Self-adaptive grabbing device of transfer robot

Abstract

The utility model discloses a self-adaptive gripping device of a transfer robot, which comprises a machine claw, a first gripping device, a second gripping device and a third gripping device, and the machine claw comprises a first fixing box and a first sliding rod; the first sliding rod is connected to the side edge of the first fixing box in a sliding mode. The first adjusting assembly comprises a supporting plate, a square through hole, a first bolt, a second fixing box and a second sliding rod; the supporting plate is fixed to the upper end of the first fixing box, the square through holes are formed in the two ends of the supporting plate, the first bolt is fixed to the upper end of the second fixing box and inserted into the square through holes, and the second sliding rod is slidably connected to the side edge of the second fixing box. The two first fixing boxes and the four second fixing boxes are connected to the two sides of the first fixing boxes respectively. The sliding column matrix type flexible clamp aims to solve the problems that when a sliding column matrix type flexible clamp in an existing grabbing device is used, certain limitation exists, and when a large workpiece is clamped, sliding columns are few, contact between the sliding columns and a tool is little, the clamping force is not enough, and safety accidents are likely to be caused.

Description

Technical Field

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

[0002] A handling robot is an automated device used to automatically move items around a factory, warehouse, or other environment. They are typically controlled by computer programs and can perform a range of tasks, such as handling, assembly, packaging, and sorting. A handling robot can work alongside a human operator or operate completely independently. One existing gripping device used in a handling robot utilizes a sliding-column matrix flexible fixture, which is adaptive to the workpiece and can grip workpieces of various sizes.

[0003] The slide matrix flexible clamp in the existing grasping device has certain limitations when used. When clamping larger workpieces, there are fewer slides, less contact with the tool, and insufficient clamping force, which can easily cause safety accidents. Therefore, an adaptive grasping device for the handling robot is needed to solve the above problems. Utility Model Content

[0004] The purpose of the present utility model is to provide an adaptive gripping device for a handling robot to solve the problem raised in the above-mentioned background technology that the slide matrix flexible clamp in the existing gripping device has certain limitations when used. When clamping larger workpieces, there are fewer slides, less contact with the tool, and insufficient clamping force, which can easily cause safety accidents.

[0005] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0006] The utility model is an adaptive grasping device for a handling robot, comprising:

[0007] A robot claw, the robot claw comprising a first fixed box and a first sliding rod;

[0008] The first sliding rod is slidably connected to the side of the first fixing box;

[0009] a first adjustment assembly, the first adjustment assembly comprising a support plate, a square through hole, a first bolt, a second fixing box, and a second sliding rod;

[0010] The support plate is fixed to the upper end of the first fixing box, square through holes are opened at both ends of the support plate, the first bolt is fixed to the upper end of the second fixing box and inserted into the square through holes, and the second sliding rod is slidably connected to the side of the second fixing box.

[0011] Furthermore, there are two first fixing boxes and four second fixing boxes, which are respectively connected to both sides of the first fixing box.

[0012] Furthermore, the robot claw further comprises a rotating shaft, a support column, a cylinder, a movable rod and a first L-shaped connecting plate;

[0013] The rotating shaft is rotatably connected to the external mechanical arm, the support column is fixed to the lower end of the rotating shaft, the cylinder is fixed to the lower end of the support column, the movable rod is movably connected to the cylinder, and the first L-shaped connecting plate is fixed to one end of the movable rod.

[0014] Furthermore, the machine claw further comprises an adjustment member and a second L-shaped connecting plate;

[0015] The adjusting member is fixed to the lower end of the first L-shaped connecting plate, and the second L-shaped connecting plate is fixed to the lower end of the adjusting member.

[0016] Furthermore, it also includes a second adjustment component;

[0017] The second adjustment assembly includes a limiting slot and a fixing plate;

[0018] The fixing plate is fixed to the top end of the side of the second fixing box, one end of the limiting groove is fixed to the top end of the second fixing box, and the other end is fixed to the fixing plate.

[0019] Furthermore, the second adjustment assembly further includes a slider and a second bolt;

[0020] The slide block is inserted into the limiting groove, one end of the second bolt is fixed on the slide block, and the upper section is inserted into the square through hole.

