Robot grabbing mechanism

Abstract

The utility model belongs to the technical field of automation equipment, and particularly relates to a robot grabbing mechanism. The mechanical arm connecting seat comprises a mechanical arm connecting seat. The gasket is pressed on the bolt body through the multifunctional pressing and grabbing assembly, automatic pressing is achieved, in the pressing process, alignment can be conducted on the top of the bolt body through the workpiece alignment part, the bolt body is prevented from deviating in the pressing process, the pressing precision is high, after pressing is completed, the auxiliary abutting piece and the multifunctional pressing and grabbing assembly are reset, and the production efficiency is improved. The bolt body is continuously lifted for a certain distance, at the moment, the multifunctional pressing and grabbing assembly is inserted into the gap between the two adjacent gaskets, the assembled workpiece is grabbed, and the workpiece is loosened after being grabbed to the needed station, so that the structure with multiple purposes is adopted, the workpiece can be automatically assembled, and the work efficiency is improved. And the workpieces can be grabbed and transported after assembly is completed, the efficiency of a production line is greatly improved, meanwhile, unnecessary parts can be reduced, the cost is reduced, and practicability is high.

Description

Technical Field

[0001] This utility model belongs to the field of automation equipment technology and relates to a robot grasping mechanism. Background Technology

[0002] Currently, to improve production efficiency, robotic arms are often used to assist in grasping tasks during production. Commercially available bolt-grabbing mechanisms typically involve first pressing a washer onto the bolt using a small pressing device, followed by robot gripping. This structure makes integrated assembly, gripping, and transportation difficult, requires numerous equipment and components, is costly, and has limited practicality. Therefore, it is urgently necessary to design a robotic gripping mechanism that overcomes these shortcomings.

[0003] To overcome the shortcomings of existing technologies, people have continuously explored and proposed various solutions. For example, Chinese patent discloses a robot grasping mechanism [application number: 202010102065.2], which includes a main arm, a multi-connector frame, shaft II, a slotted inclined frame, a through-hole, a T-beam, a side mounting frame, a clamping part, and a hand mechanism. The shaft II is fixed to the left side of the multi-connector frame, and the right side of the main arm is rotatably connected to the shaft II. The upper end of the multi-connector frame is fixed to the slotted inclined frame. The right side of the multi-connector frame has a through-hole. The one-way end of the T-beam is located in the through-hole and fixed to the multi-connector frame. The right end of the T-beam is fixed to a side mounting frame, and the lower end of the side mounting frame is fixed to a clamping part. The distance between the hand mechanism and the clamping part is adjustable, and the hand mechanism is installed on the left side of the clamping part. Summary of the Invention

[0004] The purpose of this invention is to address the aforementioned problems by providing a robot gripping mechanism.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A robotic gripping mechanism includes a robotic arm connecting seat, a robotic arm connecting frame above the robotic arm connecting seat, and a gripping and pressing operating table at the bottom of the robotic arm connecting seat. An operating cavity is formed within the gripping and pressing operating table, which contains a multi-functional pressing and gripping component capable of reciprocating linear motion along a side approaching or away from the operating cavity. The robotic arm connecting seat also contains a workpiece alignment part and an auxiliary abutment member capable of reciprocating linear motion in a vertical direction. The workpiece alignment part is located above the multi-functional pressing and gripping component, and the auxiliary abutment member corresponds to the position of the multi-functional pressing and gripping component.

[0007] In the aforementioned robot gripping mechanism, the multi-functional pressing and gripping component includes two transverse pressing plates disposed within the gripping and pressing operating table. The transverse pressing plates have a gripping latching portion on the side near the operating cavity, and the cross-section of the gripping latching portion is triangular.

[0008] In the aforementioned robot gripping mechanism, a drive connection seat is provided on each side of the gripping and pressing operation table. A first linear driver is provided in the drive connection seat, and the power shaft of the first linear driver is connected to the transverse pressing plate.

[0009] In the aforementioned robot grasping mechanism, an extension chamber is provided inside the robotic arm connecting seat, and the extension chamber is connected to the operating chamber.

[0010] In the aforementioned robot gripping mechanism, the workpiece alignment part and the auxiliary abutment part are located in the extension cavity.

