Grabbing device of industrial robot

Abstract

The utility model relates to the technical field of gripping devices, and discloses a gripping device of an industrial robot, which comprises a gripping seat, gripping teeth and a bidirectional motor, a plurality of chutes are arranged at the bottom of the gripping seat, double-shaft screw rods are arranged in the chutes, output shafts at two ends of the bidirectional motor are fixedly connected with the double-shaft screw rods, and the double-shaft screw rods are fixedly connected with the gripping teeth. A sliding groove is formed in the middle of the grabbing base, a shaft rod is arranged in the sliding groove, a double-shaft lead screw is arranged in the sliding groove in a rotating mode, a bidirectional motor is fixedly installed in the grabbing base, grabbing teeth are located at the bottom of the grabbing base, and each grabbing tooth comprises a fixing column, a grabbing plate and a rotating motor. And two sets of grabbing teeth are arranged at the bottom of the grabbing base, a plurality of bidirectional motors in the grabbing base are started at the same time, the bidirectional motors drive the double-shaft lead screw, the two pairs of grabbing teeth move along with the double-shaft lead screw at the same time, and the objects are clamped and grabbed according to the appearances of the objects.

Description

Technical Field

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

[0002] Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in industrial fields. They have a certain degree of automation and can rely on their own power and control capabilities to achieve various industrial processing and manufacturing functions. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemicals.

[0003] An existing grasping device for industrial robots (Announcement No.: CN112518788B) has at least the following disadvantages: the grasping claws of the device have a limited opening range, which is not conducive to grasping large objects; the pair of grasping claws cannot keep the objects stable when grasping, which can easily cause the objects to fall; and it is not conducive to gripping objects of various shapes. Utility Model Content

[0004] The purpose of the utility model is to solve the shortcomings of the prior art and to propose a grasping device for an industrial robot.

[0005] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0006] A gripping device of an industrial robot includes a gripping seat, gripping teeth and a bidirectional motor, a plurality of slide grooves are opened at the bottom of the gripping seat, a double-axis screw is provided inside the slide groove, the output shafts at both ends of the bidirectional motor are fixedly connected to the double-axis screw, the double-axis screw is rotatably connected to the inside of the slide groove, the bidirectional motor is fixedly installed inside the gripping seat, the gripping teeth are located at the bottom of the gripping seat, the gripping teeth include a fixed column, a gripping plate and a rotating motor, the top of the fixed column is threadedly connected to the double-axis screw, the gripping plate is located in the middle of the bottom end of the fixed column, the top of the gripping plate is fixedly installed with a shaft, both ends of the shaft are through-connected to both sides of the fixed column, the rotating motor is fixedly installed on one side inside the fixed column, and the transmission shaft of the rotating motor is fixedly connected to the shaft.

[0007] As a further solution of the present invention, the grabbing teeth are slidably connected to the inside of the sliding groove, and a suction cup is provided on one side of the grabbing teeth, and the suction cup is located at the bottom of the grabbing seat.

[0008] As a further solution of the present invention, a universal pan-tilt head is provided on the top of the suction cup, the bottom of the universal pan-tilt head is threadedly connected to the top of the suction cup, and a cylinder is provided on the top of the grabbing seat.

[0009] As a further solution of the present invention, the cylinder is fixedly connected to the top of the grabbing seat, and the telescopic end of the cylinder passes through the grabbing seat and is fixedly connected to the top of the universal head.

[0010] As a further solution of the present invention, a sliding seat and an appearance shell are provided on one side of the cylinder, the sliding seat is integrally connected to the top of the grabbing seat, and a sliding groove is provided inside the appearance shell.

[0011] As a further solution of the present invention, the slide is slidably connected to the inside of the slide groove, a rotating motor is fixedly installed inside the appearance shell, and a transmission shaft of the rotating motor is fixedly connected to the top of the slide.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] 1. The staff starts the rotating motor, and the output shaft of the rotating motor drives the shaft to rotate. The grabbing plate follows the rotation of the shaft and opens, so that the opened grabbing plate grabs the items, which is convenient for grabbing large items. Two sets of grabbing teeth are provided at the bottom of the grabbing seat. At the same time, several bidirectional motors inside the grabbing seat are started. The bidirectional motor drives the double-axis screw, so that the two pairs of grabbing teeth follow the double-axis screw to move at the same time, and the items are clamped and grabbed according to their shapes. The bidirectional motor stops running, so that the grabbing teeth are locked on the double-axis screw to prevent the grabbing teeth from loosening and causing the items to fall, which is convenient for clamping and grabbing items with different shapes.

