Stress balancing equipment for mechanical gripper of industrial robot

Abstract

The utility model belongs to the field of industrial robots, particularly relates to mechanical claw stress balancing equipment of an industrial robot, and aims to solve the problems that in the prior art, after a force arm is lengthened and a grabbing position is heightened, the bearing gravity center of the industrial robot is changed, the gravity center is unstable, and rollover occurs easily. According to the mechanical claw stress balancing equipment of the industrial robot, a connecting rod supporting arm is installed at one end of a mechanical claw, a liftable workbench is installed on the lower side of the connecting rod supporting arm, a driving part for driving the workbench to ascend and descend is installed below the workbench, and the mechanical claw bears load after grabbing a target material; the connecting rod supporting arms can effectively disperse and transmit loads, the gravity is concentrated, the gravity center of the mechanical claw is kept stable, the height of the mechanical claw is adjusted by controlling the bearing table to ascend and descend, and the supporting range of the base can be increased when the height of the bearing table is increased. And it is guaranteed that when the mechanical claw is stressed, the base can stably support the mechanical claw.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the industrial mechanical person field, concretely relates to a kind of industrial robot mechanical claw force balance equipment. BACKGROUND

[0002] With the rapid development of industrial technology, industrial robots gradually evolve into indispensable role in industrial production, industrial robots have high accuracy and efficient work capacity, not only can improve product quality and quantity, but also can guarantee personal safety, can effectively improve labor environment, reduce labor intensity, save raw material consumption, reduce production cost, can directly promote the rise of China's manufacturing industry and industrial transformation and upgrading, improve the overall development quality and core competitiveness of manufacturing industry;Currently, when carrying out material transfer by industrial robot, industrial robot can automatically extend arm and heighten according to the position and placement height of material, although work efficiency is higher, but after lengthening force arm and heightening grabbing position, the load center of gravity of industrial robot will change, cannot load heavier material, when grabbing heavier material for transfer, the center of gravity is offset under the oppression of material weight, lead to unstable center of gravity and side overturning condition. SUMMARY

[0003] In view of the above situation, in order to overcome the defects of the prior art, the utility model provides an industrial robot mechanical claw force balance equipment, which effectively solves the problems mentioned in the above background art.

[0004] To solve the above problems, the technical scheme adopted by the utility model is:

[0005] An industrial robot mechanical claw force balance equipment, comprising a mechanical claw, one end of the mechanical claw is provided with a connecting rod support arm, the lower side of the connecting rod support arm is provided with a liftable workbench, and the lower side of the workbench is provided with a driving component for driving the workbench to lift;

[0006] The driving component comprises a base and a load-bearing platform liftable on the upper side of the base, the load-bearing platform is coaxially connected to the bottom of the workbench, the circumferential surface of the base is respectively fixedly connected with a plurality of annularly distributed mounting brackets, the lower end of the mounting bracket is respectively slidably connected with a sliding plate capable of moving along the radial direction of the base, the lower end of the load-bearing platform is fixedly connected with a traction rod, the traction rod is axially slidably connected with the middle part of the base, the bottom of the traction rod is respectively hinged with a transmission rod equal in number to the sliding plate, and the other end of the transmission rod is respectively hinged with the corresponding sliding plate.

[0007] Preferably, the upper end of the base is hingedly connected with a plurality of swing arms in annular and uniform distribution, the outer end of the swing arm is hingedly connected with a hinge rod, the other end of the hinge rod is hingedly connected with the bottom of the bearing table, the inner end of the swing arm is coaxially fixedly connected with a worm gear, a plurality of worm gears are meshed with a worm on the inner side, the worm is rotatably connected with the base, and the lower end of the base is provided with a driving end for controlling the rotation of the worm.

[0008] Preferably, the bottom of the mounting bracket is provided with two open rectangular holes, and the sliding plate is slidably arranged on the inner side of the rectangular hole.

[0009] Preferably, the driving end comprises a driving motor fixedly connected with the base, a driving gear fixedly connected with the power output end of the driving motor, and a driven gear fixedly connected with the lower end of the worm and meshed with the driving gear.

[0010] Preferably, the lower end of the workbench is fixedly connected with a rotating gear, the rotating gear is rotatably connected with the lower bearing table, one side of the rotating gear is meshed with a control gear, the bottom of the bearing table is fixedly connected with a control motor, and the power output end of the control motor is coaxially fixedly connected with the control gear.

