly connected in the groove, a threaded rod is fixedly connected to the output end of the reduction motor, a threaded sleeve is meshedly connected to the threaded rod, four pull plates are symmetrically fixedly connected to the side wall of the threaded sleeve, four sliding holes are symmetrically opened on the side wall of the central axis, one end of each pull plate away from the threaded sleeve passes through the sliding hole and is fixedly connected to a push plate, the lower end face of each push plate is rotatably connected to a first connecting rod, the other end of each of the first connecting rods is rotatably connected to a first sliding block, the lower end face of the central axis is fixedly connected to a fixed cylinder, and four sliding plates are symmetrically slidably connected in the fixed cylinder.

[0004] The above-mentioned device is configured through the coordination of multiple components such as a reduction motor, and can clamp the clamping piece from four sides, thereby achieving a better clamping effect; the pull plate and the limit plate can drive the cross plate to move upward, so that the suction cup body is adsorbed on the clamping piece, thereby further fixing the clamping piece to prevent the clamping piece from falling off midway, thereby improving the practicability of the grasping device. However, the design of the above-mentioned device makes the height of the grasped object a limitation. When the height of the object is too high and exceeds the distance between the suction cup and the grasping arm, the grasping device will not work. This device requires an improvement that can adjust the height of the grasping device. Utility Model Content

[0005] The purpose of the utility model is to provide a multifunctional grasping device for a robot to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a multifunctional grasping device for a robot, comprising a grasping plate, a plurality of moving openings are arranged on the upper surface of the grasping plate, and a fitting moving disk is arranged at the upper end of the moving opening, and a transmission end is arranged at the upper end of the fitting moving disk, a shrink tube is arranged on one side end face of the transmission end, and the shrink tube is connected to the hydraulic control end, and a telescopic arm is arranged inside the fitting moving disk, the end of the telescopic arm is arranged on the hydraulic power end, and the hydraulic power end is arranged on the lower surface of the hydraulic control end, and a hydraulic oil end is arranged at the upper end of the hydraulic control end.

[0007] Preferably, a telescopic column is arranged in contact with the lower end of the movable plate, and a mounting block is arranged at the lower end of the telescopic column, and a hydraulic actuator end is arranged at the lower end of the mounting block.

[0008] Preferably, an execution and contraction column is arranged inside the hydraulic execution end, and diversion columns are arranged on both sides of the execution and contraction column, and a structural sleeve is arranged on the lower side of the hydraulic execution end.

[0009] Preferably, a rotating shaft is arranged inside the structural sleeve, and rotating ends are arranged on both sides of the rotating shaft, and grabbing arms are connected to the lower ends of the rotating ends.

[0010] Preferably, the lower end of the diverter column is connected to a pull rod, and the pull rod is connected to the upper end surface of the grabbing arm.

[0011] Compared with the prior art, the beneficial effects of the utility model are:

[0012] Compared with other multifunctional grasping devices used by robots, this device adjusts the grasping height of the grasping device as a whole by using a telescopic arm driven by hydraulic effect set at the upper end of the grasping arm. If the height of some grasped objects is too high, the grasping length of the grasping arm will be insufficient and the grasping operation cannot be performed. This design makes up for this defect, so that the device can play a good role in grasping a variety of objects. In addition, the effect of increasing the force by changing the pressure through the hydraulic system is more efficient than those through electrical energy or other mechanical energy. It can increase the grasping force to an appropriate degree according to the needs, preventing the grasped object from being directly damaged by excessive mechanical energy or falling due to insufficient force during the grasping process. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a small angle top view of the utility model;

[0014] Figure 2 This is a front overview of the utility model;

[0015] Figure 3 It is a front view of the grabbing arm 8 of the present invention.

[0016] In the figure: grab plate 1, fitting moving plate 2, telescopic arm 3, retractable tube 4, transmission end 5, hydraulic oil end 6, telescopic column 7, grab arm 8, hydraulic control end 9, hydraulic power end 10, hydraulic execution end 11, execution retractable column 12, pull rod 13, rotating end 14. DETAILED DESCRIPTION

[0017] 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.

