Automatic grabbing robot

Abstract

The utility model discloses an automatic grabbing robot, and belongs to the technical field of robots. Comprising a manipulator body, the manipulator body comprises fingers, each finger comprises a phalanx and a fingertip, the two fingertips can be adjusted in a sliding mode in the clamping direction, clamping plates are detachably installed on the clamping sides of the two fingertips, the clamping plates can be perpendicular to the fingertips, the distance between the fingertips can be adjusted, and therefore the distance between the fingertips can be adjusted. And meanwhile, through adjustment of the clamping plates, the contact area and area of the fingertips and a clamped object can be increased, and the technical effect of improving the clamping firmness is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, more particularly, to an automatic grabbing robot. BACKGROUND

[0002] The reason why the intelligent robot is called intelligent robot is that it has a quite developed "brain". What plays a role in the brain is the central processing unit, which has a direct connection with the person operating it. Most importantly, such a computer can perform purpose-arranged actions. Because of this, we say that such a robot is a real robot, although their appearance may be different. A robot is an intelligent machine that can work semi-autonomously or autonomously. With the rapid development of modern science and technology, robots have entered the public eye. Robots can save manpower and work 24 hours a day without interruption; intelligent robots can perform some work that is labor-intensive and in a harsh environment; intelligent robots have guaranteed processing precision and can ensure product quality consistency; intelligent robot production data can be networked for real-time monitoring; intelligent robots can be remotely monitored to achieve factory automation. The existing grabbing robot cannot well grab objects of various shapes, affecting the stability of grabbing and easily affecting the work of the grabbing robot.

[0003] The prior art document with publication number CN217890980U provides an automatic grabbing robot. The device is convenient to install on other matched equipment through the shaft coupling, facilitates the movement control of the device, is conducive to subsequent simulation of human fingers through the finger part, facilitates grabbing of objects of various shapes, avoids sliding of clamping grabbing, ensures the stability of grabbing, ensures the safety of work, improves the working effect and efficiency of the grabbing robot, and facilitates the use of the device. When working, the mutual movement and cooperation of the connecting strip, the first phalanx part and the distal phalanx part facilitate the control of various working modes of the fingertip part, facilitate subsequent grabbing of objects of various shapes, ensure the stability of grabbing, ensure the safety of various, improve the effect and efficiency of the grabbing robot, the palm pad reduces friction damage to the device, avoids friction damage to the device between the object to be grabbed and the device, improves the service life of the device, the parallel clamping area facilitates clamping and grabbing of tubular objects and block objects, the clamping area facilitates clamping and grabbing of spherical objects, the device facilitates grabbing of objects of different shapes, ensures the stability of clamping, improves the effect and efficiency of clamping, and facilitates the use of the device.

[0004] The prior technical solution in the above has the following defects: the device cannot adjust the distance between the distal phalangeal parts, so the maximum clamping width is limited, and the contact area and region of the distal phalangeal parts to the box body cannot be adjusted when clamping, which leads to small clamping area and the problem of easy falling.

[0005] In view of this, an automatic grabbing robot is proposed. Content of the utility model

[0006] 1. Technical problem to be solved

[0007] The purpose of the present application is to provide an automatic grabbing robot, which solves the technical problems in the above background art, adjusts the distance between the fingertips, and further adjusts the maximum distance of grabbing. At the same time, through the adjustment of the clamping plate, the contact area and region of the fingertips and the clamped object can be increased, and the technical effect of improving the clamping reliability is achieved.

[0008] 2. Technical solution

[0009] The technical solution of the present application provides an automatic grabbing robot, which comprises a mechanical hand, the mechanical hand comprises fingers, the fingers comprise phalanges and fingertips, the fingers are provided in two, the two fingertips are slidably adjusted along the clamping direction, the clamping sides of the two fingertips are detachably mounted with clamping plates, and the clamping plates are vertically arranged with the fingertips.

