Grabbing structure of industrial robot

Abstract

The utility model relates to the technical field of grabbing, in particular to a grabbing structure of an industrial robot, which comprises a shell, a transmission control mechanism is fixedly arranged above the shell, a linkage mechanism is movably arranged on the inner wall of the shell, and a mounting mechanism is movably arranged below the shell. The grabbing structure is composed of a linkage mechanism in a shell, a transmission box on the upper portion and a grabbing device on the lower portion, and during daily use, the device is installed on an arm of the industrial robot through a flange at the top end of the grabbing structure and an installation fixing hole in the upper portion through screws. A connecting wire on one side of the transmission box is connected with a robot arm through a connecting plug at one end to transmit control data and passes through a soft grabbing strip below, and the soft grabbing strip is made of hard materials and has certain toughness, so that the robot arm can be driven to rotate. And through the internal extrusion grooves and extrusion strips, the soft grabbing strips can tightly grab objects in different shapes in the grabbing process.

Description

Technical Field

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

[0002] With the continuous development of robotics technology and the expansion of its application areas, the gripping structures of industrial robots are also undergoing continuous innovation and improvement. In the future, gripping structures will place greater emphasis on the development of intelligent, adaptive, and modular design to adapt to more complex and changing production environments and task requirements.

[0003] Chinese utility model patent application publication CN 219006084 U discloses a gripping structure for an industrial robot. This device uses six track shafts and synchronizer rings to drive six gripping claws to slide up and down synchronously to adjust their length. This allows for simultaneous adjustment of the gripping length of all six gripping claws, eliminating the need for separate, sequential adjustments of all the gripping claws. However, the device's limited gripping space means the gripping structure can only be customized for specific items, and the gripping plate cannot be replaced, which impacts its effectiveness. Utility Model Content

[0004] The purpose of the present utility model is to provide a grasping structure of an industrial robot to solve the problems raised in the above background technology.

[0005] To achieve the above purpose, the present invention provides the following technical solutions:

[0006] A grasping structure of an industrial robot, comprising

[0007] A housing, wherein a transmission control mechanism is fixedly provided on the upper portion of the housing, a linkage mechanism is movably provided on the inner wall of the housing, a mounting mechanism is movably provided on the lower portion of the housing, and a gripping mechanism is movably provided on the lower portion of the housing via the mounting mechanism;

[0008] The transmission box has its bottom end fixed on the outer shell by welding, and a flange is fixed on the top of the transmission box, and a mounting hole is opened on the top of the flange.

[0009] Preferably, a slot is provided on one side of the shell, and the movable inner wall is provided with a grabbing frame through a movable shaft, one end of the grabbing frame is movably provided on the inner wall of the shell, and a linkage slot is provided on one end of the grabbing frame, and a linkage rod is provided on the inner wall of the linkage slot through a movable shaft, and movable slots are provided on both sides of the linkage rod. The grabbing frame installed inside the shell plays the role of support and linkage tilting rod, and the soft grabbing strip below can be controlled by the grabbing frame to achieve the grabbing effect.

[0010] Preferably, the mounting mechanism includes a mounting plate and a fixing plate. The bottom end of the grabbing frame is fixed with a mounting plate by welding, and a fixing plate is fixed under the mounting plate by screws. Different types of splints can be installed according to work requirements through the mounting plate at the bottom of the grabbing frame.

[0011] Preferably, the gripping mechanism includes a soft gripping strip and an extrusion groove. The soft gripping strip is fixedly arranged under the fixed plate. An extrusion groove is opened on one side of the soft gripping strip. An extrusion strip is fixedly arranged on the inner wall of the extrusion groove. The soft gripping strip is made of a harder material and has a certain toughness. As well as the internal extrusion groove and extrusion strip, the soft gripping strip can tightly grip objects of different shapes during the gripping process.

