Grabbing robot

Abstract

The utility model discloses a grabbing robot, and relates to the technical field of robots. The robot comprises a robot body, an automatic adjusting gripper assembly and a stable clamping assembly, the output end of the left side of the robot body is fixedly connected with a control shell, the bottom of an inner cavity of the control shell is fixedly connected with a servo motor, and the bottom of the output end of the servo motor penetrates through the control shell and is fixedly connected with a mounting rod. By automatically adjusting the gripper assembly, clamping modes can be automatically replaced according to the sizes and specifications of products, the sorting operation can be rapidly and efficiently completed, the products are detected through the detection visual camera used in cooperation with the robot body, the movable ring and the extrusion head are controlled by the electric push rod to move downwards, and the sorting efficiency is improved. The extrusion head ejects the positioning block out of the control shell, the mounting rod is controlled to rotate through the servo motor, after the mounting rod rotates, the vacuum suction head or the stable clamping assembly is changed to face the front side to grab products, and the sorting efficiency is improved.

Description

Technical Field

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

[0002] A grasping robot is an automated device that can simulate human hands in grasping and moving objects. It integrates mechanical, electronic, sensor and control technologies to achieve precise operation. Grasping robots are widely used in industrial production lines to improve production efficiency. At the same time, they also have high strength and durability, making them suitable for repetitive work.

[0003] Existing grasping robots usually use grasping tools such as electric grippers or electric suction cups to clamp and fix products, and use mechanical arms to place products in specified locations. However, they are unable to automatically change grasping tools according to product specifications. For example, during product sorting, due to the different sizes and specifications of products, although electric suction cups are used to sort products with high speed and efficiency, they are unable to grasp heavier products. Electric grippers can grasp products of various sizes, but they have problems such as slow grasping speed and low sorting efficiency, which is not conducive to use.

[0004] To this end, we provide a grasping robot to solve the above problems. Utility Model Content

[0005] The utility model aims to provide a grasping robot which solves the problem in the prior art that the grasping robot cannot adjust and replace the grasping tool according to the size of the product, thereby reducing the sorting efficiency, by automatically adjusting the cooperation between the grasping head assembly and the stable clamping assembly.

[0006] In order to solve the above technical problems, the utility model is implemented through the following technical solutions.

[0007] The utility model discloses a grasping robot, comprising a robot body, an automatically adjustable grasping head assembly and a stable clamping assembly, wherein the output end on the left side of the robot body is fixedly connected with a control shell, the bottom of the inner cavity of the control shell is fixedly connected with a servo motor, the bottom of the output end of the servo motor penetrates the control shell and is fixedly connected with a mounting rod, the automatically adjustable grasping head assembly comprises a vacuum suction head, the right side of the vacuum suction head is fixedly connected with the mounting rod, positioning mechanisms are arranged on both sides of the bottom of the mounting rod, the top of the positioning mechanism penetrates into the inner cavity of the control shell, and a movable ring is sleeved on the surface of the servo motor , both sides of the bottom of the movable ring are fixedly connected with extrusion heads, both sides of the top of the inner cavity of the control shell are fixedly connected with electric push rods, the bottom of the output end of the electric push rod is fixedly connected to the movable ring, the left side of the stable clamping assembly is fixedly connected to the mounting rod, the stable clamping assembly includes a fixed shell, the front and rear sides of the bottom of the inner cavity of the fixed shell are movably connected with clamping arms, the right side of the clamping arm passes through the outside of the fixed shell, the left side of the clamping arm is fixedly connected with a reset mechanism, the left side of the inner cavity of the fixed shell is fixedly connected with a cylinder, and the right side of the output end of the cylinder is fixedly connected with an adjustment frame.

[0008] The utility model is further configured as follows: the positioning mechanism includes a positioning shell, the surface of the positioning shell is fixedly connected to the inner wall of the mounting rod, the inner cavity of the positioning shell is provided with a limiting plate, the bottom of the limiting plate is fixedly connected to a first spring, the top of the limiting plate is fixedly connected to a positioning block, the top of the positioning block passes through the inner cavity of the control shell, the positioning shell can facilitate the installation of the limiting plate and the first spring, the first spring can cooperate with the limiting plate to control the use height of the positioning block, the positioning block can stably fix the mounting rod, and the first spring can control the use height of the limiting plate and the positioning block.