[0014] 2. After the object is clamped and grabbed, the staff starts the cylinder. The telescopic end of the cylinder drives the suction cup to move out of the grabbing seat, so that the suction cup is adsorbed on the top of the object to stabilize the object. A universal pan-tilt is set on the top of the suction cup. The position of the suction cup is adjusted through the universal pan-tilt so that the suction cup can be adjusted according to the shape of the object. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the three-dimensional structure of a gripping device of an industrial robot proposed in the present invention;

[0016] Figure 2 This is a cross-sectional schematic diagram of the outer shell of a gripping device of an industrial robot proposed in the present invention;

[0017] Figure 3 This is a structural schematic diagram of the grabbing teeth of the grabbing device of an industrial robot proposed in the present utility model;

[0018] Figure 4 This is a structural diagram of a universal pan-tilt platform for a gripping device of an industrial robot proposed in the present invention;

[0019] Figure 5The utility model is a cross-sectional schematic diagram of the outer shell of the grasping device of the industrial robot.

[0020] In the figure: 1. Grabbing seat; 2. Grabbing teeth; 201. Fixed column; 202. Grabbing plate; 203. Shaft; 204. Rotating motor; 3. Bidirectional motor; 4. Dual-axis screw; 5. Cylinder; 6. Universal pan / tilt head; 7. Suction cup; 8. Slide seat; 9. External shell; 901. Slide groove; 10. Rotating motor. DETAILED DESCRIPTION

[0021] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below in conjunction with specific implementation methods.

[0022] In the description of this utility model, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," "the other end," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of this utility model and simplify the description. They are not intended to indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0023] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "provided with," "connected," etc. should be understood in a broad sense. For example, "connected" can mean a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be 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 the specific circumstances.

[0024] Reference Figures 1-4, a grasping device of an industrial robot includes a grasping seat 1, a grasping tooth 2 and a bidirectional motor 3. A plurality of slide grooves are opened at the bottom of the grasping seat 1, and a double-axis screw rod 4 is provided inside the slide groove. The output shafts at both ends of the bidirectional motor 3 are fixedly connected with the double-axis screw rod 4, and the double-axis screw rod 4 is rotatably connected inside the slide groove. The bidirectional motor 3 is fixedly installed inside the grasping seat 1, and the grasping tooth 2 is located at the bottom of the grasping seat 1. The grasping tooth 2 includes a fixed column 201, a grasping plate 202 and a rotating motor 204. The top of the fixed column 201 is threadedly connected to the double-axis screw rod 4, and the grasping plate 202 is located in the middle of the bottom end of the fixed column 201. A shaft rod 203 is fixedly installed on the top of the grasping plate 202. Both ends of the shaft rod 203 are through-connected to both sides of the fixed column 201. The rotating motor 204 is fixedly installed on one side inside the fixed column 201, and the transmission shaft of the rotating motor 204 is fixedly connected to the shaft rod 203.

[0025] During use, the staff starts the rotating motor 204, and the output shaft of the rotating motor 204 drives the shaft 203 to rotate, and the grabbing plate 202 rotates and opens following the shaft 203, so that the opened grabbing plate 202 grabs the objects, which is convenient for grabbing large objects. Two groups of grabbing teeth 2 are provided at the bottom of the grabbing seat 1, and several bidirectional motors 3 inside the grabbing seat 1 are started at the same time. The bidirectional motors 3 drive the double-axis screw rod 4, so that the two pairs of grabbing teeth 2 follow the double-axis screw rod 4 to move at the same time, which is convenient for clamping and grabbing objects with different shapes.

[0026] In this embodiment, the grabbing teeth 2 are slidably connected to the inside of the slide groove, and a suction cup 7 is provided on one side of the grabbing teeth 2. The suction cup 7 is located at the bottom of the grabbing seat 1.

[0027] When in use, the two pairs of grabbing teeth 2 can clamp and grab objects according to their shapes. The bidirectional motor 3 stops running, so that the grabbing teeth 2 are locked on the double-axis screw rod 4 to prevent the grabbing teeth 2 from loosening and causing the objects to fall.

[0028] In this embodiment, a universal platform 6 is provided on the top of the suction cup 7 , the bottom of the universal platform 6 is threadedly connected to the top of the suction cup 7 , and a cylinder 5 is provided on the top of the grabbing seat 1 .

[0029] During use, after the object is clamped and grabbed, the staff starts the cylinder 5, and the telescopic end of the cylinder 5 drives the suction cup 7 to move out of the grabbing seat 1, so that the suction cup 7 is adsorbed on the top of the object to stabilize the suspended object.

[0030] In this embodiment, the cylinder 5 is fixedly connected to the top of the grabbing seat 1 , and the telescopic end of the cylinder 5 passes through the grabbing seat 1 and is fixedly connected to the top of the universal head 6 .

[0031] When in use, the suction cup 7 is adjusted in position through the universal platform 6 so that the suction cup can be adjusted to absorb according to the shape of the object.

[0032] In this embodiment, a slide 8 and an outer shell 9 are provided on one side of the cylinder 5 . The slide 8 is integrally connected to the top of the grabbing seat 1 , and a sliding groove 901 is provided inside the outer shell 9 .

