Robot grabbing mechanism

Abstract

The utility model discloses a robot grabbing mechanism which comprises a grabbing assembly fixed to an execution arm at the tail end of an industrial robot, and a surrounding type light compensation assembly is arranged on the periphery of the end face of the rear side of the grabbing assembly. The grabbing assembly comprises a connecting base, four clamping arms hinged to the periphery of the end face of the front end of the connecting base in an annular array and a servo electric cylinder fixedly connected to the middle area of the front end face of the connecting base, and a movable base is fixedly connected to the end of a telescopic shaft of the servo electric cylinder. According to the technical scheme, the surrounding type light compensation assembly is arranged on the periphery of the robot clamping jaw, the gear ring driven by the servo motor is arranged at the connecting position of the clamping jaw and the robot execution tail end arm, and the gear ring is driven by the gear to rotate to drive the L-shaped supporting rod to rotate around the periphery of the clamping jaw; the LED soft light lamp at the tail end of the L-shaped supporting rod can illuminate the clamping jaw and the workpiece at different angles according to needs, and therefore the grabbing action can be conducted smoothly.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot grasping technical field, concretely relates to a robot grasping mechanism. BACKGROUND

[0002] Industrial robot as a kind of strong versatility work equipment, whether its work task can be successfully completed directly depends on clamping mechanism, so the clamping mechanism of robot terminal is designed in combination with actual work task and the requirement of working environment, which leads to the diversification of clamping mechanism structure form. Moreover, in the process that industrial robot utilizes clamping mechanism to grasp workpiece, industrial camera is usually needed to position the position of workpiece, but in actual grasping process, workpiece cannot be completely illuminated, leading to that the dark side of workpiece picture cannot be better captured by camera. Therefore, a kind of robot grasping mechanism is proposed by the person skilled in the art to solve the problem. SUMMARY

[0003] The utility model discloses a kind of technical solutions of robot grasping mechanism, to solve the deficiency in the background art proposed. And to solve the drawbacks and defects described in the background art, the technical solution has the following contents:

[0004] It includes the grasping component fixed on the end execution arm of industrial robot, the rear side end surface periphery of the grasping component is provided with ring-around type light compensation component;The grasping component includes connecting seat, 4 clamping arms that are hingedly connected in annular array around the front end surface of connecting seat, and servo cylinder fixedly connected in the middle region of the front end surface of connecting seat, the telescopic shaft end head of the servo cylinder is fixedly connected with movable seat, the outer circle surface of the movable seat is hingedly connected with 4 pull rod arms in annular array, and the tail end of the pull rod arm is respectively hingedly connected with the inside middle segment side wall of clamping arm.

[0005] The ring-around type light compensation component includes gear ring that is rotatably connected to the rear side end surface of connecting seat, servo motor fixed on the right side wall of connecting seat, and driving gear fixedly connected to the output shaft of servo motor and meshing transmission with gear ring, an L-shaped support rod is fixedly connected to the rear side end surface of gear ring, and the front end of the L-shaped support rod is fixedly connected with LED soft light.

[0006] As a preferred scheme of the utility model: the rear end surface middle region of the connecting seat is fixedly connected with the end execution arm of industrial robot, and the gear ring is located at the periphery of end execution arm.

[0007] As a preferred scheme of the utility model: 4 U-shaped support seats are fixedly connected in annular array on the front side end surface of connecting seat, and the rear end head of clamping arm is respectively inserted into the inside of U-shaped support seat.

[0008] As a preferred scheme of the utility model: the coincident part of the U-shaped support base and the clamping arm is inserted with a pin shaft and is hinged by the shaft pin.

[0009] As a preferred scheme of the utility model: the front end of the clamping arm is fixedly connected with a fan-shaped rubber end, and the surface of the fan-shaped rubber end close to each other is in contact with the surface of the workpiece.

[0010] As a preferred scheme of the utility model: the front side end face of the gear ring is rotatably connected with the rear side end face of the connecting seat through a bearing.

[0011] As a preferred scheme of the utility model: the front end of the L-shaped support rod is fixedly connected with a support, and the rear end face of the LED soft light lamp is fixedly connected with the front side end face of the support.

[0012] As a preferred scheme of the utility model: the lighting end face of the LED soft light lamp faces the clamping arm, and the end of the LED soft light lamp has a spacing of 2-3cm with the outer surface of the clamping arm.

