Anti-falling grabbing structure for picking up materials by manipulator of all-in-one machine

Abstract

The utility model relates to the technical field of mechanical arm material picking, and provides an anti-falling grabbing structure for mechanical arm material picking of an all-in-one machine. The main body assembly comprises a mounting disc, a mechanical arm and a mounting shell; the mechanical arm is mounted at one end of the mounting disc, and the mounting shell is fixedly connected to one end of the mechanical arm; the grabbing assembly comprises a hydraulic cylinder, a clamping rod, a connecting plate, a connecting groove and a spring shaft; the hydraulic cylinder is fixedly connected to one end of the mechanical arm, the clamping rods are rotationally connected to the two sides of the inner wall of the mounting shell, the connecting plate is fixedly connected to the connecting end of the hydraulic cylinder, the connecting grooves are formed in the front end and the rear end of the mounting shell, and the spring shafts are rotationally connected into the connecting grooves. By arranging the grabbing assembly, the hydraulic cylinder and the connecting plate are matched in an auxiliary mode, the connecting plate can be driven to slide, so that the two sets of clamping rods are driven to be opened and closed, a worker can be assisted to stably clamp materials, and the materials are prevented from falling off in the grabbing and transporting process.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm material picking technology, and in particular to a gripping structure for material picking by an integrated robotic arm that prevents material from falling off. Background Technology

[0002] The all-in-one robot arm is a robot arm device that highly integrates the robot body, control and other related components. It features a compact structure, small footprint and easy operation.

[0003] To this end, the patent with authorization announcement number 201822116602.X discloses a cutting machine robot, including a cutting machine, a material picking robot installed on the cutting machine, the material picking robot including a robot arm set on the cutting machine, a crossbeam set on the robot arm, a first guide rail set on the crossbeam, a sliding seat movably connected on the first guide rail, a first motor set on the crossbeam to drive the sliding seat to slide, a second guide rail set inside the sliding seat, a sliding connecting rod movably connected on the second guide rail, a second motor set on the sliding seat to drive the sliding connecting rod to slide up and down, and a material picking mechanism set at the lower end of the sliding connecting rod. The cutting machine robot of this utility model realizes the integrated control of the cutting machine and the material picking robot by installing the material picking robot on the cutting machine. During operation, the relative position of the material picking robot and the cutting machine will not move, the material picking position is accurate, it is not easy to make mistakes, improves the overall stability of the equipment, and can reduce the production cost of enterprises.

[0004] The existing technical solutions mentioned above have the following drawbacks: Although the cutting machine and the material handling robot are integrated and controlled by installing the material handling robot on the cutting machine, and the relative positions of the material handling robot and the cutting machine do not move during operation, the existing robot's gripping structure is relatively simple. During the process of gripping and transporting materials, when the material is heavy and the clamping force is unstable, the gripped material is prone to fall off, thereby affecting the normal transport of materials. Utility Model Content

[0005] The purpose of this utility model is to provide a gripping structure for picking up materials in an integrated robot arm that prevents materials from falling off, in order to solve the defect that the gripping force of the existing gripping structure for picking up materials in an integrated robot arm that prevents materials from falling off is unstable.

[0006] To solve the above-mentioned technical problems, this utility model provides the following technical solution: a gripping structure for picking up materials using an integrated robotic arm that prevents detachment, comprising;

[0007] Main components: The main components include a mounting plate, a robotic arm, and a mounting housing;

[0008] The robotic arm is mounted on one end of the mounting plate, and the mounting shell is fixedly connected to one end of the robotic arm;

[0009] Gripping assembly: The gripping assembly includes a hydraulic cylinder, a clamping rod, a connecting plate, a connecting groove, and a spring shaft;

[0010] The hydraulic cylinder is fixedly connected to one end of the robotic arm, the clamping rod is rotatably connected to both sides of the inner wall of the mounting shell, the connecting plate is fixedly connected to the connecting end of the hydraulic cylinder, the connecting groove is opened at both ends of the mounting shell, and the spring shaft is rotatably connected to the inside of the connecting groove.

