Grabbing device of industrial robot

Abstract

The utility model relates to the technical field of industrial robot gripping devices, in particular to an industrial robot gripping device which comprises a manipulator mounting frame, an adjusting mechanism and a clamping mechanism. The adjusting mechanism comprises a manipulator adjusting frame, and the two sides of the manipulator adjusting frame are each provided with two manipulator adjusting frames which are symmetrical front and back. A manipulator clamping disc is used for driving clamping jaws to slide along adjusting grooves of manipulator swing frames through telescopic connecting rods, sliding columns and limiting bases, then the four clamping jaws are used for grabbing objects in four directions, and two pairs of manipulator swing frames on the two sides of a manipulator adjusting frame are driven to get close through two hydraulic rods; and therefore, grabbing switching in two directions can be rapidly carried out according to different objects, and the flexibility of the whole grabbing device is improved.

Description

Technical Field

[0001] This utility model relates to the field of industrial robot gripping device technology, and in particular to a gripping device for an industrial robot. Background Technology

[0002] According to the patent document with publication number CN222405755U, the gripper moves two clamping blocks closer to the object. The movable part, which is restricted to the inside of the clamping block by the limiting block, comes into contact with the object first. At this time, the spring connected to the rear of the movable part cooperates with the fixed plate to buffer the impact.

[0003] In the aforementioned structure, the patent document describes a gripping structure using two closely spaced clamping blocks to hold an object. This gripping structure is usable for holding relatively regular objects, but it is very inconvenient to hold spherical or curved objects stably. Such objects are prone to falling and slipping out of the gripping position. Furthermore, when the two clamping blocks grip the object in two directions, if the clamping position deviates from the object's center of gravity, the object may flip and tip over with the clamping direction as the center. Utility Model Content

[0004] The purpose of this invention is to provide a gripping device for industrial robots in order to solve the above-mentioned problems.

[0005] This utility model achieves the above objectives through the following technical solutions:

[0006] A gripping device for an industrial robot includes a robotic arm mounting frame, an adjustment mechanism, and a clamping mechanism;

[0007] The adjustment mechanism includes a robotic arm adjustment frame. Two robotic arm adjustment frames are provided on both sides of the robotic arm adjustment frame, and hydraulic rods are provided on both sides of the robotic arm adjustment frame to drive the two robotic arm adjustment frames on the same side to close. Sliding seats are fixed on the outside of the hydraulic rods. Two return springs are provided on both the front and rear sides of the robotic arm adjustment frame to pull the two robotic arm adjustment frames back to their original positions. Four support columns are fixed in the middle of the robotic arm adjustment frame, and each support column is rotatably connected to the robotic arm adjustment frame.

[0008] The gripping mechanism has a robotic arm gripping disc. A gripping motor is fixedly installed at the input end of the robotic arm gripping disc. Four telescopic links are rotatably connected to the upper end of the robotic arm gripping disc. A sliding seat is rotatably connected to the end of each telescopic link away from the robotic arm gripping disc. A limit seat is fixed to the lower end of the sliding seat, and a gripper is fixed to the lower end of the limit seat.

[0009] Preferably, the robot arm adjustment frame has an adjustment groove, the lower end of the sliding seat is slidably connected to the upper side of the adjustment groove, the bottom of the adjustment groove has a rectangular notch, and the upper end of the limiting seat is slidably connected to the rectangular notch.

[0010] Preferably, each robotic arm adjustment frame has a connecting column fixed at its bottom, and the connecting column is rotatably connected to the corresponding hydraulic rod telescopic part.

[0011] Preferably, the robot arm adjustment frame has grooves on both sides for sliding the sliding seat, and a spring hole is provided at the return spring location on the robot arm adjustment frame.

[0012] Preferably, the lower end of the robot arm mounting frame is fixed to the outside of the robot arm adjustment frame, and the robot arm mounting frame is fixedly connected to the clamping motor.

[0013] Preferably, the telescopic link consists of a sliding rod and a connecting rod. The end of the connecting rod away from the sliding column has two guide rods inserted into the sliding rod, and a tension spring is provided between the two guide rods.

[0014] Compared with existing technologies, the beneficial effects are as follows: the gripper plate of the robotic arm drives the grippers to slide along the adjustment groove of the robotic arm swing frame through the telescopic linkage, sliding column and limit seat. Then, the four grippers grab the items in four directions. Furthermore, the two pairs of robotic arm swing frames on both sides of the robotic arm adjustment frame move closer together through two hydraulic rods. This allows for quick switching between gripping in two directions according to different items, improving the flexibility of the entire gripping device. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the structure of a gripping device for an industrial robot according to the present invention;

[0017] Figure 2 This is a first cross-sectional view of the gripping device of an industrial robot according to the present invention;

[0018] Figure 3 This is a schematic diagram of the first grasping state structure of the grasping device of an industrial robot according to the present invention;

[0019] Figure 4 This is a schematic diagram of the robotic gripper disk structure of the gripping device for an industrial robot according to the present invention;

[0020] Figure 5 This is a diagram showing the extended state of the manipulator adjustment frame of the gripping device of an industrial robot according to the present invention;

[0021] Figure 6 This is a schematic diagram of the swing arm structure of the gripping device of an industrial robot according to the present invention;

[0022] Figure 7 This is a schematic diagram of the adjustment mechanism of the gripping device of an industrial robot according to the present invention;

[0023] Figure 8 This is a schematic diagram of the telescopic linkage structure of the gripping device of an industrial robot according to the present invention;

[0024] Figure 9 This is a schematic diagram of the second gripping state structure of the gripping device of an industrial robot according to the present invention.