[0021] Compared with the prior art, the advantages of the present invention are:

[0022] 1. The utility model provides a first adjustment component. When large workpieces need to be transported in batches, the middle part of the support plate is fixed to the first fixing box with screws, the first bolt on the second fixing box is inserted into the square through hole, the second fixing box is moved to a suitable position and the first bolt is tightened. When in use, the first fixing box and the second fixing box drive the first sliding rod and the second sliding rod to move to both sides of the workpiece to clamp the workpiece. This arrangement can expand the contact area of clamping and increase the stability of clamping.

[0023] 2. The utility model provides a second adjustment component, which rotates the second fixing box to drive the slider under the second bolt to move along the limit groove and the fixing plate. When the second bolt is adjusted to a suitable angle, it is tightened. This setting enables the second fixing box and the second slide rod to adapt to more irregular workpieces. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0025] Figure 1 This is a schematic diagram of the overall structure of the utility model from a first perspective;

[0026] Figure 2 This is a schematic diagram of the overall structure of the utility model from a second perspective;

[0027] Figure 3 This is a schematic structural diagram of the first adjustment component of the present utility model;

[0028] Figure 4 This is a schematic structural diagram of the second adjustment component of the present utility model.

[0029] In the accompanying drawings, the components represented by the reference numerals are as follows:

[0030] 10. Rotating shaft; 11. Support column; 12. Cylinder; 13. Movable rod; 14. First L-shaped connecting plate; 15. Adjusting member; 16. Second L-shaped connecting plate; 17. First fixing box; 18. First sliding rod; 20. Support plate; 21. Square through hole; 22. First bolt; 23. Second fixing box; 24. Second sliding rod; 30. Limiting groove; 31. Fixing plate; 32. Sliding block; 33. Second bolt. DETAILED DESCRIPTION

[0031] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0032] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0033] In order to make the purpose, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0034] See also Figure 1-4 As shown, this embodiment is an adaptive grasping device for a handling robot, comprising:

[0035] The robot claw includes a first fixing box 17 and a first sliding rod 18;

[0036] The first sliding rod 18 is slidably connected to the side of the first fixing box 17;

[0037] The first fixed box 17 facilitates the movement of the first slide bar 18. The rear end of the first slide bar 18 is located inside the first fixed box 17 and is connected to a spring to facilitate the reset of the first slide bar 18 after clamping the workpiece.

[0038] The first adjustment assembly includes a support plate 20, a square through hole 21, a first bolt 22, a second fixing box 23 and a second sliding rod 24;

[0039] The support plate 20 is fixed to the upper end of the first fixing box 17. Square through holes 21 are provided at both ends of the support plate 20. The first bolt 22 is fixed to the upper end of the second fixing box 23 and inserted into the square through hole 21. The second slide bar 24 is slidably connected to the side of the second fixing box 23.

[0040] The support plate 20 plays a supporting role, the square through hole 21 facilitates the position adjustment of the first bolt 22, the first bolt 22 plays a connecting role, the second fixing box 23 facilitates the movement of the second slide bar 24, and the rear end of the second slide bar 24 is located inside the second fixing box 23 and is connected to a spring to facilitate the reset of the second slide bar 24 after clamping the workpiece;

[0041] There are two first fixing boxes 17 and four second fixing boxes 23, which are respectively connected to both sides of the first fixing box 17;

[0042] The robot claw further includes a rotating shaft 10, a support column 11, a cylinder 12, a movable rod 13 and a first L-shaped connecting plate 14;

[0043] The rotating shaft 10 is rotatably connected to the external robotic arm, the support column 11 is fixed to the lower end of the rotating shaft 10, the cylinder 12 is fixed to the lower end of the support column 11, the movable rod 13 is movably connected to the cylinder 12, and the first L-shaped connecting plate 14 is fixed to one end of the movable rod 13;

[0044] The rotating shaft 10 facilitates the rotation of the machine claw, the support column 11 plays a connecting role, the cylinder 12 provides power, the movable rod 13 can achieve position change, and the first L-shaped connecting plate 14 plays a connecting role;

[0045] The machine claw also includes an adjustment member 15 and a second L-shaped connecting plate 16;

[0046] The adjusting member 15 is fixed to the lower end of the first L-shaped connecting plate 14 , and the second L-shaped connecting plate 16 is fixed to the lower end of the adjusting member 15 ;

[0047] The adjusting member 15 can adjust the position of the second L-shaped connecting plate 16 , thereby adjusting the positions of the first fixing box 17 and the first sliding rod 18 .