[0011] Preferably, the connecting rod supporting arm comprises a mounting plate, two movable arms are hingedly connected to the front and back sides of the left and right ends of the mounting plate respectively, the movable arms are arranged in parallel, an operating rod is hingedly connected to the lower end of each movable arm, a connecting shaft is fixedly connected between the lower ends of the left and right operating rods, the connecting shaft is rotatably connected with the upper end of the workbench, a supporting arm is hingedly connected to the outer end surface of each movable arm and arranged in parallel, the lower end of the supporting arm is hingedly connected with the upper end of the workbench, and a control component for controlling the swing of the operating arm is mounted on the upper end of the workbench.

[0012] Preferably, the control component comprises an operating motor fixedly connected with the upper end of the workbench, a transmission pulley is fixedly connected to the left end of the connecting shaft, a transmission belt is sleeved on the surfaces of the two transmission pulleys, and the power output end of the operating motor is coaxially fixedly connected with one of the transmission pulleys.

[0013] Preferably, the outer end of the sliding plate is fixedly connected with a supporting leg, and the bottom of the supporting leg is fixedly connected with a universal wheel.

[0014] The utility model discloses the novel structure, the clever idea is simple and convenient to operate, and compared with prior art has the following advantages:

[0015] 1. The load bearing is carried after the mechanical claw grips the target material, the connecting rod support arm can effectively disperse and transmit the load, and the gravity is concentrated, the center of gravity of the mechanical claw is kept stable, and the balance and stability of the mechanical claw in the work are effectively improved;

[0016] 2. When adjusting the height of the mechanical claw, the height of the bearing table is increased, and the support range of the base is also increased, and when the height of the bearing table is reduced, the support range of the base is also reduced, so that the base can stably support the mechanical claw when the mechanical claw is stressed, and the situation of unstable center of gravity of the mechanical claw after being stressed after being adjusted in height is avoided, and the balance and stability effect of the mechanical claw is automatically adjusted according to the working height of the mechanical claw. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a first schematic view of the overall structure of the industrial robot mechanical claw stress balancing equipment.

[0018] Figure 2 It is a second schematic view of the overall structure of the industrial robot mechanical claw stress balancing equipment.

[0019] Figure 3 It is a first schematic view of the driving component structure of the industrial robot mechanical claw stress balancing equipment.

[0020] Figure 4 It is a second schematic view of the driving component structure of the industrial robot mechanical claw stress balancing equipment.

[0021] Figure 5 It is a schematic view of the traction rod mounting structure of the industrial robot mechanical claw stress balancing equipment.

[0022] Figure 6 It is a schematic view of the control motor driving structure of the industrial robot mechanical claw stress balancing equipment.

[0023] Figure 7 It is a schematic view of the operation motor driving structure of the industrial robot mechanical claw stress balancing equipment.

[0024] In the figure: 1-mechanical claw, 2-workbench, 3-base, 4-bearing table, 5-swinging arm, 6-hinged rod, 7-worm wheel, 8-worm, 9-driving motor, 10-driving gear, 11-driven gear, 12-sliding plate, 13-leg, 14-gimbal wheel, 15-pulling rod, 16-transmission rod, 17-rotary gear, 18-control gear, 19-control motor, 20-moving arm, 21-mounting plate, 22-supporting arm, 23-operating rod, 24-transmission pulley, 25-transmission belt, 26-operating motor, 27-mounting bracket, 28-limiting groove. DETAILED DESCRIPTION

[0025] The following is a specific embodiment of the present application, and the technical scheme of the present application is further described in combination with the drawings, but the present application is not limited to these embodiments.

[0026] As Figures 1-7 shown, the present application provides a kind of industrial robot mechanical claw force balance equipment, including mechanical claw 1, mechanical claw 1 as the working end of industrial robot, for grabbing target material, the lower side of the connecting rod supporting arm of one end of the mechanical claw 1 is installed with liftable workbench 2, and the lower side of the connecting rod supporting arm is installed with the driving component of driving workbench 2 lifting;When using, driving component can be operated according to the height of target material to control workbench 2 to lift, it is convenient for mechanical claw 1 to grab target material, after mechanical claw 1 is grabbed to target material, load is borne, and connecting rod supporting arm can effectively disperse and transmit load, and concentrate gravity, keep the gravity center of mechanical claw 1 stable, effectively improve the balance and stability of mechanical claw 1 in work;