[0013] In the above technical scheme, the utility model provides technical effects and advantages:

[0014] In the technical scheme, the ring type light compensation assembly is arranged on the periphery of the robot gripper, the gear ring driven by the servo motor is arranged at the connecting position of the gripper and the robot execution end arm, the L-shaped support rod is rotated around the periphery of the gripper by the rotation of the gear ring driven by the gear, and the LED soft light lamp at the end of the L-shaped support rod can illuminate the gripper and the workpiece at different angles according to the needs, thereby helping the smooth operation of the grabbing action. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical scheme in the embodiments or prior art, the drawings needed in the embodiments will be briefly introduced below, and obviously, the drawings in the following description are only some embodiments described in the utility model, and other drawings can be obtained by those skilled in the art according to the drawings.

[0016] Figure 1 It is a whole structure schematic view of the robot grabbing mechanism.

[0017] Figure 2 It is a schematic view of the grabbing assembly.

[0018] Figure 3 It is a schematic view of the ring type light compensation assembly.

[0019] Explanation of reference signs:

[0020] 1, grab component; 11, connecting seat; 12, U-shaped support seat; 13, pin shaft; 14, clamping arm; 15, fan-shaped rubber end; 16, movable seat; 17, pull rod arm; 18, servo cylinder; 2, ring light compensation assembly; 21, gear ring; 22, drive gear; 23, servo motor; 24, L-shaped support rod; 25, bracket; 26, LED soft light. DETAILED DESCRIPTION

[0021] In order to make the technical scheme and implementation mode of the utility model clearer and more understandable, the following introduces several preferred specific embodiments for realizing the technical scheme of the utility model.

[0022] The following description is merely exemplary in nature and is not intended to limit the disclosure, application and uses. It should be understood that the same or similar reference numerals in all the drawings indicate the same or similar parts and features. The various drawings only schematically represent the concepts and principles of the embodiments of the disclosure, and do not necessarily show the specific dimensions and their proportions of the various embodiments of the disclosure.

[0023] In certain parts of the specific drawings, the relevant details or structures of the embodiments of the disclosure may be exaggerated for illustration, and the disclosures of the various publications, patents and published patent specifications referred to herein are incorporated by reference in their entirety, the technical scheme of the utility model will be described clearly and completely in the following with the embodiments of the utility model, obviously, the described embodiments are only a part of the embodiments of the utility model.

[0024] Embodiments, with reference to the description of the drawings Figure 1 -attached Figure 3 The preferred technical scheme of a robot grabbing mechanism comprises the following:

[0025] It comprises a grab component 1 fixed on the end execution arm of an industrial robot, and a ring light compensation assembly 2 is arranged on the periphery of the rear end surface of the grab component 1. The grab component 1 comprises a connecting seat 11, four clamping arms 14 hingedly arranged in a ring array around the front end surface of the connecting seat 11, and a servo cylinder 18 fixedly connected to the middle region of the front end surface of the connecting seat 11. The extension shaft end of the servo cylinder 18 is fixedly connected with a movable seat 16, and the outer surface of the movable seat 16 is hingedly connected with four pull rod arms 17 in a ring array. The ends of the pull rod arms 17 are respectively hingedly connected with the inner side middle segment side wall of the clamping arms 14.

[0026] The ring type light compensation assembly 2 comprises a gear ring 21 rotatably connected to the rear end surface of the connecting seat 11, a servo motor 23 fixed to the right side wall of the connecting seat 11, and a driving gear 22 fixedly connected to the output shaft of the servo motor 23 and in meshing transmission with the gear ring 21, and an L-shaped support rod 24 fixedly connected to the rear end surface of the gear ring 21, and the front end of the L-shaped support rod 24 is fixedly connected with an LED soft light lamp 26.

[0027] The middle area of the rear end surface of the connecting seat 11 is fixedly connected with the end execution arm of the industrial robot, and the gear ring 21 is located at the periphery of the end execution arm.