[0033] When in use, the staff starts the cylinder 5 again, and the cylinder 5 drives the universal platform 6 and the suction cup 7 to rise, so that the suction cup 7 is separated from the object and the retention is cancelled, so that the grasped object can be placed.

[0034] In this embodiment, the slide 8 is slidably connected inside the slide groove 901 , a rotating motor 10 is fixedly installed inside the exterior shell 9 , and a transmission shaft of the rotating motor 10 is fixedly connected to the top of the slide 8 .

[0035] During use, the staff starts the rotating motor inside the outer shell 9, and the rotating motor 10 drives the slide 8 to rotate in the sliding groove 901, so that the grabbing seat 1 drives the grabbing teeth 2 to adjust the position, which is convenient for grabbing objects.

[0036] From the above description, it can be seen that the above embodiment of the present invention achieves the following technical effects: the staff starts the rotating motor 204, the output shaft of the rotating motor 204 drives the shaft 203 to rotate, and the grabbing plate 202 follows the shaft 203 to rotate and open, so that the opened grabbing plate 202 grabs the object, which is convenient for grabbing large objects. Two groups of grabbing teeth 2 are provided at the bottom of the grabbing seat 1, and several bidirectional motors 3 inside the grabbing seat 1 are started at the same time. The bidirectional motors 3 drive the double-axis screw rod 4, so that the two pairs of grabbing teeth 2 follow the double-axis screw rod 4 to move at the same time. , the items are clamped and grabbed according to their shapes, the bidirectional motor 3 stops running, and the grabbing teeth 2 are locked on the double-axis screw rod 4 to prevent the grabbing teeth 2 from loosening and causing the items to fall, which is convenient for clamping and grabbing items with different shapes. After the items are clamped and grabbed, the staff starts the cylinder 5, and the telescopic end of the cylinder 5 drives the suction cup 7 to move out of the grabbing seat 1, so that the suction cup 7 is adsorbed on the top of the item to stabilize the item. A universal pan-tilt 6 is provided on the top of the suction cup 7, and the suction cup 7 is adjusted in position through the universal pan-tilt 6, so that the suction cup can be adjusted to adsorb according to the shape of the item.

[0037] 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 illustrative of the principles of 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. Such changes and improvements are intended to fall within the scope of the present invention. The scope of protection claimed in this invention is defined by the appended claims and their equivalents.

Claims

1. A gripping device for an industrial robot, comprising a gripping seat (1), gripping teeth (2) and a bidirectional motor (3), characterized in that: The bottom of the grabbing seat (1) is provided with a plurality of slide grooves, and a double-axis screw rod (4) is provided inside the slide grooves. The output shafts at both ends of the bidirectional motor (3) are fixedly connected to the double-axis screw rod (4), and the double-axis screw rod (4) is rotatably connected inside the slide grooves. The bidirectional motor (3) is fixedly installed inside the grabbing seat (1), and the grabbing teeth (2) are located at the bottom of the grabbing seat (1). The grabbing teeth (2) include a fixed column (201), a grabbing plate (202) and a rotating motor (204). The top of the fixed column (201) is threadedly connected to the double-axis screw rod (4), the grab plate (202) is located in the middle of the bottom end of the fixed column (201), and a shaft (203) is fixedly installed on the top of the grab plate (202), and both ends of the shaft (203) are connected to both sides of the fixed column (201). The rotating motor (204) is fixedly installed on one side inside the fixed column (201), and the transmission shaft of the rotating motor (204) is fixedly connected to the shaft (203).

2. The gripping device of an industrial robot according to claim 1, characterized in that: The grabbing teeth (2) are slidably connected to the inside of the slide groove, and a suction cup (7) is provided on one side of the grabbing teeth (2), and the suction cup (7) is located at the bottom of the grabbing seat (1).

3. The gripping device of an industrial robot according to claim 2, characterized in that: A universal platform (6) is provided on the top of the suction cup (7), the bottom of the universal platform (6) is threadedly connected to the top of the suction cup (7), and a cylinder (5) is provided on the top of the grabbing seat (1).

4. The gripping device of an industrial robot according to claim 3, characterized in that: The cylinder (5) is fixedly connected to the top of the grabbing seat (1), and the telescopic end of the cylinder (5) passes through the grabbing seat (1) and is fixedly connected to the top of the universal platform (6).

5. The gripping device of an industrial robot according to claim 4, characterized in that: A slide seat (8) and an outer shell (9) are provided on one side of the cylinder (5); the slide seat (8) is integrally connected to the top of the grab seat (1); and a sliding groove (901) is provided inside the outer shell (9).

6. The gripping device of an industrial robot according to claim 5, characterized in that: The slide seat (8) is slidably connected inside the slide groove (901), a rotating motor (10) is fixedly installed inside the appearance shell (9), and a transmission shaft of the rotating motor (10) is fixedly connected to the top of the slide seat (8).

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