[0027] Further, in order to improve the balance and stability of the mechanical claw 1 during work, the driving component includes a base 3 and a load-bearing table 4 which is coaxially rotatably connected to the bottom of the workbench 2 and can be lifted on the upper side of the base 3. The circumferential surface of the base 3 is fixedly connected with a plurality of annularly distributed mounting brackets 27, respectively. The lower end of the mounting bracket 27 is slidably connected with a sliding plate 12 which can move along the radial direction of the base 3. By controlling the outward movement of the sliding plate 12 at the lower end of the mounting bracket 27, the supporting area of the base 3 can be increased, further improving the stability of the base 3 during supporting, and ensuring the balance of the center of gravity of the mechanical claw 1 during work. The lower end of the load-bearing table 4 is fixedly connected with a traction rod 15 which is axially slidably connected with the middle part of the base 3. The bottom of the traction rod 15 is hingedly connected with a transmission rod 16 which is equal in number to the sliding plate 12. The other end of the transmission rod 16 is hingedly connected with the corresponding sliding plate 12. When the load-bearing table 4 is lifted to increase the height, the sliding plate 12 can be moved outward through the transmission of the transmission rod 16, which can adjust the supporting range of the base 3 according to the height of the load-bearing table 4. When the height of the load-bearing table 4 increases, the supporting range of the base 3 also increases. When the height of the load-bearing table 4 decreases, the supporting range of the base 3 also decreases. This ensures that the base 3 can stably support the mechanical claw 1 when the mechanical claw 1 is under stress, avoiding the occurrence of unstable center of gravity when the mechanical claw 1 is under stress after being adjusted in height. This facilitates automatic adjustment of balance and stability according to the working height of the mechanical claw 1 during use.

[0028] The upper end of the base 3 is hingedly connected with a plurality of annularly and uniformly distributed swing arms 5. The outer end of the swing arm 5 is hingedly connected with a hinge rod 6. The other end of the hinge rod 6 is hingedly connected with the bottom of the load-bearing table 4. The inner end of the swing arm 5 is coaxially fixedly connected with a worm gear 7. The worm gear 7 is coaxial with the hinge point of the swing arm 5 and the base 3. When the worm gear 7 rotates, the swing arm 5 can swing. A plurality of worm gears 7 are meshed with a worm 8 on the inside. The upper end of the worm 8 is provided with a sliding hole downward. The traction rod 15 extends downward through the sliding hole to provide a traction channel for the traction rod 15. The worm 8 is rotatably connected with the base 3. The lower end of the base 3 is provided with a driving end for controlling the rotation of the worm 8. When adjusting the height of the mechanical claw 1, the worm 8 can be driven to rotate by the driving end for control. When the worm 8 rotates, the swing arm 5 can be swung upward synchronously through the meshing of the worm 8 with the plurality of worm gears 7. When the swing arm 5 swings upward, the load-bearing table 4 can be moved upward through the transmission of the hinge rod 6. When the worm 8 reverses, the swing arm 5 can be controlled to swing downward, thereby driving the load-bearing table 4 to move downward. This has the effect of controlling the lifting of the load-bearing table 4. The transmission between the worm 8 and the worm gear 7 has a self-locking effect, which keeps the load-bearing table 4 stable during work.

[0029] Further, in order to improve the stability of the sliding plate 12 when moving, the bottom of the mounting bracket 27 is respectively provided with a rectangular hole with two open ends, the sliding plate 12 is slidably arranged inside the rectangular hole, the two ends of the sliding plate 12 are respectively provided with a limiting groove 28 along the length direction, the inner wall of the rectangular hole is respectively fixedly connected with a limiting protrusion which is in sliding fit with the limiting groove 28, and the limiting protrusion is in sliding fit with the sliding groove when the sliding plate 12 moves, so that the stability of the sliding plate 12 when moving can be effectively improved, and the shaking of the sliding plate 12 when moving and the like can be avoided, thereby affecting the stability of the mechanical claw 1.