[0011] Preferably, the gripping component further includes an auxiliary gripper, a clamping plate, a large clamping block, a small clamping block, and a rotating shaft;

[0012] The auxiliary clamp is fixedly connected to one end of the spring shaft, the clamping plate is fixedly connected to both sides of the outer wall of the connecting plate, the large clamping block is fixedly connected to the front ends of both sides of the connecting plate, the small clamping block is fixedly connected to the rear ends of both sides of the connecting plate, and the rotating shaft is fixedly connected to the upper part of one end of the clamping rod.

[0013] Preferably, the rotating shaft is located between the large and small clamping blocks, and the clamping plate and the spring shaft are arranged on the same central axis.

[0014] Preferably, the number of auxiliary grippers is two sets, and the two sets of auxiliary grippers are arranged symmetrically to each other.

[0015] Preferably, it also includes installation components;

[0016] The mounting components include a rotating slot, a guide frame, and a spiral disc;

[0017] The rotating groove is located at one end of the mounting plate, the guide frame is fixedly connected to the outer ring of one end of the mounting plate, the spiral disk is rotatably connected to the inside of the rotating groove, the slider is slidably connected to the inside of the guide frame, and the mounting plate is fixedly connected to one end of the slider.

[0018] Preferably, the mounting assembly further includes a mounting plate and a slider;

[0019] The slider is slidably connected to the inside of the mounting plate, and the guide bracket is fixedly connected to one end of the slider.

[0020] Preferably, the spiral disk has a spiral groove inside, and the bottom end of the slider is slidably connected to the spiral groove.

[0021] The present invention provides a gripping structure for picking up materials using an integrated robotic arm to prevent material slippage, which has the following advantages:

[0022] This invention, by setting up a gripping component and through the auxiliary cooperation between the hydraulic cylinder and the connecting plate, can drive the connecting plate to slide, thereby driving the two sets of clamping rods to open and close. This can help the workers to stably clamp the materials and prevent them from falling off during the gripping and transportation process.

[0023] Based on the aforementioned beneficial effects, an installation component is provided. Through the auxiliary cooperation between the guide frame and the spiral disk, multiple sets of installation pieces can be guided and slid by rotating the spiral disk clockwise. The installation position of the installation pieces can be adjusted according to the actual installation environment and installation range. Attached Figure Description

[0024] Figure 1 This is an axonometric view of the present invention;

[0025] Figure 2 This is a three-dimensional exploded view of the gripping component of this utility model;

[0026] Figure 3 This is a three-dimensional schematic diagram of the gripping component of this utility model;

[0027] Figure 4 This is a three-dimensional exploded view of the installation components of this utility model;

[0028] Figure 5 This is a three-dimensional schematic diagram of the installation components of this utility model.

[0029] Explanation of the reference numerals in the figure:

[0030] 11. Mounting plate; 12. Robotic arm; 13. Mounting housing;

[0031] 21. Hydraulic cylinder; 22. Clamping rod; 23. Connecting plate; 24. Connecting groove; 25. Spring shaft; 26. Auxiliary gripper; 27. Pallet plate; 28. Large clamping block; 29. ​​Small clamping block; 210. Rotating shaft;

[0032] 31. Rotary groove; 32. Guide frame; 33. Spiral disc; 34. Mounting plate; 35. Slider. Detailed Implementation

[0033] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0034] Please see Figures 1-5 This utility model provides an anti-drop integrated robotic arm material picking gripping structure, comprising:

[0035] Main components: The main components include mounting plate 11, robotic arm 12 and mounting shell 13;

[0036] The robotic arm 12 is mounted on one end of the mounting plate 11, and the mounting shell 13 is fixedly connected to one end of the robotic arm 12;

[0037] The robotic arm 12 is based on the integrated application of mechanical structure, electronic control and computer technology. The robotic arm 12 consists of mechanical structure, motor, sensor, controller and software.