[0011] In the aforementioned robot gripping mechanism, the workpiece alignment part includes a workpiece alignment cylinder disposed in the extension chamber, and a workpiece alignment slot is provided in the workpiece alignment cylinder, which is connected to the extension chamber.

[0012] In the aforementioned robot gripping mechanism, the bottom of the workpiece alignment cylinder has an annular inclined surface that slopes from the outer side to the inner side of the workpiece alignment cylinder.

[0013] In the aforementioned robot grasping mechanism, the auxiliary abutment component includes two supporting abutment lifting blocks disposed within the robot arm connecting seat. The supporting abutment lifting blocks can reciprocate linearly in the vertical direction and can abut against the top of the transverse pressure plate extending into the operating cavity.

[0014] In the aforementioned robot grasping mechanism, the robotic arm connecting seat is equipped with two second linear actuators, and the power shafts of the second linear actuators are connected to the supporting lifting block.

[0015] In the robot gripping mechanism described above, the power shaft of the second linear driver is staggered with the workpiece alignment cylinder.

[0016] Compared with existing technologies, the advantages of this utility model are:

[0017] 1. In use, this utility model connects the robotic arm connecting frame to the automated robotic arm. During operation, the washer to be pressed is first placed on the bolt body. Then, the robotic arm drives the robotic arm connecting seat and the gripping and pressing operating table to move, allowing the bolt body to enter the operating cavity. The multi-functional pressing and gripping assembly is then moved closer to the operating cavity and into the operating cavity. The auxiliary abutment is then moved down until it abuts against the top of the multi-functional pressing and gripping assembly. The multi-functional pressing and gripping assembly presses the washer onto the bolt body, achieving automated pressing. During the pressing process, the workpiece alignment part can be used to align the bolt... The bolt body is aligned at the top to prevent it from shifting during pressing, ensuring high pressing precision. After pressing, the auxiliary abutment and multi-functional pressing and gripping assembly are reset, and the bolt body is raised a further distance. Then, the multi-functional pressing and gripping assembly is inserted into the gap between two adjacent washers to grip the assembled workpiece. Once gripped to the required position, it is released. This multi-functional structure can automatically assemble workpieces and also grip and transport them after assembly, greatly improving the efficiency of the production line. At the same time, it can reduce unnecessary parts, lower costs, and is highly practical.

[0018] 2. The bottom of the workpiece alignment cylinder in this utility model has an annular inclined surface that slopes from the outer side to the inner side of the workpiece alignment cylinder, which facilitates the smooth entry of the top of the bolt body into the workpiece alignment hole groove during the pressing process and avoids jamming.

[0019] Other advantages, objectives and features of this invention will be partly apparent from the following description, and partly understood by those skilled in the art through study and practice of this invention. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of this utility model.

[0021] Figure 2 This is a schematic diagram of the usage state of this utility model.

[0022] Figure 3 yes Figure 1 A schematic diagram of the cross-section at point AA.

[0023] In the figure: 1. Robot arm connecting seat; 2. Robot arm connecting frame; 3. Grabbing and pressing operating table; 4. Operating cavity; 5. Multifunctional pressing and gripping assembly; 6. Workpiece alignment part; 7. Auxiliary abutment part; 8. Transverse pressure ring plate; 9. Grabbing snap-fit ​​part; 10. Drive connecting seat; 11. First linear driver; 12. Extension chamber; 13. Workpiece alignment cylinder; 14. Workpiece alignment hole groove; 15. Annular inclined surface; 16. Support abutment lifting block; 17. Second linear driver; 100. Bolt body; 101. Washer. Detailed Implementation

[0024] The present invention will be further described below with reference to the accompanying drawings.

[0025] like Figure 1-3 As shown, a robot gripping mechanism includes a robot arm connecting seat 1, a robot arm connecting frame 2 above the robot arm connecting seat 1, and a gripping and pressing operating table 3 at the bottom of the robot arm connecting seat 1. The gripping and pressing operating table 3 has an operating cavity 4. The gripping and pressing operating table 3 has a multi-functional pressing and gripping component 5 that can reciprocate linearly along a side close to or away from the operating cavity 4. The robot arm connecting seat 1 has a workpiece alignment part 6 and an auxiliary abutment 7 that can reciprocate linearly in the vertical direction. The workpiece alignment part 6 is located above the multi-functional pressing and gripping component 5, and the auxiliary abutment 7 corresponds to the position of the multi-functional pressing and gripping component 5.