[0025] The annotations in the attached figures are explained as follows:

[0026] 1. Adjustment mechanism; 2. Clamping mechanism; 3. Robotic arm mounting frame; 11. Robotic arm swing frame; 12. Robotic arm adjustment frame; 13. Hydraulic rod; 14. Return spring; 15. Sliding seat; 111. Spring hole; 112. Adjustment groove; 113. Connecting column; 121. Support column; 122. Slide groove; 21. Robotic arm gripping plate; 22. Telescopic link; 221. Sliding rod; 222. Connecting rod; 23. Gripper; 24. Clamping motor; 25. Sliding column; 26. Limit seat. Detailed Implementation

[0027] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0028] The present invention will be further described below with reference to the accompanying drawings:

[0029] like Figures 1-9 As shown, a gripping device for an industrial robot includes a robotic arm mounting frame 3, an adjustment mechanism 1, and a clamping mechanism 2.

[0030] In this embodiment: the adjustment mechanism 1 includes a robotic arm adjustment frame 12. Two symmetrical robotic arm swing frames 11 are provided on both sides of the robotic arm adjustment frame 12. Hydraulic rods 13 are provided on both sides of the robotic arm adjustment frame 12 for closing the two robotic arm swing frames 11 on the same side. Sliding seats 15 are fixed to the outer sides of the hydraulic rods 13. Two return springs 14 are provided on both the front and rear sides of the robotic arm adjustment frame 12 for resetting the two robotic arm swing frames 11. Four support columns 121 are fixed in the middle of the robotic arm adjustment frame 12. Each support column 121 is connected to... The robotic arm swing frame 11 is rotatably connected, and each robotic arm swing frame 11 has a connecting column 113 fixed at its bottom. The connecting column 113 is rotatably connected to the corresponding hydraulic rod 13 telescopic part. The robotic arm adjustment frame 12 has grooves 122 on both sides for sliding the sliding seat 15. The robotic arm swing frame 11 has a spring hole 111 at the return spring 14. The two robotic arm swing frames 11 on both sides of the robotic arm adjustment frame 12 are driven to converge with each other through the telescopic parts of the two hydraulic rods 13, so that the clamping mechanism 2 can grasp and clamp the object on both sides.

[0031] In this embodiment: the clamping mechanism 2 has a robotic gripper 21. A gripping motor 24 is fixedly installed at the input end of the robotic gripper 21. Four telescopic links 22 are rotatably connected to the upper end of the robotic gripper 21. A sliding column 25 is rotatably connected to the end of each telescopic link 22 away from the robotic gripper 21. A limit seat 26 is fixed to the lower end of the sliding column 25. A gripper 23 is fixed to the lower end of the limit seat 26. The telescopic link 22 consists of a sliding rod 221 and a connecting rod 222. Two guide rods inserted into the sliding rod 221 are fixed to the end of the connecting rod 222 away from the sliding column 25. A tension spring is provided between the two guide rods. An adjustment groove 112 is provided on the robotic swing frame 11. The lower end of the sliding column 25 slides... The upper side of the adjustment groove 112 is connected to the adjustment groove 112. The bottom of the adjustment groove 112 has a rectangular notch, and the upper end of the limiting seat 26 is slidably connected in the rectangular notch. The lower end of the robot arm mounting frame 3 is fixed to the outside of the robot arm adjustment frame 12. The robot arm mounting frame 3 is fixedly connected to the clamping motor 24. The clamping motor 24 drives the robot arm clamping plate 21 to rotate forward above the robot arm adjustment frame 12, thereby pulling the four telescopic connecting rods 22 to roll and move towards the center position of the robot arm clamping plate 21. The four telescopic connecting rods 22 drive the corresponding sliding column 25 and the limiting seat 26 to move along the adjustment groove 112 towards the robot arm clamping plate 21. At this time, the gripper 23 at the lower end of the limiting seat 26 will also move with it and grasp the item.

[0032] Working principle: When in use, first install the robotic arm mounting bracket 3 onto the corresponding industrial robot arm. Then, the robot arm moves the entire device above the position where the object needs to be grasped.

[0033] like Figure 5As shown, the clamping motor 24 then drives the robotic arm clamping plate 21 to rotate in the opposite direction. The support rod on the robotic arm clamping plate 21 pushes the corresponding telescopic link 22 to move outward. At this time, the sliding column 25 moves away from the robotic arm adjustment frame 12 along the adjustment groove 112 of the robotic arm swing frame 11 under the push of the telescopic link 22. At the same time, the sliding column 25 drives the limiting seat 26 to slide along the rectangular notch of the adjustment groove 112. At the same time, the gripper 23 at the lower end of the limiting seat 26 will also move with it, thereby causing the four grippers 23 to move away from each other. At this time, the robotic arm can place the item between the four grippers 23.