[0009] The utility model is further configured such that the reset mechanism includes a pull plate, the right side of the pull plate is fixedly connected to the clamping arm, the opposite sides of the two pull plates are fixedly connected with a second spring, the side of the second spring away from the pull plate is fixedly connected to the inner wall of the fixed shell, the pull plate can cooperate with the second spring to control the clamping arm to be in an expanded state, thereby facilitating the clamping and fixing of the product.

[0010] The utility model is further configured such that the top and bottom of the clamping arm are movably connected to the inner wall of the fixed shell via bearings, a clamping opening for use with the clamping arm is opened on the right side of the fixed shell, and anti-slip pads are fixedly connected to the opposite sides of the two clamping arms. The bearings can facilitate the clamping arms to swing back and forth to clamp the products, the clamping opening can facilitate the adjustment of the use position of the clamping arms, and the anti-slip pads can increase the friction between the clamping arms and the products.

[0011] The utility model is further configured such that the front side and the rear side between the two sides of the inner cavity of the fixed shell are fixedly connected with a sliding rod, the surface of the sliding rod is slidably connected with a sliding sleeve, the opposite sides of the two sliding sleeves are fixedly connected to the adjustment frame, and the sliding rod and the sliding sleeve can limit the adjustment frame to prevent it from deflecting and shaking during movement.

[0012] The utility model is further configured such that sliding shells are fixedly connected to both sides of the inner cavity of the control shell, a slider is slidably connected to the inner cavity of the sliding shell, and opposite sides of the two sliders are fixedly connected to the movable ring. The sliding shell and the slider can limit the movable ring so that it can move up and down stably.

[0013] The utility model is further configured such that both sides of the front and rear sides of the mounting rod are fixedly connected with reinforcement blocks, and the opposite sides of the two reinforcement blocks are respectively fixedly connected to the vacuum suction head and the fixed shell. The reinforcement blocks can increase the stability of the connection between the mounting rod and the vacuum suction head and the fixed shell, and prevent the connection between the mounting rod and the vacuum suction head and the fixed shell from breaking.

[0014] The utility model is further configured such that rollers are provided on the front and rear sides of the inner cavity of the adjustment frame, and both sides of the rollers are movably connected to the inner wall of the adjustment frame. The rollers can facilitate the adjustment frame to squeeze the two clamping arms to prevent wear between the clamping arms and the adjustment frame.

[0015] The utility model has the following beneficial effects.

[0016] 1. The utility model can automatically change the gripping mode according to the size of the product by automatically adjusting the gripping head assembly, so that the sorting operation can be completed quickly and efficiently. The product is inspected by a detection visual camera used in conjunction with the robot body. The movable ring and the extrusion head are controlled to move downward by an electric push rod. The extrusion head pushes the positioning block out of the control shell. The servo motor controls the rotation of the mounting rod. After the mounting rod rotates, the vacuum suction head or the stable clamping assembly is changed to the front side to grab the product, thereby improving the sorting efficiency.

[0017] 2. The utility model can enable the two clamping arms to stably clamp and fix the product through a stable clamping assembly to avoid slipping during the grasping process. The cylinder is used to control the movement of the adjustment frame so that the adjustment frame squeezes the two clamping arms. After the two clamping arms clamp and fix the product, the adjustment frame locks it to avoid the product from loosening during the grasping process, thereby improving the stability of the product clamping. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings required for describing the embodiments are briefly introduced below.

[0019] Figure 1is a stereogram of a grasping robot;

[0020] Figure 2 A cross-sectional view of a control shell in a grasping robot;

[0021] Figure 3 A cross-sectional view of a fixed shell in a grasping robot;

[0022] Figure 4 A schematic diagram of an adjustment frame and rollers in a grasping robot;

[0023] Figure 5 A cross-sectional view of a mounting rod and a positioning shell in a grasping robot.

