Product grabbing device of industrial robot

Abstract

The utility model discloses a product grabbing device of an industrial robot, which relates to the technical field of machining equipment and comprises a driving component, a clamping component and a lower supporting component. The clamping assembly is detachably arranged on the driving assembly, a motor is adopted to drive a screw rod to move and apply force for clamping, so that second clamping rollers move relative to a first clamping roller for clamping, the second clamping rollers are arranged on the two sides of the first clamping roller to form staggered clamping force, and the clamping stability is improved. The range of the clamping width is widened through the driving frame, the length of a workpiece is increased through the adjusting frame, the clamping force application point is changed, stability is improved, and the situation that the workpiece falls off due to uneven stress when only the middle or one end is clamped is avoided; by means of movement of the first clamping roller and the second clamping roller on the workpiece, the clamping position can be changed conveniently; and the lower supporting assembly is used for supporting and applying force to the workpieces with different thicknesses to be clamped between the dragging claw and the driving frame, and the grabbing stability of the heavy workpieces is further enhanced.

Description

Technical Field

[0001] The utility model relates to the technical field of machining equipment, in particular to a product grabbing device for an industrial robot. Background Art

[0002] Machining refers to the process of changing the shape, size or performance of a workpiece through a mechanical device, which means the whole process of making a product from raw materials (or semi-finished products); nowadays, in machining, raw materials such as pipes and rods are often cut, sprayed, bent, etc. Before and after the equipment processing, industrial robots are mostly used for handling, saving manpower and time; however, the grabbing mechanisms set on the existing robots cannot achieve a large-range grabbing adjustment according to the length and width of workpieces such as rods or pipes, resulting in a small size range of the handled workpieces, and it is easy to cause the workpieces to fall off when they are heavy. Therefore, a product grabbing device for an industrial robot is designed now. Summary of the Utility Model

[0003] The purpose of the utility model is to provide a product grabbing device for an industrial robot to solve the problems put forward in the above background art.

[0004] To achieve the above object, the utility model provides the following technical solution: A product grabbing device for an industrial robot, comprising a driving component, a clamping component and a lower supporting component; the clamping component is detachably arranged on the driving component, and the lower supporting component is detachably arranged on the driving component.

[0005] According to the product grabbing device for an industrial robot provided by the utility model, the driving component comprises a driving frame, a first bearing, a pair of second bearings, a machine frame, a first screw rod, a first motor, a pair of first pinch rollers and a first adapter frame;

[0006] The driving frame has a concave structure, and the right side of it is divided into front and rear ends. The upper and lower side walls in the middle of the front and rear ends on the right side of the driving frame are symmetrically provided with limiting grooves. The first bearing is fixedly embedded in the middle of the left side wall of the driving frame. A pair of the second bearings are respectively fixedly embedded in the lower wall of the left end of the driving frame and are symmetrically arranged near the front and rear ends respectively. The machine frame has a concave structure. The machine frame is detachably clamped in the middle of the left end of the driving frame. One end of the first screw rod is fixedly penetrated through the first bearing. The first motor is fixedly arranged in the machine frame, and the driving end of the first motor is fixedly connected with one end of the first screw rod. One ends of a pair of pinch rollers are respectively fixedly inserted into the second bearings and are relatively parallel and symmetrical. The first adapter frame has a portal frame structure. The two ends of the first adapter frame are respectively detachably arranged on the front and rear side walls of the left end of the driving frame.

[0007] According to the product gripping device of the industrial robot provided by the present utility model, the clamping assembly includes an adjusting frame, a second screw rod, a pair of sleeve frames, a pair of moving seats, a pair of third bearings, a pair of second pinch rollers, and a rotating frame;

[0008] The adjusting frame is a rectangular box body, and an adjusting groove is provided in the middle of the lower wall. The two ends of the second screw rod respectively pass through the front and rear side walls of the adjusting frame movably, and a turning handle is provided at the front end of the second screw rod. A pair of sleeve frames are respectively fixedly arranged on the upper wall of the adjusting frame, and the sleeve frames are respectively inserted into the front and rear ends on the right side of the driving frame in a fitting manner. One end of each of the pair of moving seats respectively passes through the adjusting groove movably, and spiral holes with opposite directions are respectively provided in the middle of one end of the moving seats close to each other. The moving seats are respectively screwed to the two ends of the second screw rod symmetrically through the spiral holes. A pair of third bearings are respectively fixedly embedded in the middle of the lower walls of the moving seats. One end of each of the pair of second pinch rollers is respectively fixedly inserted into the third bearings. The rotating frame is of an H-shaped structure. The two ends of the rotating frame are respectively detachably arranged between the pair of sleeve frames, and the middle of the rotating frame is sleeved and screwed with the first screw rod.