[0012] Preferably, the linkage mechanism includes a lifting screw and a lifting plate, the top of the inner wall of the shell is fixedly provided with a sealed bearing, the inner wall of the sealed bearing is fixedly provided with a lifting screw, the bottom of the lifting screw is movably provided with the inner wall of the shell, and a lifting screw tube is movably provided on one side of the lifting screw, and a lifting plate is fixedly provided on one side of the lifting screw tube, and a fixed clamping plate is fixedly provided under the lifting plate, and a fixed shaft is fixedly provided on the inner wall of the fixed clamping plate, and one side of the fixed shaft is movably provided on the inner wall of the movable groove. Under the action of the lifting screw rotation, the lifting screw tube on one side drives the lifting plate on one side to perform the lifting action, and then passes through the fixed shaft inside the fixed clamping plate under the lifting plate and is installed in the movable groove on one side of the linkage rod, and then is installed in one end of the grabbing frame through the other end of the linkage rod, so that the grabbing frame is driven to rise and fall by the lifting plate, so that the soft grabbing strip below can be grabbed.

[0013] Preferably, the transmission control mechanism includes a transmission motor and a control circuit board. The transmission motor is fixedly provided on the inner wall of the transmission box by screws. The inner wall of the transmission motor is movably provided on the top of the lifting screw. A support plate is fixedly provided on the inner wall of the transmission box. The control circuit board is fixedly provided on the top of the support plate by screws. A connecting wire is fixedly provided above the control circuit board. A connecting plug is fixedly provided at one end of the connecting wire. The control command is transmitted through the connecting wire by the robot arm, and the data is received and analyzed by the control circuit board inside the transmission box to control the operation of the transmission motor below, and the rotation of the lifting screw inside the outer shell is driven by the transmission motor.

[0014] Compared with the prior art, the beneficial effects of the present invention are:

[0015] The grasping structure of an industrial robot is composed of a linkage mechanism inside an outer shell, a transmission box above, and a grasping device below. In daily use, the device is installed on the arm of the industrial robot using screws through the flange at the top of the grasping structure and the mounting holes above. The connecting wire on one side of the transmission box is then connected to the robot arm through the connecting plug at one end to transmit control data, and passes through the soft grasping strip below. The soft grasping strip is made of a hard material and has a certain toughness, and passes through the internal extrusion groove and extrusion strip, so that the soft grasping strip can tightly grasp objects of different shapes during the grasping process. This is a grasping structure of an industrial robot. During daily use, the grasping structure transmits control commands through the robot arm via a connecting line, and then receives and analyzes data through the control circuit board inside the transmission box to control the operation of the transmission motor below. The transmission motor drives the rotation of the lifting screw inside the shell. Under the action of the rotation of the lifting screw, the lifting plate on one side is driven to rise and fall through the lifting solenoid on one side. The lifting plate is then installed in the movable groove on one side of the linkage rod through the fixed shaft inside the fixed card below, and then the other end of the linkage rod is installed at one end of the grasping frame, so that the grasping frame is driven to rise and fall by the lifting plate, so that the soft grasping strip below can achieve the grasping effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0017] Figure 2 This is a schematic diagram of the internal structure of the shell of the utility model;

[0018] Figure 3 For the utility model Figure 2 A detailed enlarged structural diagram;

[0019] Figure 4 This is a schematic diagram of the internal structure of the transmission box of the present utility model;

[0020] In the figure: 100, housing; 101, transmission box; 102, flange; 103, mounting hole; 106, slot; 107, grab frame; 118, linkage slot; 119, linkage rod; 121, movable slot; 108, mounting plate; 109, fixing plate; 110, soft grab bar; 111, extrusion slot; 112, extrusion bar; 113, sealed bearing; 114, lifting screw; 115, lifting solenoid; 116, lifting plate; 117, fixing card; 120, fixing shaft; 122, transmission motor; 124, support plate; 125, control circuit board; 104, connecting line; 105, connecting plug. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0022] See also Figures 1-4 As shown, the utility model provides a technical solution:

[0023] A grasping structure of an industrial robot, comprising

[0024] The housing 100 has a transmission control mechanism fixedly disposed above the housing 100, a linkage mechanism movably disposed on the inner wall of the housing 100, a mounting mechanism movably disposed below the housing 100, and a gripping mechanism movably disposed below the housing 100 through the mounting mechanism;

[0025] The transmission box 101 has its bottom end fixed on the housing 100 by welding, and a flange 102 is fixed on the top of the transmission box 101 . A mounting hole 103 is provided on the top of the flange 102 .