[0010] By adopting the above technical solution, when the clamping plates are fixed in parallel on the clamping sides of the fingertips, the clamping plates can be clamping surfaces at this time. When the clamping plates are vertically arranged with the fingertips, the clamping plates and the sides of the fingertips can both be clamping surfaces at this time. Thus, the clamping area and region of the fingertips can be increased, and the distance between the two fingertips can be adjusted by sliding the fingertips along the phalanges. By increasing the distance between the fingertips, the maximum clamping width of the mechanical hand can be expanded.

[0011] As an optional solution of the technical solution of the present application, the lower surface of the phalanges is fixedly mounted with a sliding block, the upper surface of the fingertips is provided with a sliding groove adapted to slide with the sliding block, the cross section of the sliding block is a T-shaped structure, and the fingertips are threadedly connected with a first locking screw abutting against the sliding block.

[0012] By adopting the above technical solution, the sliding connection between the fingertips and the phalanges is realized through the sliding cooperation of the sliding block and the sliding groove, and the sliding fingertips are fixed on the phalanges under the extrusion and / or friction force through the extrusion of the first locking screw and the sliding block.

[0013] As an optional solution of the technical solution of the present application, a plurality of first positioning holes corresponding to the first locking screw are formed on the sliding block.

[0014] By adopting the technical scheme, when the first locking screw is inserted into the corresponding first positioning hole, the fixing firmness between the phalanges and the fingertips can be improved.

[0015] As an optional scheme of the technical scheme of the present application, a clamping slot is formed on the clamping side of the fingertips, the depth of the clamping slot is the same as the thickness of the clamping plate, the width of the clamping slot is the same as the width of the clamping plate, one side of the clamping plate is fixed with a plug rod, the clamping slot side of the fingertips is formed with a mounting hole matched with the plug rod, and a second locking screw matched with the plug rod is threadedly connected to one side of the fingertips.

[0016] By adopting the technical scheme, when the clamping plate is vertically arranged, the plug rod is inserted into the mounting hole, and the clamping plate is fixed under the extrusion and / or friction force by clockwise rotating the second locking screw, the plug rod is pulled out by counterclockwise rotating the second locking screw, then the clamping plate is rotated by 90 degrees and clamped into the clamping slot, the depth of the clamping slot is the same as the thickness of the clamping plate, and the width of the clamping slot is the same as the width of the clamping plate, so that the clamping plate and the fingertips are coplanar, and finally the plug rod is fixed on the fingertips by clockwise rotating the second locking screw.

[0017] As an optional scheme of the technical scheme of the present application, a second positioning hole and a third positioning hole vertically arranged with the second positioning hole are formed on the plug rod.

[0018] By adopting the technical scheme, the plug rod is inserted into the mounting hole, and at this time the clamping plate is vertically arranged, and the clamping plate abuts against the fingertips, at this time the second positioning hole is matched with the second locking screw, the second locking screw is inserted into the second positioning hole, so as to improve the fixing firmness of the plug rod and the fingertips, when the plug rod is inserted into the mounting hole by clockwise rotating 90 degrees, the clamping plate abuts against the inner wall of the clamping slot, at this time the third positioning hole is matched with the second locking screw, and the second locking screw is inserted into the third positioning hole, so as to improve the fixing firmness of the plug rod and the fingertips.

[0019] 3. Beneficial effects

[0020] One or more technical schemes provided in the embodiments of the present application have at least the following technical effects or advantages:

[0021] 1. When the clamping plate is fixed in parallel on the clamping side of the fingertips, the clamping plate can be a clamping surface at this time, when the clamping plate is arranged vertically with the fingertips, the clamping plate and the side of the fingertips can both be clamping surfaces at this time, so as to increase the clamping area and region of the fingertips, and the spacing between the two fingertips can be adjusted by sliding the fingertips along the phalanges, so as to expand the maximum clamping width of the mechanical hand by increasing the spacing between the fingertips. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1A schematic diagram of the use state structure of the overall clamping plate of an automatic grabbing robot is disclosed for a preferred embodiment of the present application.