[0038] All of the above parts are existing technologies;

[0039] Gripping assembly: The gripping assembly includes a hydraulic cylinder 21, a clamping rod 22, a connecting plate 23, a connecting groove 24, and a spring shaft 25;

[0040] Hydraulic cylinder 21 is fixedly connected to one end of robotic arm 12, clamping rod 22 is rotatably connected to both sides of the inner wall of mounting shell 13, connecting plate 23 is fixedly connected to the connecting end of hydraulic cylinder 21, connecting groove 24 is opened at the front and rear ends of mounting shell 13, and spring shaft 25 is rotatably connected to the inside of connecting groove 24.

[0041] The gripping components also include an auxiliary gripper 26, a pallet 27, a large pallet block 28, a small pallet block 29, and a rotating shaft 210;

[0042] The auxiliary clamp 26 is fixedly connected to one end of the spring shaft 25, the clamping plate 27 is fixedly connected to both sides of the outer wall of the connecting plate 23, the large clamping block 28 is fixedly connected to the front ends of both sides of the connecting plate 23, the small clamping block 29 is fixedly connected to the rear ends of both sides of the connecting plate 23, and the rotating shaft 210 is fixedly connected to the upper part of one end of the clamping rod 22.

[0043] There are two sets of clamping rods 22. The connecting plate 23 is set on the central axis of the two sets of clamping rods 22. The connecting groove 24 is used to provide space for the spring shaft 25 to rotate. The spring shaft 25 and the clamping plate 27 are set on the same central axis.

[0044] With the auxiliary cooperation between the hydraulic cylinder 21 and the connecting plate 23, the connecting plate 23 can be slid to drive the two sets of clamping rods 22 to open and close.

[0045] Working principle: When workers use a robotic arm to pick up and grab materials;

[0046] First, the operator starts the hydraulic cylinder 21, which drives the connecting plate 23 installed at the connecting end to slide inside the mounting shell 13. This allows the small clamping blocks 29 installed at both ends of the connecting plate 23 to press the rotating shaft 210 on the same central axis. The rotating shaft 210 is pressed, causing the clamping rod 22 to expand. At the same time, the clamping plates 27 installed on both sides of the connecting plate 23 press the spring shaft 25 on the same central axis. This causes the spring shaft 25 to rotate inside the connecting groove 24 and drive the auxiliary clamping hand 26 to expand.

[0047] Next, when the material being gripped is within the range of the two sets of clamping rods 22 and the two sets of auxiliary grippers 26, the hydraulic cylinder 21 is activated to drive the connecting plate 23 to reset. This allows the large clamping blocks 28 installed at both ends of the connecting plate 23 to press against the rotating shaft 210 and to misalign the rotating shaft 210 and the small clamping blocks 29. This allows the two sets of clamping rods 22 to close and grip the material. At the same time, it causes the clamping plate 27 and the spring shaft 25 to misalign, allowing the two sets of auxiliary grippers 26 to reset under the action of elastic force and form a limit on both sides of the material being gripped.

[0048] This step helps staff to hold materials securely, preventing them from falling off during the grabbing and transport process.

[0049] Please see Figure 1-4 As shown, this embodiment, based on the above embodiment, also includes an installation component;

[0050] The mounting components include a rotary groove 31, a guide frame 32, and a spiral disc 33;

[0051] A rotating groove 31 is formed at one end of the mounting plate 11, a guide frame 32 is fixedly connected to the outer ring of one end of the mounting plate 11, a spiral disk 33 is rotatably connected to the inside of the rotating groove 31, a slider 35 is slidably connected to the inside of the guide frame 32, and a mounting plate 34 is fixedly connected to one end of the slider 35.

[0052] The mounting components also include mounting plate 34 and slider 35;

[0053] The slider 35 is slidably connected to the inside of the mounting plate 34, and the guide bracket 32 ​​is fixedly connected to one end of the slider 35.

[0054] Preferably, the spiral disk 33 has a spiral groove inside, and the bottom end of the slider 35 is slidably connected to the spiral groove;

[0055] The rotating groove 31 provides space for the spiral disk 33 to rotate, the guide frame 32 provides space for the slider 35 to slide, and the spiral disk 33 provides space for the bottom end of the slider 35 to slide.