[0026] In the embodiment, preferably, a slot 106 is provided on one side of the outer shell 100, and a grabbing frame 107 is movably provided on the movable inner wall through a clamping shaft. One end of the grabbing frame 107 is movably provided on the inner wall of the outer shell 100, and a linkage slot 118 is provided on one end of the grabbing frame 107. A linkage rod 119 is movably provided on the inner wall of the linkage slot 118 through a clamping shaft, and movable slots 121 are provided on both sides of the linkage rod 119.

[0027] Through the above solution, the grabbing frame 107 installed inside the shell 100 plays the role of supporting and linking the tilting rod, and the grabbing frame 107 can control the soft grabbing strip 110 below to perform a grabbing effect.

[0028] In the embodiment, preferably, the mounting mechanism includes a mounting plate 108 and a fixing plate 109 , the mounting plate 108 is fixed to the bottom end of the grabbing frame 107 by welding, and the fixing plate 109 is fixed below the mounting plate 108 by screws.

[0029] Through the above solution, different types of splints can be installed according to work requirements through the mounting plate 108 at the bottom of the grabbing frame 107.

[0030] In the embodiment, preferably, the grabbing mechanism includes a soft grabbing strip 110 and an extrusion groove 111 . The soft grabbing strip 110 is fixedly arranged below the fixed plate 109 . The extrusion groove 111 is opened on one side of the soft grabbing strip 110 . An extrusion strip 112 is fixedly arranged on the inner wall of the extrusion groove 111 .

[0031] Through the above solution, the soft gripping strip 110 is made of a hard material with a certain toughness, and the internal extrusion groove 111 and the extrusion strip 112 can enable the soft gripping strip 110 to tightly grasp objects of different shapes during the grasping process.

[0032] In the embodiment, preferably, the linkage mechanism includes a lifting screw 114 and a lifting plate 116, a sealed bearing 113 is fixedly provided on the top of the inner wall of the outer shell 100, a lifting screw 114 is fixedly provided on the inner wall of the sealed bearing 113, the bottom end of the lifting screw 114 is movably provided on the inner wall of the outer shell 100, a lifting screw tube 115 is movably provided on one side of the lifting screw 114, a lifting plate 116 is fixedly provided on one side of the lifting screw tube 115, a fixed clamping plate 117 is fixedly provided below the lifting plate 116, a fixed shaft 120 is fixedly provided on the inner wall of the fixed clamping plate 117, and one side of the fixed shaft 120 is movably provided on the inner wall of the movable groove 121.

[0033] Through the above scheme, under the action of the rotation of the lifting screw 114, the lifting screw 115 on one side drives the lifting plate 116 on one side to perform the lifting and lowering action, and then passes through the fixed shaft 120 inside the fixed card 117 under the lifting plate 116 and is installed in the movable groove 121 on one side of the linkage rod 119, and then the other end of the linkage rod 119 is installed at one end of the grabbing frame 107, so that the grabbing frame 107 is driven by the lifting plate 116 to rise and fall, so that the soft grabbing strip 110 below can be grabbed.

[0034] In the embodiment, preferably, the transmission control mechanism includes a transmission motor 122 and a control circuit board 125. The transmission motor 122 is fixedly provided on the inner wall of the transmission box 101 by screws. The inner wall of the transmission motor 122 is movably provided on the top of the lifting screw 114. A support plate 124 is fixedly provided on the inner wall of the transmission box 101. The control circuit board 125 is fixedly provided on the top of the support plate 124 by screws. A connecting wire 104 is fixedly provided above the control circuit board 125, and a connecting plug 105 is fixedly provided at one end of the connecting wire 104.

[0035] Through the above scheme, the control command is transmitted through the connecting line 104 by the robot arm, and then the control circuit board 125 inside the transmission box 101 receives and analyzes the data to control the operation of the transmission motor 122 below, and the transmission motor 122 drives the rotation of the lifting screw 114 inside the shell 100.

[0036] When in use, the grasping structure of an industrial robot of this embodiment is composed of a linkage mechanism inside the shell 100, a transmission box 101 above and a grasping device below. In daily use, the device is installed on the arm of the industrial robot using screws through the flange 102 at the top of the grasping structure and the mounting fixing hole 103 above. Then, the connecting line 104 on one side of the transmission box 101 is connected to the robot arm through the connecting plug 105 at one end to transmit control data, and passes through the soft grasping strip 110 below. The soft grasping strip 110 is made of a hard material and has a certain toughness, and passes through the internal extrusion groove 111 and extrusion strip 112, so that the soft grasping strip 110 can tightly grasp objects of different shapes during the grasping process.