[0026] In this embodiment, during use, the robotic arm connecting frame 2 is connected to the automated robotic arm. During operation, the washer 101 to be pressed is first placed on the bolt body 100. Then, the robotic arm drives the robotic arm connecting seat 1 and the gripping and pressing operating table 3 to move, causing the bolt body 100 to enter the operating cavity 4. At this point, the multi-functional pressing and gripping assembly 5 is moved closer to the operating cavity 4 and enters the operating cavity 4. Then, the auxiliary abutment 7 is moved down until it abuts against the top of the multi-functional pressing and gripping assembly 5. The multi-functional pressing and gripping assembly 5 then presses the washer 101 onto the bolt body 100, achieving automated pressing. During the pressing process, workpiece alignment is used... Part 6 can align the top of the bolt body 100 to prevent the bolt body 100 from shifting during pressing, ensuring high pressing accuracy. After pressing, the auxiliary abutment 7 and the multi-functional pressing and gripping assembly 5 are reset, and the bolt body 100 is raised a further distance. At this time, the multi-functional pressing and gripping assembly 5 is inserted into the gap between two adjacent washers 101 to grip the assembled workpiece. After gripping to the required position, it is released. It adopts a multi-purpose structure, which can automatically assemble workpieces and also grip and transport workpieces after assembly, greatly improving the efficiency of the production line. At the same time, it can reduce unnecessary parts, reduce costs, and has strong practicality.

[0027] Combination Figure 1-3 As shown, the multi-functional pressing and gripping assembly 5 includes two transverse pressing plates 8 disposed in the gripping and pressing operating table 3. The transverse pressing plates 8 have a gripping latching part 9 on the side near the operating cavity 4. The cross-section of the gripping latching part 9 is triangular.

[0028] Specifically, in use, the robotic arm connecting frame 2 is connected to the automated robotic arm. During operation, the washer 101 to be pressed is first placed on the bolt body 100. At this time, the robotic arm drives the robotic arm connecting seat 1 and the gripping and pressing operating table 3 to move, so that the bolt body 100 enters the operating cavity 4. Then, the transverse pressing plate 8 is moved closer to the operating cavity 4 and enters the operating cavity 4. Then, the auxiliary abutment 7 is moved down until it abuts against the top of the transverse pressing plate 8. The transverse pressing plate 8 presses the washer 101 onto the bolt body 100, realizing automated pressing. During the pressing process, the bolt body can be aligned by the workpiece alignment part 6. The top of the bolt body 100 is aligned to prevent it from shifting during pressing, ensuring high pressing accuracy. After pressing, the auxiliary abutment 7 and the transverse pressure plate 8 are reset, and the bolt body 100 is raised a further distance. Then, the gripping and locking part 9 of the transverse pressure plate 8 is inserted into the gap between two adjacent washers 101 to grip the assembled workpiece. After gripping to the required position, it is released. This multi-purpose structure can automatically assemble workpieces and also grip and transport them after assembly, greatly improving the efficiency of the production line. At the same time, it can reduce unnecessary parts, lower costs, and is highly practical.

[0029] Combination Figure 1 , Figure 2 As shown, a drive connection seat 10 is provided on each side of the gripping and pressing operation table 3. A first linear driver 11 is provided in the drive connection seat 10. The power shaft of the first linear driver 11 is connected to the transverse pressing plate 8.

[0030] In this embodiment, the drive connector 10 is used to install and fix the first linear driver 11, and the first linear driver 11 drives the transverse pressure plate 8 to move, which has a high degree of automation.

[0031] An extension chamber 12 is provided inside the robotic arm connecting seat 1. The extension chamber 12 is connected to the operating chamber 4. The workpiece alignment part 6 and the auxiliary abutment part 7 are located inside the extension chamber 12.

[0032] In this embodiment, the extended chamber 12 is used to install and fix the workpiece alignment part 6, and to facilitate the entry of the top of the bolt body 100.

[0033] The workpiece alignment part 6 includes a workpiece alignment cylinder 13 disposed in the extension chamber 12. The workpiece alignment cylinder 13 has a workpiece alignment slot 14, which is connected to the extension chamber 12.