[0018] See also Figures 1 to 3 , the utility model provides a technical solution:

[0019] Figure 1 It is a small angle top view of the device, the main body is a grab plate 1, a plurality of moving ports are arranged on the upper surface of the grab plate 1, and a fitting moving disk 2 is arranged at the upper end of the moving port, and the fitting moving disk 2 is mainly flat on the surface in the setting position, which can ensure its own flatness and stability during the movement process, and at the same time, a transmission end 5 is arranged on the upper end of the fitting moving disk 2, and a shrink tube 4 is arranged on one side end face of the transmission end 5, and the shrink tube 4 is connected to the hydraulic control end 9, and the hydraulic control end 9 controls the various components arranged on the lower side of the transmission end 5 through the hydraulic shunt arranged inside the shrink tube 4, and the shrink tube A middle layer is arranged in the middle of 4, so that it can be contracted inwardly when the fitting moving plate 2 moves, and the internal space is large enough to accommodate the placement of hydraulic diversion. At the same time, a telescopic arm 3 is arranged inside the fitting moving plate 2, and the end of the telescopic arm 3 is arranged on the hydraulic power end 10, and the hydraulic power end 10 is arranged on the lower surface of the hydraulic control end 9. The control of the hydraulic control end 9 allows the hydraulic power end 10 to effectively control the length of the telescopic arm 3. At the same time, a hydraulic oil end 6 is arranged on the upper end of the hydraulic control end 9, and the hydraulic oil is used to achieve a change in pressure to provide kinetic energy output for other devices;

[0020] Figure 2 This is a front overview of the device. The main body is a fitting movable plate 2. A telescopic column 7 is arranged at the lower end of the fitting movable plate 2, and a mounting block is arranged at the lower end of the telescopic column 7. At the same time, a hydraulic actuator 11 is arranged at the lower end of the mounting block. An execution contraction column 12 is arranged inside the hydraulic actuator 11, and diversion columns are arranged on both sides of the execution contraction column 12. At the same time, a structural sleeve is arranged at the lower side of the hydraulic actuator 11. The arrangement of the hydraulic actuator 11 facilitates the grasping operation of the lower end grabbing arm 8, and the change of the grabbing arm 8 is driven by the pressure change of the internal execution contraction column 12;

[0021] Figure 3This is a front view of the grabbing arm 8 of the device. The main body is a structural sleeve, and a rotating shaft is arranged inside the structural sleeve, and rotating ends 14 are arranged on both sides of the rotating shaft. At the same time, the grabbing arm 8 is connected to the lower end of the rotating end 14, and the lower end of the diverter column is connected to the pull rod 13, and the pull rod 13 is connected to the upper end surface of the grabbing arm 8. The arrangement of the rotating shaft greatly improves the operability of the grabbing arm 8. The direction of the rotating shaft is driven to rotate by the pressure change of the contraction column 12, and the pull rod 13 arranged on the upper end of the grabbing arm 8 provides clear force guidance for the direction of the rotating shaft through the arrangement of the diverter column, so that the grabbing device is rolled inward when it contracts due to the overall pressure change, and the object is grasped.

[0022] In actual use, the device is first placed on one side control end of the robot. When a grabbing operation is required, the height and size of the object must be determined first, and the grabbing device is moved above the object. With the control of the hydraulic system, the telescopic arm 3 and the telescopic column 7 are positioned at appropriate positions. The robot controls the hydraulic transmission system to shrink the telescopic arm 3 and the telescopic column 7, and the front end of the grabbing arm 8 is rolled inward by executing the shrinkage column 12 and the diverter column to complete the grabbing operation. The setting of this component can achieve good results in grabbing a variety of objects.

[0023] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multifunctional gripping device for a robot, comprising a gripping plate (1), wherein a plurality of moving openings are arranged on the upper surface of the gripping plate (1), and a fitting moving plate (2) is arranged at the upper end of the moving openings, and a transmission end (5) is arranged at the upper end of the fitting moving plate (2), wherein: A shrink tube (4) is provided on one end surface of the transmission end (5), and the shrink tube (4) is connected to the hydraulic control end (9). A telescopic arm (3) is provided inside the contact movable plate (2), and the end of the telescopic arm (3) is arranged on the hydraulic power end (10). The hydraulic power end (10) is arranged on the lower surface of the hydraulic control end (9), and a hydraulic oil end (6) is arranged on the upper end of the hydraulic control end (9).

2. A multifunctional grasping device for a robot according to claim 1, characterized in that: A telescopic column (7) is arranged at the lower end of the fitting movable plate (2), and a mounting block is arranged at the lower end of the telescopic column (7), and a hydraulic actuator end (11) is arranged at the lower end of the mounting block.

3. A multifunctional grasping device for a robot according to claim 2, characterized in that: An execution and contraction column (12) is arranged inside the hydraulic execution end (11), and flow divider columns are arranged on both sides of the execution and contraction column (12), and a structural sleeve is arranged on the lower side of the hydraulic execution end (11).

4. A multifunctional grasping device for a robot according to claim 3, characterized in that: A rotating shaft is arranged inside the structural sleeve, and rotating ends (14) are arranged on both sides of the rotating shaft, and a grabbing arm (8) is connected to the lower end of the rotating end (14).

5. A multifunctional grasping device for a robot according to claim 4, characterized in that: The lower end of the diversion column is connected to a pull rod (13), and the pull rod (13) is connected to the upper end surface of the grabbing arm (8).

Images