[0023] Figure 2 A schematic diagram of the overall structure of an automatic grabbing robot is disclosed for a preferred embodiment of the present application.

[0024] Figure 3 A schematic diagram of the structure of an automatic grabbing robot after increasing the finger tip spacing is disclosed for a preferred embodiment of the present application.

[0025] Figure 4 A schematic diagram of the finger tip structure of an automatic grabbing robot is disclosed for a preferred embodiment of the present application.

[0026] Figure 5 A schematic diagram of the clamping plate structure of an automatic grabbing robot is disclosed for a preferred embodiment of the present application.

[0027] Explanation of reference numerals in the drawing: 1, manipulator; 11, finger bone; 111, sliding block; 112, first positioning hole; 12, finger tip; 121, first locking screw; 122, second locking screw; 123, sliding groove; 124, clamping groove; 125, mounting hole; 2, clamping plate; 21, insertion rod; 22, second positioning hole; 23, third positioning hole. DETAILED DESCRIPTION

[0028] The present application is further described in detail below in conjunction with the accompanying drawings of the specification.

[0029] An automatic grabbing robot comprises a manipulator 1, the manipulator 1 comprises fingers, the fingers comprise finger bones 11 and finger tips 12, the fingers are provided in two, the two finger tips 12 are slidably adjusted along a clamping direction, the clamping sides of the two finger tips 12 are detachably mounted with clamping plates 2, and the clamping plates 2 are vertically arranged with the finger tips 12.

[0030] Reference Figures 1-5 When the clamping plates 2 are fixed in parallel on the clamping sides of the finger tips 12, the clamping plates 2 can be clamping surfaces at this time, when the clamping plates 2 are vertically arranged with the finger tips 12, the clamping plates 2 and the finger tips 12 sides can both be clamping surfaces at this time, thereby increasing the clamping area and region of the finger tips 12, and the spacing between the two finger tips 12 can be adjusted by sliding adjustment of the finger tips 12 along the finger bones 11, thereby expanding the maximum clamping width of the manipulator 1 by increasing the spacing between the finger tips 12.

[0031] The lower surface of the finger bone 11 is fixedly mounted with a sliding block 111, and the upper surface of the finger tip 12 is provided with a sliding groove 123 adapted to slide with the sliding block 111, the cross section of the sliding block 111 is a T-shaped structure, and the finger tip 12 is threadedly connected with a first locking screw 121 abutting against the sliding block 111.

[0032] Reference Figure 3And Figure 4 The sliding block 111 is slidably connected with the sliding groove 123 to achieve the sliding connection between the fingertip 12 and the finger bone 11, and the first locking screw 121 is extruded with the sliding block 111 to fix the fingertip 12 on the finger bone 11 under the extrusion and / or friction.

[0033] A plurality of first positioning holes 112 corresponding to the first locking screw 121 are formed on the sliding block 111.

[0034] Referring to Figure 3 When the first locking screw 121 is inserted into the corresponding first positioning hole 112, the fixing firmness between the finger bone 11 and the fingertip 12 can be further improved.

[0035] The clamping side of the fingertip 12 is provided with a clamping groove 124, the depth of the clamping groove 124 is the same as the thickness of the clamping plate 2, the width of the clamping groove 124 is the same as the width of the clamping plate 2, one side of the clamping plate 2 is fixed with a plug rod 21, the clamping groove 124 side of the fingertip 12 is provided with a mounting hole 125 matched with the plug rod 21, and one side of the fingertip 12 is threadedly connected with a second locking screw 122 abutting against the plug rod 21.