[0034] In this embodiment, during the pressing process, the top of the bolt body 100 can be aligned through the workpiece alignment hole groove 14 of the workpiece alignment cylinder 13, so as to avoid the bolt body 100 from shifting during pressing and achieve high pressing accuracy.

[0035] The bottom of the workpiece alignment cylinder 13 has an annular inclined surface 15 that is inclined from the outer side to the inner side of the workpiece alignment cylinder 13.

[0036] In this embodiment, the bottom of the workpiece alignment cylinder 13 has an annular inclined surface 15 that is inclined from the outer side to the inner side of the workpiece alignment cylinder 13, which facilitates the top of the bolt body 100 to smoothly enter the workpiece alignment hole groove 14 during the pressing process and avoids jamming.

[0037] Combination Figure 2 As shown, the auxiliary abutment 7 includes two supporting abutment lifting blocks 16 disposed in the robot arm connecting seat 1. The supporting abutment lifting blocks 16 can reciprocate linearly in the vertical direction and can abut against the top of the transverse pressure plate 8 extending into the operating cavity 4.

[0038] In this embodiment, during operation, the washer 101 to be pressed is first placed on the bolt body 100. At this time, the robot arm drives the robot arm connecting seat 1 and the gripping and pressing operating table 3 to move, so that the bolt body 100 enters the operating cavity 4. Then, the transverse pressing plate 8 is moved to the side closer to the operating cavity 4 and enters the operating cavity 4. Then, the support abutment lifting block 16 is moved down until it abuts against the top of the transverse pressing plate 8, providing support for the upper part of the transverse pressing plate 8 and strengthening the strength of the transverse pressing plate 8. The washer 101 is pressed onto the bolt body 100 by the transverse pressing plate 8, realizing automated pressing.

[0039] Combination Figure 1 , Figure 2 As shown, the robotic arm connecting seat 1 is provided with two second linear actuators 17, and the power shaft of the second linear actuator 17 is connected to the support and abutment lifting block 16.

[0040] In this embodiment, the supporting lifting block 16 is driven by the second linear driver 17, which has a high degree of automation. Those skilled in the art should understand that the first linear driver 11 and the second linear driver 17 can be cylinders, hydraulic cylinders or linear motors.

[0041] Combination Figure 2 As shown, the power shaft of the second linear driver 17 is staggered with the workpiece alignment cylinder 13.

[0042] In this embodiment, the power shaft of the second linear actuator 17 is staggered with the workpiece alignment cylinder 13 to avoid interference during use.

[0043] The working principle of this utility model is as follows:

[0044] In use, the robotic arm connecting frame 2 is connected to the automated robotic arm. During operation, the washer 101 to be pressed is first placed on the bolt body 100. At this time, the robotic arm drives the robotic arm connecting seat 1 and the gripping and pressing operating table 3 to move, so that the bolt body 100 enters the operating cavity 4. Then, the transverse pressing plate 8 is moved closer to the operating cavity 4 and enters the operating cavity 4. Then, the supporting abutment lifting block 16 is moved down until it abuts against the top of the transverse pressing plate 8, providing support for the upper part of the transverse pressing plate 8 and strengthening the transverse pressing plate 8. The washer 101 is pressed onto the bolt body 100 by the transverse pressing plate 8, realizing automated pressing. During the pressing process, the workpiece... The workpiece alignment slot 14 of the positioning cylinder 13 can align the top of the bolt body 100, preventing the bolt body 100 from shifting during pressing, resulting in high pressing accuracy. After pressing, the auxiliary abutment 7 and the transverse pressure ring plate 8 are reset, and the bolt body 100 is raised a further distance. At this time, the gripping and locking part 9 of the transverse pressure ring plate 8 is inserted into the gap between two adjacent washers 101 to grip the assembled workpiece. After gripping to the required position, it is released. This multi-purpose structure can automatically assemble workpieces and also grip and transport them after assembly, greatly improving the efficiency of the production line. At the same time, it can reduce unnecessary parts, lower costs, and is highly practical.

[0045] The drive connector 10 is used to mount and fix the first linear driver 11, which drives the transverse pressure plate 8 to move, resulting in a high degree of automation.

[0046] The extension chamber 12 is used to install and fix the workpiece alignment part 6, and to facilitate the entry of the top of the bolt body 100.