[0048] Working principle:

[0049] When large workpieces need to be transported in batches, the middle part of the support plate 20 is fixed to the first fixing box 17 with screws, the first bolt 22 on the second fixing box 23 is inserted into the square through hole 21, and the second fixing box 23 is moved to a suitable position to tighten the first bolt 22. When in use, the first fixing box 17 and the second fixing box 23 drive the first sliding bar 18 and the second sliding bar 24 to move to both sides of the workpiece to clamp the workpiece.

[0050] This step can expand the contact area of the clamping and increase the stability of the clamping.

[0051] See also Figure 4 This embodiment is based on the above embodiment and further includes:

[0052] The second adjustment assembly includes a limiting slot 30 and a fixing plate 31;

[0053] The fixing plate 31 is fixed to the top of the side of the second fixing box 23. One end of the limiting groove 30 is fixed to the top of the second fixing box 23, and the other end is fixed to the fixing plate 31.

[0054] The limiting groove 30 plays an adjusting role, and the fixing plate 31 plays a supporting role;

[0055] The second adjustment assembly further includes a slider 32 and a second bolt 33;

[0056] The slider 32 is inserted into the limiting groove 30, and one end of the second bolt 33 is fixed to the slider 32, and the upper end is inserted into the square through hole 21;

[0057] The slider 32 plays a supporting role, and the second bolt 33 plays a connecting role.

[0058] Working principle:

[0059] The second fixing box 23 is rotated to drive the slider 32 below the second bolt 33 to move along the limiting groove 30 and the fixing plate 31 , and the second bolt 33 is tightened after being adjusted to a suitable angle.

[0060] This step enables the second fixing box 23 and the second sliding rod 24 to adapt to more irregular workpieces.

[0061] It should also be noted that, in the description of this utility model, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will be able to understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0062] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein with equivalents. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. An adaptive gripping device for a handling robot, characterized in that: include: A machine claw, the machine claw comprising a first fixed box (17) and a first slide bar (18); The first sliding rod (18) is slidably connected to the side of the first fixing box (17); a first adjustment assembly, the first adjustment assembly comprising a support plate (20), a square through hole (21), a first bolt (22), a second fixing box (23) and a second sliding rod (24); The support plate (20) is fixed to the upper end of the first fixing box (17), and the square through holes (21) are opened at both ends of the support plate (20). The first bolt (22) is fixed to the upper end of the second fixing box (23) and inserted into the square through hole (21). The second slide rod (24) is slidably connected to the side of the second fixing box (23).

2. The adaptive grasping device of the handling robot according to claim 1, characterized in that: There are two first fixing boxes (17) and four second fixing boxes (23), which are respectively connected to both sides of the first fixing box (17).

3. The adaptive grasping device of the handling robot according to claim 1, characterized in that: The machine claw further comprises a rotating shaft (10), a support column (11), a cylinder (12), a movable rod (13) and a first L-shaped connecting plate (14); The rotating shaft (10) is rotatably connected to the external mechanical arm, the support column (11) is fixed to the lower end of the rotating shaft (10), the cylinder (12) is fixed to the lower end of the support column (11), the movable rod (13) is movably connected to the cylinder (12), and the first L-shaped connecting plate (14) is fixed to one end of the movable rod (13).

4. The adaptive grasping device of the handling robot according to claim 3, characterized in that: The machine claw further includes an adjusting member (15) and a second L-shaped connecting plate (16); The adjusting member (15) is fixed to the lower end of the first L-shaped connecting plate (14), and the second L-shaped connecting plate (16) is fixed to the lower end of the adjusting member (15).

5. The adaptive grasping device of the handling robot according to claim 1, characterized in that: Also included is a second adjustment assembly; The second adjustment assembly comprises a limiting groove (30) and a fixing plate (31); The fixing plate (31) is fixed to the top of the side of the second fixing box (23); one end of the limiting groove (30) is fixed to the top of the second fixing box (23), and the other end is fixed to the fixing plate (31).

6. The adaptive grasping device of the handling robot according to claim 5, characterized in that: The second adjustment assembly further includes a slider (32) and a second bolt (33); The slider (32) is inserted into the limiting groove (30), one end of the second bolt (33) is fixed on the slider (32), and the upper section is inserted into the square through hole (21).

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