Anti-skid industrial robot

Abstract

The utility model discloses an anti-skid industrial robot, which belongs to the technical field of industrial robots and comprises a mounting seat mounted at the end of a mechanical arm, a double-rod double-acting cylinder fixed at the bottom of the mounting seat and clamping jaws symmetrically mounted on two sides of the bottom of the mounting seat and connected with the output end of the double-rod double-acting cylinder. And vertical conveying mechanisms are mounted at the bottom ends of the inner sides of the clamping jaws. The conveying mechanism composed of the rotating motor and the conveying rollers is installed at the bottom end of the clamping jaw, articles can be vertically conveyed upwards in the clamping process, and then the clamping jaw is used in cooperation with the blocking mechanism composed of the air cavity at the bottom end of the clamping jaw, the first piston, the ejector rod and the inflation assembly. Articles are positioned through friction force between the clamping jaws and the side edges of the articles, blocking is added to the bottoms of the articles, and the anti-skid stability in the clamping process is improved.

Description

Technical Field

[0001] The utility model relates to an industrial robot, in particular to an anti-slip industrial robot, belonging to the technical field of industrial robots. Background Art

[0002] In the prior art, for example, the utility model with application number 202221441798.X discloses an anti-slip structure for an industrial robot gripper. In order to solve the problem that the grippers of industrial robots are mostly made of alloy materials with a relatively smooth surface, the friction between the alloy gripper and the product is relatively small (i.e., smooth objects such as bolts and bearings) during the process of picking up products, which easily leads to product instability and falling. In addition, the shape of the alloy gripper cannot be changed, and a gap is easily generated between the gripper and the product, which is difficult to fill, resulting in uneven clamping force on the product. By controlling the extension of the telescopic rod of the electric push rod, the electric push rod The telescopic rod can push the support to descend, and the two connecting rods can ensure that the two arc-shaped splints make circular motion along the support while limiting the two arc-shaped splints, so that the two arc-shaped splints can be opened, and the two arc-shaped splints can be closed by controlling the contraction of the telescopic rod of the electric push rod to pick up the product. The two rubber pads contact the product to increase the friction between the surface of the product, and the product is not easy to become unstable or fall off. The airbag can apply pressure to the rubber pad to fill the gap between the rubber pad and the product, thereby improving the fit and contact area between the rubber pad and the product, and allowing the product to evenly bear the clamping force of the arc-shaped splint.

[0003] Similar to the above application, there are still some shortcomings:

[0004] If the clamp is used to clamp a box or an object with a vertical surface, the position is limited only by the friction between the clamp and the object. The clamping stability is poor and there is a risk of the object slipping.

[0005] Therefore, an anti-slip industrial robot is designed to optimize the above problems. Utility Model Content

[0006] The main purpose of the utility model is to provide an anti-skid industrial robot. By installing a conveying mechanism consisting of a rotating motor and a conveying roller at the bottom end of the clamping claw, the object can be conveyed vertically upward during the clamping process. The robot is used in conjunction with a blocking mechanism consisting of an air cavity at the bottom end of the clamping claw, a first piston, a push rod and an inflation component. Not only is the friction between the clamping claw and the side of the object used to position the object, but a barrier is added at the bottom of the object, thereby improving the anti-skid stability during the clamping process. By arranging an inflation component consisting of a sleeve, a return spring, a second piston, a connecting rod, a post plate and an air pipe under the double-rod double-acting cylinder, the interior of the air cavity can be automatically inflated during the process of conveying the object upward, which makes it more convenient to use. In addition, by arranging a lifting mechanism consisting of a mounting plate, a screw and a nut at the top of the sleeve, the height of the inflation mechanism can be automatically adjusted according to the height of the object, so as to adapt to the clamping of objects of different sizes, thereby increasing practicality.

[0007] The purpose of the utility model can be achieved by adopting the following technical solutions:

[0008] A non-slip industrial robot comprises a mounting base installed at the end of a mechanical arm, a double-rod double-acting cylinder fixed at the bottom of the mounting base, and clamps symmetrically installed on both sides of the bottom of the mounting base and connected to the output ends of the double-rod double-acting cylinder, wherein air bags are arranged on the inner sides of the clamps, a vertical conveying mechanism is arranged on the bottom ends of the inner sides of the clamps, and a blocking mechanism for limiting the bottom of an object is arranged on the bottom ends of the clamps and located below the vertical conveying mechanism.