[0009] According to the product gripping device of the industrial robot provided by the present utility model, the lower supporting assembly includes a bracket, a second motor, and a towing claw; One end of the bracket is detachably arranged on the front end of the upper wall of the first adapter frame. The other end of the bracket is of a rectangular frame structure. The second motor is fixedly arranged in the other end of the bracket, and the driving end of the second motor passes through the front side wall of the other end of the bracket movably. One end of the towing claw is detachably arranged on the driving end of the second motor, and the other end of the towing claw is of an arc structure.

[0010] According to the product gripping device of the industrial robot provided by the present utility model, the sleeve frame can drive the adjusting frame to move left and right on the driving frame.

[0011] According to the product gripping device of the industrial robot provided by the present utility model, the driving assembly can be symmetrically arranged through the second adapter frame, and the two ends of the second adapter frame are respectively detachably arranged on the upper wall of the first adapter frame.

[0012] Compared with the prior art, the beneficial effects of the present utility model are as follows: The product gripping device of an industrial robot has the characteristics of improved clamping stability, wide clamping range, adjustable clamping position, and strong adaptability. By using a motor to drive a screw rod to move and apply force for clamping, the second pinch roller moves relative to the first pinch roller for clamping, and the second pinch rollers are arranged on both sides of the first pinch roller to form an intersecting clamping force, improving the clamping stability. By means of the driving frame, the range of the clamping width is increased, and by means of the adjusting frame, the length of the workpiece is increased, changing the clamping force application point, improving the stability, and avoiding the workpiece falling off due to uneven force when only clamping the middle or one end, especially when the workpiece is relatively heavy. By means of the movement of the first pinch roller and the second pinch roller on the workpiece, it is convenient to change the clamping position. By means of the lower supporting component, the workpiece with different thicknesses is lifted and clamped between the drag claws and the driving frame, further enhancing the gripping stability of the heavier workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 is the first assembly structure schematic diagram of the present utility model;

[0014] Figure 2 is the split structure schematic diagram of the driving component of the present utility model;

[0015] Figure 3 is the split structure schematic diagram of the clamping component of the present utility model;

[0016] Figure 4 is the split structure schematic diagram of the lower supporting component of the present utility model;

[0017] Figure 5 is the second assembly structure schematic diagram of the present utility model.

[0018] In the figure: 1. Driving component, 11. Driving frame, 12. First bearing, 13. Second bearing, 14. Machine frame, 15. First screw rod, 16. First motor, 17. First pinch roller, 18. First adapter frame, 2. Clamping component, 21. Adjusting frame, 22. Second screw rod, 23. Sleeve frame, 24. Moving seat, 25. Third bearing, 26. Second pinch roller, 27. Rotary frame, 3. Lower supporting component, 31. Bracket, 32. Second motor, 33. Drag claw, 4. Second adapter frame. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0019] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0020] An embodiment of the utility model provides a product grasping device for an industrial robot, as Figure 1 shown, which includes a driving component 1, a clamping component 2, and a lower supporting component 3; the clamping component 2 is detachably arranged on the driving component 1, the lower supporting component 3 is detachably arranged on the driving component 1, the driving component 1 can be used to move the clamping component 2, the clamping component 2 can be used to adjust the clamping length, and the lower supporting component 3 can be used to apply a force to the workpiece again for limiting.

[0021] It should be noted that the following are the models and functions of the electrical components in this case:

[0022] The first motor: It is a prior art, and any motor applicable to this solution can be used.

[0023] The second motor: It is a prior art, and any motor applicable to this solution can be used.

[0024] The following is an example description of the above-mentioned driving component 1, as Figure 2 shown, the driving component 1 includes a driving frame 11, a first bearing 12, a pair of second bearings 13, a frame 14, a first screw rod 15, a first motor 16, a pair of first pinch rollers 17, and a first adapter frame 18;

[0025] Specifically, the driving frame 11 has a concave structure, and its right side is divided into front and rear ends. The upper and lower side walls in the middle of the front and rear ends on the right side of the driving frame 11 are symmetrically provided with limiting grooves. The first bearing 12 is fixedly installed in the middle of the left side wall of the driving frame 11. A pair of the second bearings 13 are respectively fixedly installed on the lower wall of the left end of the driving frame 11 and are symmetrically arranged near the front and rear ends respectively. The frame 14 has a concave structure. The frame 14 is detachably clamped in the middle of the left end of the driving frame 11. One end of the first screw rod 15 is fixedly penetrated through the first bearing 12. The first motor 16 is fixedly arranged in the frame 14, and the driving end of the first motor 16 is fixedly connected to one end of the first screw rod 15. One end of a pair of pinch rollers is respectively fixedly inserted into the second bearings 13 and is relatively parallel and symmetric. The first adapter frame 18 has a portal frame structure. The two ends of the first adapter frame 18 are respectively detachably arranged on the front and rear side walls of the left end of the driving frame 11. The first motor 16 in the frame 14 can be used to drive the first screw rod 15 to rotate by means of the first bearing 12 on the driving frame 11, and the first pinch rollers 17 can be rotated by means of the second bearings 13.