[0047] The bottom of the workpiece alignment cylinder 13 has an annular inclined surface 15 that slopes from the outer side to the inner side, which facilitates the smooth entry of the top of the bolt body 100 into the workpiece alignment slot 14 during the pressing process, avoiding jamming. The support and abutment lifting block 16 is driven by the second linear driver 17, which has a high degree of automation. The power shaft of the second linear driver 17 is staggered with the workpiece alignment cylinder 13 to avoid interference during use.

[0048] The specific embodiments described herein are merely illustrative examples illustrating the spirit of this utility model. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or use similar methods to replace them, without departing from the spirit of this utility model.

[0049] Although this document frequently uses terms such as robotic arm connecting seat 1, robotic arm connecting frame 2, gripping and pressing operating table 3, operating cavity 4, multi-functional pressing and gripping assembly 5, workpiece alignment part 6, auxiliary abutment part 7, transverse pressure ring plate 8, gripping latching part 9, drive connecting seat 10, first linear actuator 11, extension chamber 12, workpiece alignment cylinder 13, workpiece alignment hole groove 14, annular inclined surface 15, support abutment lifting block 16, second linear actuator 17, bolt body 100, washer 101, etc., the possibility of using other terms is not excluded. The use of these terms is merely for the convenience of describing and explaining the essence of this utility model; interpreting them as any additional limitation would contradict the spirit of this utility model.

Claims

1. A robot grasping mechanism, comprising a robot arm connecting seat (1), wherein a robot arm connecting frame (2) is provided above the robot arm connecting seat (1), characterized in that, The bottom of the robotic arm connecting seat (1) is provided with a gripping and pressing operating table (3). An operating cavity (4) is opened in the gripping and pressing operating table (3). A multi-functional pressing and gripping component (5) is provided in the gripping and pressing operating table (3) that can reciprocate linearly along the side close to or away from the operating cavity (4). The robotic arm connecting seat (1) is provided with a workpiece alignment part (6) and an auxiliary abutment part (7) that can reciprocate linearly along the vertical direction. The workpiece alignment part (6) is located above the multi-functional pressing and gripping component (5). The auxiliary abutment part (7) is positioned corresponding to the multi-functional pressing and gripping component (5).

2. The robot gripping mechanism according to claim 1, characterized in that, The multi-functional pressing and gripping assembly (5) includes two transverse pressing plates (8) disposed in the gripping and pressing operating table (3). The transverse pressing plates (8) have a gripping latching part (9) on the side near the operating cavity (4). The cross-section of the gripping latching part (9) is triangular.

3. The robot grasping mechanism according to claim 2, characterized in that, The gripping and pressing operating table (3) is provided with a drive connection seat (10) on each side. The drive connection seat (10) is provided with a first linear driver (11). The power shaft of the first linear driver (11) is connected to the transverse pressing plate (8).

4. A robot gripping mechanism according to any one of claims 1-3, characterized in that, The robotic arm connecting seat (1) has an extension chamber (12) inside, and the extension chamber (12) is connected to the operating chamber (4).

5. A robot gripping mechanism according to claim 4, characterized in that, The workpiece alignment part (6) and the auxiliary abutment part (7) are located in the extension chamber (12).

6. A robot gripping mechanism according to claim 5, characterized in that, The workpiece alignment part (6) includes a workpiece alignment cylinder (13) disposed in the extension chamber (12), and a workpiece alignment slot (14) is provided in the workpiece alignment cylinder (13), which is connected to the extension chamber (12).

7. A robot gripping mechanism according to claim 6, characterized in that, The bottom of the workpiece alignment cylinder (13) has an annular inclined surface (15) that is inclined from the outer side to the inner side of the workpiece alignment cylinder (13).

8. A robot gripping mechanism according to claim 4, characterized in that, The auxiliary abutment (7) includes two supporting abutment lifting blocks (16) disposed in the robot arm connecting seat (1). The supporting abutment lifting blocks (16) can reciprocate linearly in the vertical direction and can abut against the top of the transverse pressure plate (8) extending into the operating cavity (4).

9. A robot gripping mechanism according to claim 8, characterized in that, The robotic arm connecting seat (1) is provided with two second linear actuators (17), and the power shaft of the second linear actuator (17) is connected to the support abutment lifting block (16).

10. A robot gripping mechanism according to claim 9, characterized in that, The power shaft of the second linear actuator (17) is staggered with the workpiece alignment cylinder (13).

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