[0030] The driving end comprises a driving motor 9 fixedly connected to the base 3, a driving gear 10 fixedly connected to the power output end of the driving motor 9, and a driven gear 11 fixedly connected to the lower end of the worm 8. The driven gear 11 is in meshing transmission with the driving gear 10. When the height of the mechanical claw 1 needs to be adjusted, the driving motor 9 can be controlled to operate. When the driving motor 9 rotates, the worm 8 can be driven to rotate through the meshing of the driving gear 10 and the driven gear 11, and then the bearing table 4 is driven to ascend and descend under the transmission of the worm 8, thereby achieving the effect of controlling the height of the mechanical claw 1.

[0031] The lower end of the workbench 2 is fixedly connected with a rotating gear 17, and the rotating gear 17 is rotatably connected with the lower bearing table 4. The rotating gear 17 is meshed with a control gear 18 on one side. The bottom of the bearing table 4 is fixedly connected with a control motor 19. The power output end of the control motor 19 is fixedly connected with the control gear 18 on the same axis. The control motor 19 is used to drive the workbench 2 to rotate, thereby driving the mechanical claw 1 to rotate. It is convenient for the mechanical claw 1 to change position according to the different positions of the target material. After the control motor 19 rotates in the work, the workbench 2 is driven to rotate through the meshing transmission of the control gear 18 and the rotating gear 17, thereby realizing the adjustment of different grabbing positions of the mechanical claw 1.

[0032] As Figure 2As shown, the connecting rod supporting arm comprises a mounting plate 21 for providing a mounting position for the mounting of the mechanical gripper 1, the front and back sides of the left and right ends of the mounting plate 21 are respectively hinged with movable arms 20 which are respectively arranged in parallel, the lower ends of the movable arms 20 are respectively hinged with operating rods 23, the lower ends of the left and right operating rods 23 are respectively fixedly connected with connecting shafts which are rotatably connected with the upper end of the workbench 2, the outer end surfaces of the movable arms 20 are respectively hinged with supporting arms 22 which are arranged in parallel with each other, the lower ends of the supporting arms 22 are respectively hinged with the upper end of the workbench 2, the parallel movable arms 20 can make the mounting plate 21 move horizontally when swinging, stably drive the mechanical gripper 1 to grab, and in the work, the synchronous swinging of the operating rods 23 is controlled, the operating rods 23 can drive the movable arms 20 to displace when the circumferential surface of the operating rods 23, the supporting arms 22 can synchronously swing in a circumferential direction when the movable arms 20 displace, not only can support the displacement of the movable arms 20, but also can disperse the pulling force of the operating rods 23 and transmit part of the load to the bearing table 4 when the movable arms 20 are used as fulcrums after the movable plate is stressed, so that the bearing table 4 can be concentratedly stressed, the center of gravity of the device can be effectively avoided from being unstable after the mechanical gripper 1 is stressed, and the upper end of the workbench 2 is provided with a control component for controlling the swinging of the operating arm, so that the position of the mechanical gripper 1 can be conveniently adjusted.

[0033] The control component comprises an operating motor 26 fixedly connected with the upper end of the workbench 2, the left ends of the connecting shafts are respectively fixedly connected with transmission pulleys 24, the surfaces of the two transmission pulleys 24 are sleeved with a transmission belt 25, the power output end of the operating motor 26 is fixedly connected with one of the transmission pulleys 24 in a coaxial manner, the operating motor 26 is used for driving the movable arms 20 to move and adjusting the position of the mechanical gripper 1, the operating motor 26 can drive the operating rods 23 to swing through the transmission of the transmission pulleys 24 and the transmission belt 25 when the operating motor 26 rotates, the operating motor 26, the driving motor 9 and the control motor 19 only serve as power output ends to output power, the starting and closing of the operating motor 26, the driving motor 9 and the control motor 19 can be controlled by human control or through the control unit of the industrial robot, and the power output of the operating motor 26, the driving motor 9 and the control motor 19 is not affected, further, in order to facilitate the use of the device, the outer ends of the sliding plates 12 are respectively fixedly connected with supporting legs 13, the bottoms of the supporting legs 13 are respectively fixedly connected with universal wheels 14, so as to facilitate the movement of the device and the work of the mechanical gripper 1.

[0034] The specific embodiments described herein are merely illustrative of the spirit of the present application. Those skilled in the art to which the present application belongs can make various modifications or supplements to the described specific embodiments or use similar ways instead, without deviating from the spirit of the present application or exceeding the scope defined by the appended claims.