[0037] During daily use, the grabbing structure transmits control commands through the connecting line 104 through the robot arm, and then receives and analyzes the data through the control circuit board 125 inside the transmission box 101 to control the operation of the transmission motor 122 below. The transmission motor 122 drives the rotation of the lifting screw 114 inside the shell 100. Under the action of the rotation of the lifting screw 114, the lifting plate 116 on one side is driven to be lifted and lowered through the lifting solenoid 115 on one side. The fixed shaft 120 inside the fixed card 117 below the lifting plate 116 is installed in the movable groove 121 on one side of the linkage rod 119, and the other end of the linkage rod 119 is installed at one end of the grabbing frame 107, so that the grabbing frame 107 is driven to rise and fall by the lifting plate 116, so that the soft grabbing strip 110 below can be grasped.

[0038] The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely preferred examples of the present invention and are not intended to limit the present invention. Various changes and improvements may be made to the present invention without departing from the spirit and scope of the present invention, and such changes and improvements fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A grasping structure of an industrial robot, characterized in that: include A housing (100), wherein a transmission control mechanism is fixedly provided above the housing (100), a linkage mechanism is movably provided on the inner wall of the housing (100), a mounting mechanism is movably provided below the housing (100), and a gripping mechanism is movably provided below the housing (100) via the mounting mechanism; A transmission box (101), wherein the bottom end of the transmission box (101) is fixedly arranged above the housing (100) by welding, and a flange (102) is fixedly arranged at the top end of the transmission box (101), and a mounting hole (103) is opened at the top end of the flange (102).

2. The gripping structure of an industrial robot according to claim 1, characterized in that: A slot (106) is provided on one side of the housing (100), a grabbing frame (107) is provided on the movable inner wall via a movable shaft, one end of the grabbing frame (107) is movably provided on the inner wall of the housing (100), a linkage slot (118) is provided on one end of the grabbing frame (107), a linkage rod (119) is provided on the inner wall of the linkage slot (118) via a movable shaft, and movable slots (121) are provided on both sides of the linkage rod (119).

3. The gripping structure of an industrial robot according to claim 2, characterized in that: The mounting mechanism comprises a mounting plate (108) and a fixing plate (109); the mounting plate (108) is fixedly provided at the bottom end of the grabbing frame (107) by welding; and the fixing plate (109) is fixedly provided below the mounting plate (108) by screws.

4. The gripping structure of an industrial robot according to claim 3, characterized in that: The gripping mechanism comprises a soft gripping strip (110) and an extrusion groove (111); the soft gripping strip (110) is fixedly arranged below the fixed plate (109); the extrusion groove (111) is provided on one side of the soft gripping strip (110); and an extrusion strip (112) is fixedly arranged on the inner wall of the extrusion groove (111).

5. The gripping structure of an industrial robot according to claim 1, characterized in that: The linkage mechanism includes a lifting screw (114) and a lifting plate (116); a sealed bearing (113) is fixedly provided on the top of the inner wall of the housing (100); a lifting screw (114) is fixedly provided on the inner wall of the sealed bearing (113); a bottom end of the lifting screw (114) is movably provided on the inner wall of the housing (100); a lifting screw tube (115) is movably provided on one side of the lifting screw (114); a lifting plate (116) is fixedly provided on one side of the lifting screw tube (115); a fixed clamping plate (117) is fixedly provided below the lifting plate (116); a fixed shaft (120) is fixedly provided on the inner wall of the fixed clamping plate (117); and one side of the fixed shaft (120) is movably provided on the inner wall of the movable groove (121).

6. The gripping structure of an industrial robot according to claim 1, characterized in that: The transmission control mechanism includes a transmission motor (122) and a control circuit board (125). The transmission motor (122) is fixedly provided on the inner wall of the transmission box (101) by screws. The inner wall of the transmission motor (122) is movably provided on the top of the lifting screw (114). A support plate (124) is fixedly provided on the inner wall of the transmission box (101). The control circuit board (125) is fixedly provided on the top of the support plate (124) by screws. A connecting wire (104) is fixedly provided above the control circuit board (125). A connecting plug (105) is fixedly provided at one end of the connecting wire (104).

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