[0009] Preferably, the conveying mechanism comprises a conveying roller and a rotating motor, the rotating motor is mounted on the outer side of the bottom end of the clamping jaws, the output end of the rotating motor is mounted with a conveying roller, and the conveying rollers on the two sets of clamping jaws are symmetrical to each other.

[0010] Preferably: the blocking mechanism includes an air cavity, a first piston and a push rod, the air cavity is opened at the bottom end of the clamping jaw obliquely upward, the first piston is slidably provided inside the air cavity, a push rod is fixed on one side of the first piston close to the opening of the air cavity, and the push rod extends to the outside of the air cavity, and an inflation component for regulating the internal pressure of the air cavity is provided below the double-rod double-acting cylinder.

[0011] Preferably: the inflation assembly includes a sleeve, a second piston, a return spring, a connecting rod and an air pipe, the sleeve is located below the double-rod double-acting cylinder, and a spacing adjustment mechanism is provided between the top of the sleeve and the double-rod double-acting cylinder, a second piston is vertically slidably provided inside the sleeve, a connecting rod is fixed to the bottom of the second piston, and the bottom end of the connecting rod extends to the bottom of the sleeve, a return spring is provided between the top of the second piston and the inner top of the sleeve, air pipes are installed on the tops of both sides of the sleeve, and the air pipes are connected to the inside of the air cavity.

[0012] Preferably: a sticking plate is fixed to the bottom end of the connecting rod, and a non-slip pad is provided at the bottom of the sticking plate.

[0013] Preferably: the spacing adjustment mechanism includes a mounting plate, a screw and a nut, the mounting plate is located below the double-rod double-acting cylinder and is parallel to the bottom of the mounting plate, the sleeve is fixed to the bottom of the mounting plate, the screw is evenly fixed to the bottom of the double-rod double-acting cylinder, a through hole matching the screw is opened on the mounting plate, the screw passes through the through hole, a nut is threadedly installed on the screw, and two groups of nuts are provided on the screw, and the nuts on the screw are respectively attached to the top and bottom of the mounting plate.

[0014] The beneficial effects of the utility model are:

[0015] The utility model provides an anti-skid industrial robot, which can transport objects vertically upwards during the clamping process by installing a conveying mechanism composed of a rotating motor and a conveying roller at the bottom of the clamping claw, and is used in conjunction with a blocking mechanism composed of an air cavity at the bottom of the clamping claw, a first piston, a push rod and an inflatable component. The friction between the clamping claw and the side of the object is used to position the object, and a blocking is added at the bottom of the object, thereby improving the anti-skid stability during the clamping process.

[0016] By arranging an inflation assembly consisting of a sleeve, a return spring, a second piston, a connecting rod, a plate, and an air pipe under the double-rod double-acting cylinder, the interior of the air cavity can be automatically inflated during the process of conveying the object upward, which is more convenient to use. In addition, by arranging a lifting mechanism consisting of a mounting plate, a screw rod, and a nut on the top of the sleeve, the height of the inflation mechanism can be automatically adjusted according to the height of the object so as to adapt to the clamping of objects of different sizes, which is more practical. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a front cross-sectional view of the utility model;

[0018] Figure 2 For the utility model Figure 1 Structure diagram at A in the middle;

[0019] Figure 3 This is a diagram of the inflation mechanism of the utility model;

[0020] Figure 4 It is the front view of the utility model.

[0021] In the figure: 1. mounting base; 2. double-rod double-acting cylinder; 3. clamping claw; 4. air bag; 5. conveying roller; 6. rotating motor; 7. blocking mechanism; 8. air cavity; 9. first piston; 10. push rod; 11. inflation assembly; 12. sleeve; 13. second piston; 14. return spring; 15. connecting rod; 16. pasting plate; 17. air pipe; 18. mounting plate; 19. screw; 20. nut. DETAILED DESCRIPTION

[0022] In order to make the technical solution of the utility model more clear and specific to those skilled in the art, the utility model is further described in detail below in conjunction with embodiments and drawings, but the implementation methods of the utility model are not limited thereto.