Claims

1. An industrial robot gripper force balancing device comprising a gripper (1), characterized by: One end of the mechanical claw (1) is provided with a connecting rod support arm, the lower side of the connecting rod support arm is provided with a liftable workbench (2), the lower side of the workbench (2) is provided with a driving component for driving the workbench (2) to lift; The driving component comprises a base (3) and a load bearing platform (4) liftable on the upper side of the base (3), the load bearing platform (4) is coaxially and rotationally connected to the bottom of the workbench (2), the circumferential surface of the base (3) is fixedly connected with a plurality of annularly distributed mounting brackets (27), the lower ends of the mounting brackets (27) are slidably connected with a plurality of sliding plates (12) capable of moving along the radial direction of the base (3), the lower end of the load bearing platform (4) is fixedly connected with a traction rod (15), the traction rod (15) is axially and slidably connected with the middle part of the base (3), the bottom of the traction rod (15) is hingedly connected with a plurality of transmission rods (16) equal in number to the sliding plates (12), the other ends of the transmission rods (16) are hingedly connected with the corresponding sliding plates (12).

2. The force balancing device for an industrial robot gripper according to claim 1, characterized in that: The upper end of the base (3) is hingedly connected with a plurality of swing arms (5) annularly and uniformly distributed at a position other than the center, the outer ends of the swing arms (5) are hingedly connected with hinge rods (6), the other ends of the hinge rods (6) are hingedly connected with the bottom of the load bearing platform (4), the inner ends of the swing arms (5) are coaxially and fixedly connected with a plurality of worm gears (7), the inner sides of the worm gears (7) are jointly meshed with a worm (8), the worm (8) is rotationally connected with the base (3), and the lower end of the base (3) is provided with a driving end for controlling the rotation of the worm (8).

3. An industrial robot gripper force balancing device as claimed in claim 2, characterized in that: The bottom of the mounting bracket (27) is provided with a rectangular hole with two open ends, the sliding plate (12) is slidably arranged on the inner side of the rectangular hole, the two ends of the sliding plate (12) are respectively provided with a limiting groove (28) along the length direction, and the inner wall of the rectangular hole is fixedly connected with a limiting protrusion in sliding fit with the limiting groove (28).

4. The force balancing device for an industrial robot gripper as set forth in claim 2, wherein: The driving end comprises a driving motor (9) fixedly connected with the base (3), a driving gear (10) fixedly connected with the power output end of the driving motor (9), and a driven gear (11) fixedly connected with the lower end of the worm (8), wherein the driven gear (11) is in meshing transmission with the driving gear (10).

5. The force balancing device for an industrial robot gripper as set forth in claim 1, wherein: The lower middle part of the workbench (2) is fixedly connected with a rotating gear (17), the rotating gear (17) is rotationally connected with the lower load bearing platform (4), one side of the rotating gear (17) is meshed with a control gear (18), the bottom of the load bearing platform (4) is fixedly connected with a control motor (19), and the power output end of the control motor (19) is coaxially and fixedly connected with the control gear (18).

6. An industrial robot gripper force balancing device as claimed in claim 1, characterized in that: The connecting rod supporting arm comprises a mounting plate (21), the front and back sides of the left and right ends of the mounting plate (21) are respectively hinged with movable arms (20), the movable arms (20) are respectively arranged in parallel, the lower ends of the movable arms (20) are respectively hinged with operating rods (23), the lower ends of the left and right operating rods (23) are respectively fixedly connected with connecting shafts, the connecting shafts are rotatably connected with the upper end of the workbench (2), the outer end surfaces of the movable arms (20) are respectively hinged with supporting arms (22) arranged in parallel with each other, the lower ends of the supporting arms (22) are respectively hinged with the upper end of the workbench (2), and the upper end of the workbench (2) is provided with a control operating arm swinging control component.

7. An industrial robot gripper force balancing device as claimed in claim 6, characterized in that: The control component comprises an operating motor (26) fixedly connected with the upper end of the workbench (2), the left ends of the connecting shafts are respectively fixedly connected with transmission pulleys (24), the surfaces of the two transmission pulleys (24) are sleeved with a transmission belt (25), and the power output end of the operating motor (26) is fixedly connected with one of the transmission pulleys (24) in a coaxial manner.

8. The force balancing device for an industrial robot gripper as claimed in claim 1, characterized in that: The outer ends of the sliding plates (12) are respectively fixedly connected with supporting legs (13), and the bottoms of the supporting legs (13) are respectively fixedly connected with universal wheels (14).

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