[0026] The following is an example description of the above-mentioned clamping component 2, as Figure 3 shown, the clamping component 2 includes an adjusting frame 21, a second screw rod 22, a pair of sleeve frames 23, a pair of moving seats 24, a pair of third bearings 25, a pair of second pinch rollers 26, and a rotating frame 27;

[0027] Specifically, the adjusting frame 21 is a rectangular box body, and an adjusting groove is provided in the middle of the lower wall. The two ends of the second screw rod 22 respectively penetrate through the front and rear side walls of the adjusting frame 21 movably, and a turning handle is provided at the front end of the second screw rod 22. A pair of sleeve frames 23 are respectively fixedly arranged on the upper wall of the adjusting frame 21, and the sleeve frames 23 are respectively movably inserted and fitted with the front and rear ends on the right side of the driving frame 11. One ends of a pair of moving seats 24 respectively penetrate through the adjusting groove movably, and spiral holes with opposite directions are respectively provided in the middle of the moving seats 24 near one end. The moving seats 24 are respectively movably screwed on the two ends of the second screw rod 22 symmetrically through the spiral holes. A pair of third bearings 25 are respectively fixedly embedded in the middle of the lower walls of the moving seats 24. One ends of a pair of second pinch rollers 26 are respectively fixedly inserted into the third bearings 25. The rotating frame 27 is of an H-shaped structure. The two ends of the rotating frame 27 are respectively detachably arranged between a pair of sleeve frames 23, and the middle of the rotating frame 27 is sleeved and screwed with the first screw rod 15. By rotating the second screw rod 22, the moving seats 24 can be driven to move relatively or towards each other in the adjusting frame 21, so as to adjust the distance between the two second pinch rollers 26. The sleeve frames 23 are limited on the driving frame 11, and the rotating frame 27 moves under the force of the first screw rod 15.

[0028] The following is an example of the lower support assembly 3 mentioned above, as Figure 4 shown, the lower support assembly 3 includes a support bracket 31, a second motor 32 and a drag claw 33. One end of the support bracket 31 is detachably arranged on the front end of the upper wall of the first adapter bracket 18. The other end of the support bracket 31 is of a rectangular frame structure. The second motor 32 is fixedly arranged in the other end of the support bracket 31, and the driving end of the second motor 32 penetrates through the front side wall of the other end of the support bracket 31 movably. One end of the drag claw 33 is detachably arranged on the driving end of the second motor 32, and the other end of the drag claw 33 is of an arc-shaped structure. Through the bearing of the support bracket 31, it can be installed on either side of the two ends of the first adapter bracket 18. By the second motor 32, the drag claw 33 can be driven to rotate to realize bearing gravity and clamping.

[0029] In order to adjust the clamping width, the sleeve frame 23 can drive the adjusting frame 21 to move left and right on the driving frame 11, so as to adjust the clamping width according to the design requirements.

[0030] In order to clamp a larger workpiece, as Figure 5 shown, the driving assembly 1 can be symmetrically arranged through the second adapter bracket 4, and the two ends of the second adapter bracket 4 are respectively detachably arranged on the upper wall of the first adapter bracket 18, and are arranged in multiple groups for clamping larger workpieces.

[0031] The following describes the working principle and process: The first adapter frame 18 in the driving component 1 can be used to connect and install with an existing robot. If the workpiece to be processed is long, two driving components 1 and the clamping component 2 can be installed with the help of the second adapter frame 4; during use, driven by the first motor 16 on the frame 14, the screw rod rotates with the help of the first bearing 12, so that the rotating frame 27 in the clamping component 2 is stressed, driving the sleeve frame 23 to move left and right on the driving frame 11, adjusting the distance between the first pinch roller 17 and the second pinch roller 26 and performing clamping and grasping; the first pinch roller 17 and the second pinch roller 26 can also rotate with the help of the second bearing 13 and the third bearing 25, and move and adjust the clamping position by fitting on both sides of the workpiece; when the workpiece is long, in order to improve the stability of grasping, the second screw rod 22 can be manually rotated to make the moving seat 24 stressed and move relatively or in opposite directions within the adjusting frame 21, adjusting the distance between the two second pinch rollers 26, and then the two first pinch rollers 17 are in the middle of the two second pinch rollers 26, forming an interleaved clamping force and changing the force application point to enhance the clamping stability; if the workpiece is heavy, the lower support component 3 can be installed on the first adapter frame 18, driven by the second motor 32 on the driving bracket 31, driving the drag claw 33 to rotate, so that the arc-shaped drag claw 33 eccentrically flips downward relative to the adjusting frame 21 under the workpiece, reducing the distance between the drag claw 33 and the lower wall of the driving frame 11, strengthening the stability by the force of the drag claw 33 supporting the workpiece below, and at the same time forming an interleaved clamping force with the driving frame 11 to make the workpiece more stable for grasping and handling.