[0024] In the attached drawings: 1. Robot body; 2. Control shell; 3. Servo motor; 4. Mounting rod; 5. Automatically adjust the gripper assembly; 51. Vacuum suction head; 52. Positioning mechanism; 53. Movable ring; 54. Extrusion head; 55. Electric push rod; 6. Stable clamping assembly; 61. Fixed shell; 62. Clamping arm; 63. Reset mechanism; 64. Cylinder; 65. Adjustment frame; 521. Positioning shell; 522. Limiting plate; 523. First spring; 524. Positioning block; 631. Pull plate; 632. Second spring; 7. Roller. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present invention will be described below in conjunction with the drawings in the embodiments of the present invention. The described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0026] Embodiment 1

[0027] See also Figure 1-5The utility model is a grasping robot, including a robot body 1, an automatically adjustable grasping head assembly 5 and a stable clamping assembly 6. The output end on the left side of the robot body 1 is fixedly connected to a control shell 2, and the bottom of the inner cavity of the control shell 2 is fixedly connected to a servo motor 3. The bottom of the output end of the servo motor 3 penetrates the control shell 2 and is fixedly connected to a mounting rod 4. The automatically adjustable grasping head assembly 5 includes a vacuum suction head 51, and the right side of the vacuum suction head 51 is fixedly connected to the mounting rod 4. Both sides of the bottom of the mounting rod 4 are provided with positioning mechanisms 52. The top of the positioning mechanism 52 penetrates the inner cavity of the control shell 2. The surface of the servo motor 3 is sleeved with a movable ring 53. Extrusion heads 54 are fixedly connected to both sides of the bottom of the ring 53, electric push rods 55 are fixedly connected to both sides of the top of the inner cavity of the control shell 2, the bottom of the output end of the electric push rod 55 is fixedly connected to the movable ring 53, the left side of the stable clamping assembly 6 is fixedly connected to the mounting rod 4, the stable clamping assembly 6 includes a fixed shell 61, the front and rear sides of the bottom of the inner cavity of the fixed shell 61 are movably connected to the clamping arm 62, the right side of the clamping arm 62 passes through the outside of the fixed shell 61, the left side of the clamping arm 62 is fixedly connected to the reset mechanism 63, the left side of the inner cavity of the fixed shell 61 is fixedly connected to the cylinder 64, and the right side of the output end of the cylinder 64 is fixedly connected to the adjustment frame 65.

[0028] Specifically: the servo motor 3 can control the installation rod 4 to rotate, the installation rod 4 can install and fix the vacuum suction head 51 and the fixed shell 61, the vacuum suction head 51 can adsorb and fix the product, the positioning mechanism 52 can position and fix the installation rod 4, the electric push rod 55 can control the use height of the movable ring 53, the movable ring 53 can control the extrusion head 54 to squeeze the positioning mechanism 52, the clamping arm 62 can clamp and fix the product, the reset mechanism 63 can reset the clamping arm 62 when the adjustment frame 65 does not squeeze the clamping arm 62, the cylinder 64 can control the use height of the adjustment frame 65, and the adjustment frame 65 can control the two clamping arms 62 to close and grab the product.

[0029] Embodiment 2

[0030] See also Figure 1-5On the basis of the first embodiment, the positioning mechanism 52 includes a positioning shell 521, the surface of the positioning shell 521 is fixedly connected to the inner wall of the mounting rod 4, the inner cavity of the positioning shell 521 is provided with a limiting plate 522, the bottom of the limiting plate 522 is fixedly connected to a first spring 523, the top of the limiting plate 522 is fixedly connected to a positioning block 524, the top of the positioning block 524 passes through the inner cavity of the control shell 2, the reset mechanism 63 includes a pulling plate 631, the right side of the pulling plate 631 is fixedly connected to the clamping arm 62, the opposite sides of the two pulling plates 631 are fixedly connected to the second spring 632, the side of the second spring 632 away from the pulling plate 631 is fixedly connected to the inner wall of the fixed shell 61, the top and bottom of the clamping arm 62 are movably connected to the inner wall of the fixed shell 61 through bearings, and the fixed shell A clamping opening for use with a clamping arm 62 is provided on the right side of 61, and anti-slip pads are fixedly connected to the opposite sides of the two clamping arms 62, and sliding rods are fixedly connected to the front and rear sides between the two sides of the inner cavity of the fixed shell 61, and sliding sleeves are slidably connected to the surface of the sliding rods, and the opposite sides of the two sliding sleeves are fixedly connected to the adjustment frame 65, and sliding shells are fixedly connected to the two sides of the inner cavity of the control shell 2, and sliders are slidably connected to the inner cavity of the sliding shell, and the opposite sides of the two sliders are fixedly connected to the movable ring 53, and reinforcing blocks are fixedly connected to the two sides of the front and rear sides of the mounting rod 4, and the opposite sides of the two reinforcing blocks are respectively fixedly connected to the vacuum suction head 51 and the fixed shell 61, and rollers 7 are provided on the front and rear sides of the inner cavity of the adjustment frame 65, and the two sides of the rollers 7 are movably connected to the inner wall of the adjustment frame 65.