[0028] The front end of the clamping arm 14 is fixedly connected with a fan-shaped rubber end 15, and the side of the fan-shaped rubber end 15 close to each other is in contact with the surface of the workpiece, the front end surface of the gear ring 21 is rotatably connected with the rear end surface of the connecting seat 11, the front end of the L-shaped support rod 24 is fixedly connected with a bracket 25, the rear end surface of the LED soft light lamp 26 is fixedly connected with the front end surface of the bracket 25, the lighting end surface of the LED soft light lamp 26 faces the clamping arm 14, and the end of the LED soft light lamp 26 has a distance of 2-3 cm from the outer surface of the clamping arm 14.

[0029] According to the above-mentioned preferred technical scheme, the working process of the technical scheme is described.

[0030] In the process of moving the movable seat 16 forward and backward by the servo cylinder 18, the four pull rod arms 17 around the movable seat 16 pull the clamping arms 14 to close to each other or away from each other, so as to grab the workpiece. In the process of grabbing, the robot positions the workpiece through the industrial camera, in order to assist the camera in positioning the workpiece, the servo motor 23 is controlled to rotate the driving gear 22, the gear ring 21 is driven to rotate the L-shaped support rod 24, the LED soft light lamp 26 at the end of the L-shaped support rod 24 is rotated to the side of the workpiece which is not illuminated, so that the clear image of the workpiece is captured by the camera.

[0031] The above only describes some exemplary embodiments of the present application by way of illustration, without doubt, for ordinary skilled in the art, without departing from the spirit and scope of the present application, the described embodiments can be modified in various ways. Therefore, the above figures and description are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present application.

Claims

1. A robot gripping mechanism comprising a gripping assembly (1) fixed to the end effector arm of an industrial robot, characterized in that: The rear end surface of the grabbing assembly (1) is provided with a surrounding light compensation assembly (2). The grabbing assembly (1) comprises a connecting seat (11), four clamping arms (14) hingedly arranged in a ring array around the front end surface of the connecting seat (11), and a servo electric cylinder (18) fixedly connected to the middle region of the front end surface of the connecting seat (11), wherein the telescopic shaft end of the servo electric cylinder (18) is fixedly connected with a movable seat (16), and four pull rod arms (17) are hingedly arranged in a ring array on the outer surface of the movable seat (16), and the distal ends of the pull rod arms (17) are respectively hingedly connected to the inner side middle segment side walls of the clamping arms (14). The surrounding light compensation assembly (2) comprises a gear ring (21) rotatably connected to the rear side end surface of the connecting seat (11), a servo motor (23) fixedly connected to the right side wall of the connecting seat (11), and a drive gear (22) fixedly connected to the output shaft of the servo motor (23) and in meshing transmission with the gear ring (21), wherein the rear side end surface of the gear ring (21) is fixedly connected with an L-shaped support rod (24), and the front end of the L-shaped support rod (24) is fixedly connected with an LED soft light lamp (26).

2. A robotic grasping mechanism according to claim 1, wherein: The middle region of the rear end surface of the connecting seat (11) is fixedly connected with the end execution arm of the industrial robot, and the gear ring (21) is located in the periphery of the end execution arm.

3. The robotic grasping mechanism of claim 1, wherein: Four U-shaped support seats (12) are fixedly connected in a ring array to the front side end surface of the connecting seat (11), and the rear end heads of the clamping arms (14) are respectively inserted into the interiors of the U-shaped support seats (12).

4. A robotic grasping mechanism according to claim 3, wherein: The overlapping parts of the U-shaped support seats (12) and the clamping arms (14) are rotatably inserted with pin shafts (13) and hingedly connected by means of the shaft pins.

5. The robotic grasping mechanism of claim 1, wherein: The front end heads of the clamping arms (14) are each fixedly connected with a fan-shaped rubber end head (15), and the mutually close surfaces of the fan-shaped rubber end heads (15) are in contact with the workpiece surface.

6. The robotic grasping mechanism of claim 1, wherein: The front side end surface of the gear ring (21) is rotatably connected with the rear side end surface of the connecting seat (11) by means of a bearing.

7. The robotic grasping mechanism of claim 1, wherein: The front end head of the L-shaped support rod (24) is fixedly connected with a bracket (25), and the rear end surface of the LED soft light lamp (26) is fixedly connected with the front side end surface of the bracket (25).

8. The robotic grasping mechanism of claim 1, wherein: The lighting end surface of the LED soft light lamp (26) faces the clamping arms (14), and the end head of the LED soft light lamp (26) has a spacing of 2-3 cm from the outer side surface of the clamping arms (14).

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