[0036] Referring to Figure 1 And Figure 4 And Figure 5 When the clamping plate 2 is vertically arranged, the plug rod 21 is inserted into the mounting hole 125, and the clamping plate 2 is fixed under the extrusion and / or friction by the clockwise rotation of the second locking screw 122, the plug rod 21 is pulled out by counterclockwise rotation of the second locking screw 122, then the clamping plate 2 is rotated by ninety degrees, and the clamping plate 2 is clamped into the clamping groove 124, the depth of the clamping groove 124 is the same as the thickness of the clamping plate 2, the width of the clamping groove 124 is the same as the width of the clamping plate 2, so that the clamping plate 2 and the fingertip 12 are coplanar, and finally the plug rod 21 is fixed on the fingertip 12 by clockwise rotation of the second locking screw 122.

[0037] The plug rod 21 is provided with a second positioning hole 22 and a third positioning hole 23 vertically arranged with the second positioning hole 22.

[0038] Referring to Figure 5 The plug rod 21 is inserted into the mounting hole 125, and at this time the clamping plate 2 is vertically arranged, and the clamping plate 2 abuts against the fingertip 12, at this time the second positioning hole 22 corresponds to the second locking screw 122, and the second locking screw 122 is inserted into the second positioning hole 22 to improve the fixing firmness of the plug rod 21 and the fingertip 12, when the plug rod 21 is inserted into the mounting hole 125 by ninety degrees clockwise rotation, the clamping plate 2 abuts against the inner wall of the clamping groove 124, at this time the third positioning hole 23 corresponds to the second locking screw 122, and the second locking screw 122 is inserted into the third positioning hole 23 to improve the fixing firmness of the plug rod 21 and the fingertip 12.

[0039] Working principle: when the clamping area and area of the fingertips 12 need to be increased, the clamping plate 2 is arranged vertically with the fingertips 12, the inserting rod 21 is inserted into the mounting hole 125, the clamping plate 2 is clamped into the clamping groove 124, the clamping plate 2 abuts against the inner wall of the clamping groove 124, the third positioning hole 23 corresponds to the second locking screw 122, the second locking screw 122 is inserted into the third positioning hole 23, so that the clamping plate 2 and the fingertips 12 are fixed, then by sliding the two fingertips 12 away from each other, the fingertips 12 after sliding are fixed on the finger bones 11 under the extrusion and / or friction of the first locking screw 121 and the sliding block 111, the interval of the two fingertips 12 is adjusted, the maximum clamping width of the mechanical hand 1 is expanded by increasing the interval of the fingertips 12.

Claims

1. An automatic grasping robot comprising a manipulator (1) comprising fingers, characterized in that: The fingers include finger bones (11) and finger tips (12), two of the fingers are provided, two of the finger tips (12) are slidably adjusted along a clamping direction, and clamping sides of the two finger tips (12) are detachably provided with clamping plates (2), and the clamping plates (2) are vertically arranged with the finger tips (12).

2. The automatic grabbing robot according to claim 1, characterized in that: A lower surface of the finger bone (11) is fixedly provided with a sliding block (111), and an upper surface of the finger tip (12) is provided with a sliding groove (123) matched with the sliding block (111) for sliding, the sliding block (111) is of a T-shaped structure, and the finger tip (12) is threadedly connected with a first locking screw rod (121) abutting against the sliding block (111).

3. The automatic grabbing robot according to claim 2, characterized in that: A plurality of first positioning holes (112) corresponding to the first locking screw rod (121) are formed in the sliding block (111).

4. The automatic grabbing robot according to claim 1, characterized in that: The clamping side of the finger tip (12) is provided with a clamping groove (124), the depth of the clamping groove (124) is the same as the thickness of the clamping plate (2), the width of the clamping groove (124) is the same as the width of the clamping plate (2), one side of the clamping plate (2) is fixedly provided with an insertion rod (21), the clamping groove (124) side of the finger tip (12) is provided with a mounting hole (125) matched with the insertion rod (21), and one side of the finger tip (12) is threadedly connected with a second locking screw rod (122) abutting against the insertion rod (21).

5. The automatic grabbing robot according to claim 4, characterized in that: The insertion rod (21) is provided with a second positioning hole (22) and a third positioning hole (23) vertically arranged with the second positioning hole (22).

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