[0023] like Figure 1-Figure 4 As shown, this embodiment provides an anti-slip industrial robot, including a mounting base 1 installed at the end of a robot arm, a double-rod double-acting cylinder 2 fixed to the bottom of the mounting base 1, and clamps 3 symmetrically installed on both sides of the bottom of the mounting base 1 and connected to the output ends of the double-rod double-acting cylinder 2, the inner sides of the clamps 3 are provided with air bags 4, the bottom ends of the inner sides of the clamps 3 are installed with vertical conveying mechanisms, and the bottom ends of the clamps 3 and located below the vertical conveying mechanism are provided with a blocking mechanism 7 for limiting the bottom of the object.

[0024] The overall working principle is: when clamping cylindrical objects, the double-rod double-acting cylinder 2 is started to control the jaws 3 to move toward each other. The airbag 4 inside the jaws 3 can fit tightly on the surface of the cylindrical object with high clamping stability. When clamping objects with vertical sides, the bottom end of the jaws 3 first contacts the surface of the object, and then the vertical conveying mechanism is used to convey the object upward until the jaws 3 are located at the bottom end of the object. At the same time, the blocking mechanism 7 is located below the bottom plane of the object, and then contacts the bottom of the object through the blocking mechanism 7 to form a blockage on the bottom of the object. Not only the sides of the object are clamped, but also the bottom of the object is blocked, and the anti-slip effect is better.

[0025] In this embodiment, the conveying mechanism includes conveying rollers 5 and a rotating motor 6. The rotating motor 6 is installed on the outside of the bottom end of the clamping jaws 3. The output end of the rotating motor 6 is installed with conveying rollers 5. The conveying rollers 5 on the two groups of clamping jaws 3 are symmetrical to each other.

[0026] Partial working principle: During the process of conveying the articles, the conveying roller 5 contacts the surface of the articles and has a large friction force, and then the rotating motor 6 is started to control the rotation of the conveying roller 5 to convey the articles upward.

[0027] In this embodiment, the blocking mechanism 7 includes an air cavity 8, a first piston 9 and a push rod 10. The air cavity 8 is opened at an angle upward at the bottom end of the clamp 3. The first piston 9 is slidably provided inside the air cavity 8. A push rod 10 is fixed on one side of the first piston 9 close to the opening of the air cavity 8, and the push rod 10 extends to the outside of the air cavity 8. An inflation component 11 for adjusting the internal pressure of the air cavity 8 is provided below the double-rod double-acting cylinder 2.

[0028] Local working principle: When blocking the bottom of the object, the inflation component 11 is used to inject air into the air cavity 8, the internal pressure of the air cavity 8 increases, pushing the first piston 9 to slide upward, and then the push rod 10 extends to the bottom of the object and contacts the bottom of the object to form a blockage.

[0029] In this embodiment, the inflation assembly 11 includes a sleeve 12, a second piston 13, a return spring 14, a connecting rod 15 and an air pipe 17. The sleeve 12 is located below the double-rod double-acting cylinder 2, and a spacing adjustment mechanism is provided between the top of the sleeve 12 and the double-rod double-acting cylinder 2. A second piston 13 is vertically slidably provided inside the sleeve 12. A connecting rod 15 is fixed to the bottom of the second piston 13, and the bottom end of the connecting rod 15 extends to the bottom of the sleeve 12. A return spring 14 is provided between the top of the second piston 13 and the inner top of the sleeve 12. Air pipes 17 are installed on the tops of both sides of the sleeve 12, and the air pipes 17 are connected to the inside of the air cavity 8.

[0030] Local working principle: When the rotating motor 6 starts to control the conveying roller 5 to convey the article upward, the top of the article contacts the bottom of the connecting rod 15 and provides an upward thrust to the connecting rod 15. At this time, the second piston 13 is controlled to move upward to squeeze out the air inside the sleeve 12 and inject it into the air cavity 8 through the air pipe 17 for automatic inflation.

[0031] In this embodiment, a plate 16 is fixed to the bottom end of the connecting rod 15 , and a non-slip pad is provided at the bottom of the plate 16 .

[0032] Local working principle: The sticking plate 16 at the bottom of the connecting rod 15 contacts the top of the object, reducing the local pressure on the object and ensuring the stability of the object.