[0031] Specifically: the positioning shell 521 can facilitate the installation of the limit plate 522 and the first spring 523, the first spring 523 can cooperate with the limit plate 522 to control the use height of the positioning block 524, the positioning block 524 can stably fix the installation rod 4, the first spring 523 can control the use height of the limit plate 522 and the positioning block 524, the pull plate 631 can cooperate with the second spring 632 to control the clamping arm 62 to be in an expanded state, so that it is convenient for it to clamp and fix the product, the bearing can facilitate the clamping arm 62 to swing back and forth, so that it is convenient for it to clamp the product, and the clamping opening can facilitate the clamping arm 62 to use By adjusting the position, the anti-slip pad can increase the friction between the clamping arm 62 and the product, the sliding rod and the sliding sleeve can limit the adjustment frame 65 to prevent it from deflecting and shaking during movement, the sliding shell and the slider can limit the movable ring 53 so that it can move up and down stably, the reinforcing block can increase the stability of the connection between the mounting rod 4 and the vacuum suction head 51 and the fixed shell 61 to prevent the connection between the mounting rod 4 and the vacuum suction head 51 and the fixed shell 61 from breaking, and the roller 7 can facilitate the adjustment frame 65 to squeeze the two clamping arms 62 to prevent wear between the clamping arms 62 and the adjustment frame 65.

[0032] The working principle of the utility model is as follows: the product is inspected by a detection visual camera used in conjunction with the robot body 1. When it is detected that the product is small in size or flat in shape, the vacuum suction head 51 is controlled to face the front side of the robot body 1. The movable ring 53 and the extrusion head 54 are controlled to move downward by the electric push rod 55. The extrusion head 54 pushes the positioning block 524 out of the control shell 2. The servo motor 3 is started, and the mounting rod 4 is controlled to rotate by the servo motor 3. The mounting rod 4 rotates to adjust the fixed shell 61 to the rear side of the robot body 1, and the vacuum suction head 51 is rotated to the front side of the robot body 1. When the positioning block 524 is in a vertical state with the holes on both sides of the bottom of the control shell 2, the first spring 523 is reset, and the first spring 523 controls the limit plate 522 and the positioning block 524 to move. The positioning block 524 moves to The mounting rod 4 is limited, at which time the robot body 1 grabs the product through the vacuum suction head 51, and when grabbing large-volume products, the above steps are reversed to make the fixed shell 61 face the front side of the robot body 1. By changing the clamping tool according to the size of the product, the sorting efficiency of the product can be increased. When clamping large-volume products, the product is located between the two clamping arms 62, and the adjustment frame 65 is driven by the cylinder 64 to move, so that the roller 7 in the inner cavity of the adjustment frame 65 squeezes the clamping arms 62. After the two clamping arms 62 are pressed, they clamp and fix the product. The cylinder 64 continuously applies pressure to the adjustment frame 65 to ensure that the two clamping arms 62 can stably clamp the product, avoid the product from slipping during the grabbing process, and improve the stability of the product clamping and fixation.

[0033] The preferred embodiments of the utility model disclosed above are only used to help explain the utility model. The preferred embodiments do not describe all the details in detail, nor do they limit the utility model to the specific implementation methods described. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the utility model, so that technicians in the relevant technical field can well understand and use the utility model.

