A robot grasping device

Abstract

The utility model relates to the technical field of robot grasping, and discloses a grasping device of a robot, comprising a robot grasping body, a clamping mechanism is arranged at the bottom of the robot grasping body, and a supporting mechanism is arranged at the bottom of the robot grasping body; the clamping mechanism comprises a connecting frame located below the robot grasping body, the connecting frame is in a U-shaped structure, and the inner walls on both sides of the connecting frame are provided with rotating openings, the inner walls of the rotating openings are rotatably connected with a rotating shaft through a bearing, a force plate is fixedly connected to the top side of the rotating shaft, and a force-applying plate is fixedly connected to the bottom side of the rotating shaft, and the opposite sides of the two force-applying plates are hinged with clamping plates. The utility model can avoid damage to the rotating motor by moving the piston rod of the electric hydraulic rod and the air pressure of the electric cylinder, so that rigid clamping can be performed, with a large load, to achieve the effect of improving practicality.

Description

Technical Field

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

[0002] Robot vision can obtain two-dimensional images of the environment through visual sensors, analyze and interpret them through visual processors, and then convert them into symbols, allowing the robot to recognize objects and determine their locations. This requires a robot grasping device.

[0003] At present, a Chinese patent with the announcement number CN 217256367 U discloses a grasping device for a visual robot. The grasping device for a visual robot comprises: a robot joint, a mounting slot is provided on the robot joint, a grasping device is arranged in the mounting slot, the grasping device comprises a mounting seat located in the mounting slot, a rotating motor is installed on one side of the robot joint, the rotating motor is connected to the mounting seat, and a first grasping component and a second grasping component are respectively installed at both ends of the mounting seat, the first grasping component is used to grasp rod-shaped objects, and the second grasping component is used to grasp some plate-shaped or block-shaped objects.

[0004] However, when the above device is in use, the driving source completely relies on the driving motor, which is prone to damage when the load on the driving motor is large, and the wear of the turbine and the worm gear meshing is large, the service life of the equipment is short, and the practicality is poor. Utility Model Content

[0005] The purpose of the utility model is to provide a robot grasping device in order to solve the above-mentioned problem. By setting the oil pressure of the electric hydraulic rod and the air pressure of the electric cylinder, damage to the rotating motor can be avoided, thus solving the problem mentioned in the background technology.

[0006] In order to solve the above problems, the utility model provides a technical solution:

[0007] A robot grasping device comprises a robot grasping body, a clamping mechanism is arranged at the bottom of the robot grasping body, and a supporting mechanism is arranged at the bottom of the robot grasping body;

[0008] The clamping mechanism includes a connecting frame located below the robot grasping body, the connecting frame is in a U-shaped structure, and the inner walls on both sides of the connecting frame are provided with rotating openings, the inner walls of the rotating openings are rotatably connected to a rotating shaft through a bearing, a force-bearing plate is fixedly connected to the top side of the rotating shaft, and a force-applying plate is fixedly connected to the bottom side of the rotating shaft, and the opposite sides of the two force-applying plates are hinged with clamping plates, which can perform rigid clamping and have a large load, thereby achieving the effect of improving practicality.

[0009] As a preferred solution of the utility model, an electric hydraulic rod is fixedly connected to the top of the connecting frame, and the sleeve end of the electric hydraulic rod is fixedly connected to the robot grasping body, the tops of both sides of the piston rod of the electric hydraulic rod are fixedly connected to top plates, and the bottoms of both sides of the piston rod of the electric hydraulic rod are fixedly connected to bottom plates, and the force-bearing plate is located between the top plate and the bottom plate on the same side. The setting of the top plate can move synchronously with the bottom plate, and at this time, the force-bearing plate can be rotated between the top plate and the bottom plate, and the clamping plate can be clamped.

[0010] As a preferred solution of the utility model, a rotating groove is opened on the top of the force-bearing plate, and the inner wall of the rotating groove is rotatably connected with a rotating wheel, and a rolling fit is formed between the rotating wheel and the bottom of the top plate. The setting of the rotating wheel can reduce the friction between the force-bearing plate and the top plate, and can perform protective operations on the equipment structure.

[0011] As a preferred solution of the utility model, a connecting groove is provided on one side of the top of the base plate, and a connecting wheel is rotatably connected to the inner wall of the connecting groove. A rolling fit is formed between the connecting wheel and the bottom of the force-bearing plate. The connecting wheel is arranged to rotate in the inner wall of the connecting groove, at which time the friction between the force-bearing plate and the base plate can be reduced, thereby further protecting the equipment.

[0012] As a preferred solution of the utility model, the supporting mechanism includes two mounting plates respectively fixedly connected to the bottom of the outer walls at both ends of the connecting frame, and the bottom of the mounting plate is fixedly connected to an inclined electric cylinder, and the piston rod of the electric cylinder is facing the clamping plate. The setting of the electric cylinder can apply force to the clamping plate when the piston rod moves, thereby increasing the clamping force of the clamping plate.