[0034] Subsequently, the gripping motor 24 drives the robotic gripping plate 21 to rotate forward above the robotic adjustment frame 12, thereby pulling the four telescopic connecting rods 22 to move around the center of the robotic gripping plate 21. The four telescopic connecting rods 22 drive the corresponding sliding column 25 and limit seat 26 to move along the adjustment groove 112 towards the robotic gripping plate 21. At this time, the gripper 23 at the lower end of the limit seat 26 will also move with it and grab the item. The grabbed item can then be transported or moved by the robotic arm. When the gripper 23 clamps the item against the side, if the gripping motor 24 continues to drive the robotic gripping plate 21 to rotate, the connecting rod 222 on the telescopic connecting rod 22 will continue to rotate with the robotic gripping plate 21. The sliding rod 221 on the telescopic connecting rod 22 will slide along the guide rod on the connecting rod 222. At the same time, the spring between the two guide rods begins to compress, which can prevent the gripper 23 from continuing to move and damaging the item.

[0035] like Figure 9 As shown, when it is necessary to grasp two opposite sides of an item, the telescopic parts of the two hydraulic rods 13 simultaneously shorten to drive the two robotic arm swing frames 11 on both sides of the robotic arm adjustment frame 12 to flip and converge around their corresponding connecting columns 113. At the same time, when the telescopic parts of the hydraulic rods 13 shorten, their outer sliding seats 15 slide along the slide groove 122 to the outside of the robotic arm adjustment frame 12. Then, the above steps are repeated. By placing the item to be grasped in the middle position of the robotic arm adjustment frame 12, the rotation of the robotic arm gripping plate 21 drives the telescopic connecting rod 22 to slide the sliding column 25 and the limiting seat 26, so that the four grippers 23 can grasp the item. When the item is moved to a suitable position by the robotic arm and it is necessary to grasp the next item in four directions, the telescopic parts of the two hydraulic rods 13 extend and return to the initial state. During this process, the return springs 14 on the front and rear sides of the robotic arm adjustment frame 12 pull the two robotic arm swing frames 11 on the front side of the robotic arm adjustment frame 12 and the two robotic arm swing frames 11 on the rear side of the robotic arm adjustment frame 12 to flip and return to their original positions.

[0036] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model.

Claims

1. A gripping device for an industrial robot, comprising a robotic arm mounting frame (3), characterized in that: It also includes an adjustment mechanism (1) and a clamping mechanism (2); The adjustment mechanism (1) includes a robot arm adjustment frame (12). Two symmetrical robot arm swing frames (11) are provided on both sides of the robot arm adjustment frame (12). Hydraulic rods (13) are provided on both sides of the robot arm adjustment frame (12) for driving the two robot arm swing frames (11) on the same side to close. A sliding seat (15) is fixed on the outside of the hydraulic rod (13). Two reset springs (14) are provided on both the front and rear sides of the robot arm adjustment frame (12) for pulling the two robot arm swing frames (11) back to their original positions. Four support columns (121) are fixed in the middle of the robot arm adjustment frame (12). Each support column (121) is rotatably connected to the robot arm swing frame (11). The clamping mechanism (2) is a robotic gripper disk (21). A gripping motor (24) is fixedly installed at the input end of the robotic gripper disk (21). Four telescopic links (22) are rotatably connected to the upper end of the robotic gripper disk (21). A sliding column (25) is rotatably connected to the end of each telescopic link (22) away from the robotic gripper disk (21). A limit seat (26) is fixed to the lower end of the sliding column (25). A gripper (23) is fixed to the lower end of the limit seat (26).

2. The gripping device for an industrial robot according to claim 1, characterized in that: The swing frame (11) of the robotic arm is provided with an adjustment groove (112), the lower end of the sliding column (25) is slidably connected to the upper side of the adjustment groove (112), the bottom of the adjustment groove (112) is provided with a rectangular notch, and the upper end of the limiting seat (26) is slidably connected to the rectangular notch.

3. The gripping device for an industrial robot according to claim 1, characterized in that: Each robotic arm swing frame (11) has a connecting column (113) fixed at its bottom, and the connecting column (113) is rotatably connected to the telescopic part of the corresponding hydraulic rod (13).

4. The gripping device for an industrial robot according to claim 1, characterized in that: The manipulator adjustment frame (12) has grooves (122) on both sides for sliding the sliding seat (15), and the manipulator swing frame (11) has a spring hole (111) at the reset spring (14).

5. The gripping device for an industrial robot according to claim 1, characterized in that: The lower end of the robotic arm mounting frame (3) is fixed to the outside of the robotic arm adjustment frame (12), and the robotic arm mounting frame (3) is fixedly connected to the clamping motor (24).

6. The gripping device for an industrial robot according to claim 1, characterized in that: The telescopic link (22) consists of a sliding rod (221) and a connecting rod (222). Two guide rods are fixed at the end of the connecting rod (222) away from the sliding column (25), and a tension spring is provided between the two guide rods.

Images