Claims

1. A grasping robot, comprising a robot body (1), an automatically adjustable grasping head assembly (5) and a stable clamping assembly (6), characterized in that: The output end on the left side of the robot body (1) is fixedly connected to a control shell (2), the bottom of the inner cavity of the control shell (2) is fixedly connected to a servo motor (3), the bottom of the output end of the servo motor (3) passes through the control shell (2) and is fixedly connected to a mounting rod (4); the automatic adjustment gripper assembly (5) comprises a vacuum suction head (51), the right side of the vacuum suction head (51) is fixedly connected to the mounting rod (4), both sides of the bottom of the mounting rod (4) are provided with positioning mechanisms (52), the top of the positioning mechanism (52) passes through the inner cavity of the control shell (2), the surface of the servo motor (3) is sleeved with a movable ring (53), and both sides of the bottom of the movable ring (53) are fixedly connected to extrusion heads (54), Both sides of the top of the inner cavity of the control shell (2) are fixedly connected to electric push rods (55), and the bottom of the output end of the electric push rod (55) is fixedly connected to the movable ring (53); the left side of the stable clamping assembly (6) is fixedly connected to the mounting rod (4), and the stable clamping assembly (6) comprises a fixed shell (61), and the front and rear sides of the bottom of the inner cavity of the fixed shell (61) are movably connected to clamping arms (62), the right side of the clamping arm (62) penetrates to the outside of the fixed shell (61), and the left side of the clamping arm (62) is fixedly connected to a reset mechanism (63), the left side of the inner cavity of the fixed shell (61) is fixedly connected to a cylinder (64), and the right side of the output end of the cylinder (64) is fixedly connected to an adjustment frame (65).

2. A grasping robot according to claim 1, characterized in that: The positioning mechanism (52) comprises a positioning shell (521), the surface of the positioning shell (521) being fixedly connected to the inner wall of the mounting rod (4), the inner cavity of the positioning shell (521) being provided with a limiting plate (522), the bottom of the limiting plate (522) being fixedly connected to a first spring (523), the top of the limiting plate (522) being fixedly connected to a positioning block (524), and the top of the positioning block (524) penetrating into the inner cavity of the control shell (2).

3. A grasping robot according to claim 1, characterized in that: The reset mechanism (63) comprises a pull plate (631), the right side of the pull plate (631) being fixedly connected to the clamping arm (62), the opposite sides of the two pull plates (631) being fixedly connected to a second spring (632), and the side of the second spring (632) away from the pull plate (631) being fixedly connected to the inner wall of the fixed shell (61).

4. A grasping robot according to claim 1, characterized in that: The top and bottom of the clamping arm (62) are movably connected to the inner wall of the fixed shell (61) via bearings; a clamping opening for use with the clamping arm (62) is provided on the right side of the fixed shell (61); and anti-slip pads are fixedly connected to opposite sides of the two clamping arms (62).

5. A grasping robot according to claim 1, characterized in that: A sliding rod is fixedly connected to the front side and the rear side between the two sides of the inner cavity of the fixed shell (61), a sliding sleeve is slidably connected to the surface of the sliding rod, and opposite sides of the two sliding sleeves are fixedly connected to the adjustment frame (65).

6. A grasping robot according to claim 1, characterized in that: Both sides of the inner cavity of the control shell (2) are fixedly connected to sliding shells, the inner cavity of the sliding shell is slidably connected to sliding blocks, and opposite sides of the two sliding blocks are fixedly connected to the movable ring (53).

7. A grasping robot according to claim 1, characterized in that: Both sides of the front and rear sides of the mounting rod (4) are fixedly connected with reinforcement blocks, and opposite sides of the two reinforcement blocks are respectively fixedly connected to the vacuum suction head (51) and the fixing shell (61).

8. The grasping robot according to claim 1, characterized in that: Rollers (7) are provided on the front and rear sides of the inner cavity of the adjustment frame (65), and both sides of the rollers (7) are movably connected to the inner wall of the adjustment frame (65).

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