[0013] As a preferred solution of the utility model, a positioning groove is provided on one side of the piston rod of the electric cylinder, and the inner wall of the positioning groove is rotatably connected with a positioning shaft, and a rolling fit is formed between the positioning shaft and the clamping plate. The positioning shaft is arranged to rotate in the inner wall of the positioning groove, and damage between the piston rod of the electric cylinder and the back side of the clamping plate can be avoided.

[0014] The beneficial effect of the utility model is that the top plate and the bottom plate can be moved by moving the piston rod of the arranged electric hydraulic rod, and the movement of the top plate can apply force to the force-bearing plate. At this time, the rotating wheel rolls on the bottom of the top plate, and the force-bearing plate rotates in cooperation with the rotating shaft. The rotation of the force-bearing plate can rotate the force-applying plate, and the rotation of the force-applying plate can rotate the clamping plate. The rotation of the clamping plate can clamp and fix the object, and the electric cylinder is started. The movement of the piston rod of the electric cylinder can cause the positioning shaft to roll on the back of the clamping plate. At this time, the bottom of the clamping plate can be squeezed and supported, so that the object can be clamped stably. The oil pressure of the electric hydraulic rod and the air pressure of the electric cylinder can avoid damage to the rotating motor. Therefore, rigid clamping can be performed with a large load, thereby achieving the effect of improving practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] For ease of explanation, the present invention is described in detail by the following specific implementations and drawings.

[0016] Figure 1 The present invention is a schematic diagram of the three-dimensional structure of a robot grasping device.

[0017] Figure 2 The utility model provides a schematic structural diagram of a robot grasping device highlighting a clamping plate.

[0018] Figure 3 for Figure 2 Schematic diagram of the enlarged structure at point A in the middle.

[0019] Figure 4 The utility model is a structural schematic diagram of a robot grasping device highlighting a positioning axis.

[0020] In the figure: 1. Robot grasping body; 2. Connecting frame; 3. Rotating mouth; 4. Rotating shaft; 5. Force plate; 6. Force applying plate; 7. Clamping plate; 8. Electric hydraulic rod; 9. Top plate; 10. Bottom plate; 11. Rotating groove; 12. Rotating wheel; 13. Connecting groove; 14. Connecting wheel; 15. Mounting plate; 16. Electric cylinder; 17. Positioning groove; 18. Positioning shaft. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0022] Example

[0023] See also Figure 1-Figure 4 , the utility model provides a technical solution: a robot grasping device, comprising a robot grasping body 1, a clamping mechanism is arranged at the bottom of the robot grasping body 1, and a supporting mechanism is arranged at the bottom of the robot grasping body 1;

[0024] The clamping mechanism includes a connecting frame 2 located below the robot grasping body 1. The connecting frame 2 is a U-shaped structure. The inner walls on both sides of the connecting frame 2 are provided with rotating openings 3. The inner walls of the rotating openings 3 are rotatably connected to a rotating shaft 4 through bearings. A force plate 5 is fixedly connected to the top side of the rotating shaft 4. A force-applying plate 6 is fixedly connected to the bottom side of the rotating shaft 4. The opposite sides of the two force-applying plates 6 are hinged with clamping plates 7.

[0025] See also Figure 1-2 An electric hydraulic rod 8 is fixedly connected to the top of the connecting frame 2, and the sleeve end of the electric hydraulic rod 8 is fixedly connected to the robot grasping body 1. Top plates 9 are fixedly connected to the tops of both sides of the piston rod of the electric hydraulic rod 8, and bottom plates 10 are fixedly connected to both sides of the piston rod of the electric hydraulic rod 8. The force plate 5 is located between the top plate 9 and the bottom plate 10 on the same side, and can be moved synchronously with the bottom plate 10 through the top plate 9. At this time, the force plate 5 can be rotated between the top plate 9 and the bottom plate 10, and the clamping plate 7 can be clamped.

[0026] See also Figure 2-3 A rotating groove 11 is provided at the top of the force-bearing plate 5, and a rotating wheel 12 is rotatably connected to the inner wall of the rotating groove 11. A rolling fit is formed between the rotating wheel 12 and the bottom of the top plate 9. The rotating wheel 12 can reduce the friction between the force-bearing plate 5 and the top plate 9, and the equipment structure can be protected.

[0027] See also Figure 2-3 A connecting groove 13 is provided on one side of the top of the base plate 10, and a connecting wheel 14 is rotatably connected to the inner wall of the connecting groove 13. A rolling fit is formed between the connecting wheel 14 and the bottom of the force-bearing plate 5. The connecting wheel 14 can rotate in the inner wall of the connecting groove 13. At this time, the friction between the force-bearing plate 5 and the base plate 10 can be reduced, and the equipment can be further protected.