[0056] With the auxiliary cooperation between the guide frame 32 and the spiral disk 33, multiple sets of mounting plates 34 can be guided and slid by rotating the spiral disk 33 clockwise.

[0057] Working principle: When the staff installs the gripping device;

[0058] First, by rotating the spiral disk 33 inside the rotating groove 31 clockwise, the staff can drive multiple sets of sliders 35 to slide during the rotation of the spiral disk 33, so that the multiple sets of sliders 35 can slide within the guide frame 32.

[0059] Next, the mounting plate 34, which is fixedly connected to one end of the slider 35, can slide vertically.

[0060] This step allows for adjustment of the installation position of the mounting plate 34 based on the actual installation environment and range.

[0061] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A gripping structure for picking up materials using an integrated robotic arm to prevent material slippage, characterized in that, include: Main components: The main components include a mounting plate (11), a robotic arm (12), and a mounting shell (13); The robotic arm (12) is mounted on one end of the mounting plate (11), and the mounting shell (13) is fixedly connected to one end of the robotic arm (12); Gripping assembly: The gripping assembly includes a hydraulic cylinder (21), a clamping rod (22), a connecting plate (23), a connecting groove (24), and a spring shaft (25); The hydraulic cylinder (21) is fixedly connected to one end of the robotic arm (12), the clamping rod (22) is rotatably connected to both sides of the inner wall of the mounting shell (13), the connecting plate (23) is fixedly connected to the connecting end of the hydraulic cylinder (21), the connecting groove (24) is opened at the front and rear ends of the mounting shell (13), and the spring shaft (25) is rotatably connected to the inside of the connecting groove (24).

2. The anti-drop integrated robotic arm material picking gripping structure according to claim 1, characterized in that, The gripping assembly also includes an auxiliary gripper (26), a clamping plate (27), a large clamping block (28), a small clamping block (29), and a rotating shaft (210); The auxiliary gripper (26) is fixedly connected to one end of the spring shaft (25), the clamping plate (27) is fixedly connected to both sides of the outer wall of the connecting plate (23), the large clamping block (28) is fixedly connected to the front ends of both sides of the connecting plate (23), the small clamping block (29) is fixedly connected to the rear ends of both sides of the connecting plate (23), and the rotating shaft (210) is fixedly connected to the upper part of one end of the clamping rod (22).

3. The anti-drop integrated robotic arm material picking gripping structure according to claim 2, characterized in that, The rotating shaft (210) is located between the large clamping block (28) and the small clamping block (29), and the clamping plate (27) and the spring shaft (25) are set on the same central axis.

4. The anti-drop integrated robotic arm material picking gripping structure according to claim 2, characterized in that, The number of auxiliary grippers (26) is two sets, and the two sets of auxiliary grippers (26) are arranged symmetrically to each other.

5. The anti-drop integrated robotic arm material picking gripping structure according to claim 1, characterized in that, It also includes installation components; The mounting assembly includes a rotating slot (31), a guide frame (32), and a spiral disc (33); The rotating groove (31) is opened at one end of the mounting plate (11), the guide frame (32) is fixedly connected to the outer ring of one end of the mounting plate (11), the spiral disk (33) is rotatably connected to the inside of the rotating groove (31), the slider (35) is slidably connected to the inside of the guide frame (32), and the mounting piece (34) is fixedly connected to one end of the slider (35).

6. The anti-drop integrated robotic arm material picking gripping structure according to claim 5, characterized in that, The mounting assembly also includes a mounting plate (34) and a slider (35); The slider (35) is slidably connected to the inside of the mounting plate (34), and the guide frame (32) is fixedly connected to one end of the slider (35).

7. The anti-drop integrated robotic arm material picking gripping structure according to claim 6, characterized in that, The spiral disk (33) has a spiral groove inside, and the bottom end of the slider (35) is slidably connected to the spiral groove.

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