[0032] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A product grabbing device for an industrial robot, characterized in that: It comprises a driving assembly (1), a clamping assembly (2) and a lower supporting assembly (3); the clamping assembly (2) can be detachably mounted on the driving assembly (1), and the lower supporting assembly (3) can be detachably mounted on the driving assembly (1).

2. The product grabbing device of an industrial robot according to claim 1, characterized in that: The driving assembly (1) comprises a driving frame (11), a first bearing (12), a pair of second bearings (13), a frame (14), a first screw rod (15), a first motor (16), a pair of first clamping rollers (17) and a first adapter frame (18); The drive frame (11) is a concave structure, and its right side is divided into front and rear ends. The middle parts of the upper and lower side walls of the front and rear ends of the right side of the drive frame (11) are symmetrically provided with limiting grooves. The first bearing (12) is fixedly embedded in the middle part of the left side wall of the drive frame (11). A pair of the second bearings (13) are respectively fixedly embedded in the lower wall of the left end of the drive frame (11) and are respectively located symmetrically near the front and rear ends. The frame (14) is a concave structure. The frame (14) can be detachably mounted on the left side of the drive frame (11). In the middle of the end, one end of the first screw rod (15) is fixedly inserted into the first bearing (12), the first motor (16) is fixedly arranged in the frame (14), and the driving end of the first motor (16) is fixedly connected to one end of the first screw rod (15), one end of a pair of clamping rollers are respectively fixedly inserted in the second bearing (13) and are relatively parallel and symmetrical, the first adapter frame (18) is a door-type frame structure, and the two ends of the first adapter frame (18) are respectively detachably arranged on the front and rear side walls of the left end of the driving frame (11).

3. The product grabbing device of an industrial robot according to claim 1, characterized in that: The clamping assembly (2) comprises an adjusting frame (21), a second screw rod (22), a pair of sleeve frames (23), a pair of movable seats (24), a pair of third bearings (25), a pair of second clamping rollers (26) and a rotating frame (27); The adjusting frame (21) is a rectangular box body, and an adjusting slot is arranged in the middle of the lower wall. The two ends of the second screw rod (22) are respectively movably penetrated through the front and rear side walls of the adjusting frame (21), and a rotating handle is arranged at the front end of the second screw rod (22). A pair of sleeve frames (23) are respectively fixedly arranged on the upper wall of the adjusting frame (21), and the sleeve frames (23) are respectively movably inserted into the front and rear ends of the right side of the driving frame (11) to fit together. One end of the pair of moving seats (24) is respectively movably penetrated through the adjusting slot, and the moving seats (24) are respectively arranged near the middle of one end. The movable seat (24) is movably screwed to the two ends of the second screw rod (22) through the screw holes so as to be symmetrical with each other. A pair of third bearings (25) are respectively fixedly embedded in the middle of the lower wall of the movable seat (24). One end of a pair of second clamping rollers (26) is respectively fixedly inserted in the third bearings (25). The rotating frame (27) is an H-shaped structure. The two ends of the rotating frame (27) are respectively detachably arranged between a pair of sleeve frames (23), and the middle part of the rotating frame (27) is sleeved and screwed to the first screw rod (15).

4. The product grabbing device of an industrial robot according to claim 1, characterized in that: The lower support assembly (3) comprises a bracket (31), a second motor (32) and a drag claw (33); one end of the bracket (31) is detachably mounted on the front end of the upper wall of the first adapter frame (18); the other end of the bracket (31) is a rectangular frame structure; the second motor (32) is fixedly arranged in the other end of the bracket (31); and the driving end of the second motor (32) movably passes through the front side wall of the other end of the bracket (31); one end of the drag claw (33) is detachably mounted on the driving end of the second motor (32); and the other end of the drag claw (33) is an arc-shaped structure.

5. The product grabbing device of an industrial robot according to claim 1, characterized in that: The driving assembly (1) can be symmetrically arranged via the second adapter frame (4), and the two ends of the second adapter frame (4) can be detachably arranged on the upper wall of the first adapter frame (18).

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