[0028] See also Figure 1 , Figure 2 and Figure 4 The supporting mechanism includes two mounting plates 15 respectively fixedly connected to the bottom of the outer walls at both ends of the connecting frame 2. An obliquely arranged electric cylinder 16 is fixedly connected to the bottom of the mounting plate 15. The piston rod of the electric cylinder 16 faces the clamping plate 7. The electric cylinder 16 can apply force to the clamping plate 7 when the piston rod moves, thereby improving the clamping force of the clamping plate 7.

[0029] See also Figure 1 , Figure 2 and Figure 4A positioning groove 17 is provided on one side of the piston rod of the electric cylinder 16, and a positioning shaft 18 is rotatably connected to the inner wall of the positioning groove 17. A rolling fit is formed between the positioning shaft 18 and the clamping plate 7. The positioning shaft 18 can rotate in the inner wall of the positioning groove 17, thereby avoiding damage between the piston rod of the electric cylinder 16 and the back side of the clamping plate 7.

[0030] In summary: when using the present device, when using it, start the electric hydraulic rod 8, the movement of the piston rod of the electric hydraulic rod 8 can make the top plate 9 and the bottom plate 10 move, the movement of the top plate 9 can apply force to the force-bearing plate 5, at this time, the rotating wheel 12 rolls on the bottom of the top plate 9, and the force-bearing plate 5 rotates in cooperation with the rotating shaft 4, the rotation of the force-bearing plate 5 can make the force-applying plate 6 rotate, the rotation of the force-applying plate 6 can make the clamping plate 7 rotate, the rotation of the clamping plate 7 can clamp and fix the object, start the electric cylinder 16, the movement of the piston rod of the electric cylinder 16 can make the positioning shaft 18 roll on the back of the clamping plate 7, at this time, the bottom of the clamping plate 7 can be squeezed and supported, so that the object can be clamped stably, the oil pressure of the electric hydraulic rod 8 and the air pressure of the electric cylinder 16 can avoid damage to the rotating motor, therefore, rigid clamping can be performed, with a larger load, thereby achieving the effect of improving practicality.

[0031] Although the 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 robot grasping device, comprising a robot grasping body (1), characterized in that: A clamping mechanism is provided at the bottom of the robot grasping body (1), and a supporting mechanism is provided at the bottom of the robot grasping body (1); The clamping mechanism comprises a connecting frame (2) located below the robot grasping body (1), the connecting frame (2) being a U-shaped structure, the inner walls on both sides of the connecting frame (2) being provided with a rotating opening (3), the inner wall of the rotating opening (3) being rotatably connected to a rotating shaft (4) via a bearing, the top side of the rotating shaft (4) being fixedly connected to a force plate (5), the bottom side of the rotating shaft (4) being fixedly connected to a force application plate (6), and the opposite sides of the two force application plates (6) being hinged to a clamping plate (7).

2. A robot grasping device according to claim 1, characterized in that: The top of the connecting frame (2) is fixedly connected to an electric hydraulic rod (8), the sleeve end of the electric hydraulic rod (8) is fixedly connected to the robot grasping body (1), the tops of both sides of the piston rod of the electric hydraulic rod (8) are fixedly connected to top plates (9), the bottoms of both sides of the piston rod of the electric hydraulic rod (8) are fixedly connected to bottom plates (10), and the force plate (5) is located between the top plate (9) and the bottom plate (10) on the same side.

3. A robot grasping device according to claim 2, characterized in that: A rotating groove (11) is provided at the top of the force-bearing plate (5), and a rotating wheel (12) is rotatably connected to the inner wall of the rotating groove (11), and a rolling fit is formed between the rotating wheel (12) and the bottom of the top plate (9).

4. A robot grasping device according to claim 3, characterized in that: A connection groove (13) is provided on one side of the top of the bottom plate (10), and a connection wheel (14) is rotatably connected to the inner wall of the connection groove (13), and a rolling fit is formed between the connection wheel (14) and the bottom of the force-bearing plate (5).

5. The robot grasping device according to claim 1, characterized in that: The supporting mechanism comprises two mounting plates (15) respectively fixedly connected to the bottom of the outer walls at both ends of the connecting frame (2); the bottom of the mounting plates (15) is fixedly connected to an electric cylinder (16) arranged in an inclined manner, and the piston rod of the electric cylinder (16) faces the clamping plate (7).

6. The robot grasping device according to claim 5, characterized in that: A positioning groove (17) is provided on one side of the piston rod of the electric cylinder (16); a positioning shaft (18) is rotatably connected to the inner wall of the positioning groove (17); and a rolling fit is formed between the positioning shaft (18) and the clamping plate (7).

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