[0033] In this embodiment, the spacing adjustment mechanism includes a mounting plate 18, a screw 19 and a nut 20. The mounting plate 18 is located below the double-rod double-acting cylinder 2 and is parallel to the bottom of the mounting plate 18. The sleeve 12 is fixed to the bottom of the mounting plate 18. The screw 19 is evenly fixed to the bottom of the double-rod double-acting cylinder 2. A through hole matching the screw 19 is opened on the mounting plate 18. The screw 19 passes through the through hole. A nut 20 is threadedly installed on the screw 19, and two groups of nuts 20 are provided on the screw 19. The nuts 20 on the screw 19 are respectively attached to the top and bottom of the mounting plate 18.

[0034] Local working principle: Since the heights of the clamped objects are different, in order to ensure that the distance between the top of the push rod 10 and the compressed state of the plate 16 after the push rod 10 is extended during the clamping process is the same as the height of the object, it is necessary to adjust the position of the mounting plate 18, adjust the position of the nut 20 on the screw rod 19, and adjust the mounting plate 18.

[0035] The above is only a further embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the scope disclosed by the present invention according to the technical solution and concept of the present invention, which fall within the protection scope of the present invention.

Claims

1. An anti-slip industrial robot, comprising a mounting base (1) mounted at the end of a mechanical arm, a double-rod double-acting cylinder (2) fixed to the bottom of the mounting base (1), and grippers (3) symmetrically mounted on both sides of the bottom of the mounting base (1) and connected to the output end of the double-rod double-acting cylinder (2), characterized in that: The inner side of the clamping jaws (3) is provided with an air bag (4), the bottom end of the inner side of the clamping jaws (3) is provided with a vertical conveying mechanism, and the bottom end of the clamping jaws (3) is provided with a blocking mechanism (7) for limiting the bottom of the object and located below the vertical conveying mechanism.

2. The anti-slip industrial robot according to claim 1, characterized in that: The conveying mechanism comprises a conveying roller (5) and a rotating motor (6). The rotating motor (6) is mounted on the outer side of the bottom end of the clamping jaws (3). The output end of the rotating motor (6) is mounted with a conveying roller (5). The conveying rollers (5) on the two groups of clamping jaws (3) are symmetrical to each other.

3. The anti-slip industrial robot according to claim 2, characterized in that: The blocking mechanism (7) comprises an air cavity (8), a first piston (9) and a push rod (10); the air cavity (8) is obliquely opened at the bottom end of the clamping jaw (3); the first piston (9) is slidably arranged inside the air cavity (8); a push rod (10) is fixed on one side of the first piston (9) close to the opening of the air cavity (8), and the push rod (10) extends to the outside of the air cavity (8); and an inflation component (11) for adjusting the internal pressure of the air cavity (8) is arranged below the double-rod double-acting cylinder (2).

4. The anti-slip industrial robot according to claim 3, characterized in that: The inflation assembly (11) comprises a sleeve (12), a second piston (13), a return spring (14), a connecting rod (15) and an air pipe (17); the sleeve (12) is located below the double-rod double-acting cylinder (2); a spacing adjustment mechanism is provided between the top of the sleeve (12) and the double-rod double-acting cylinder (2); a second piston (13) is vertically slidably provided inside the sleeve (12); a connecting rod (15) is fixed to the bottom of the second piston (13), and the bottom end of the connecting rod (15) extends to the bottom of the sleeve (12); a return spring (14) is provided between the top of the second piston (13) and the inner top of the sleeve (12); air pipes (17) are installed on the tops of both sides of the sleeve (12), and the air pipes (17) are connected to the inside of the air cavity (8).

5. The anti-slip industrial robot according to claim 4, characterized in that: A sticking plate (16) is fixed to the bottom end of the connecting rod (15), and a non-slip pad is provided at the bottom of the sticking plate (16).

6. The anti-slip industrial robot according to claim 5, characterized in that: The spacing adjustment mechanism comprises a mounting plate (18), a screw rod (19) and a nut (20). The mounting plate (18) is located below the double-rod double-acting cylinder (2) and is parallel to the bottom of the mounting plate (18). The sleeve (12) is fixed to the bottom of the mounting plate (18). The screw rod (19) is evenly fixed to the bottom of the double-rod double-acting cylinder (2). A through hole matching the screw rod (19) is provided on the mounting plate (18). The screw rod (19) passes through the through hole. The screw rod (19) is threadedly mounted with a nut (20). The nut (20) on the screw rod (19) is provided with two groups. The nut (20) on the screw rod (19) is respectively attached to the top and bottom of the mounting plate (18).

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