Industrial robot gripping structure

Abstract

The utility model discloses an industrial robot clamping structure, including rotary joint, first joint, first pivot, second joint, third joint, second pivot, finger joint, clamping head, the rotary joint front end axle is connected with first joint, two the second joint is connected with first pivot through two first pivot and first pivot front end axle, the utility model discloses the innovative design of multi -joint hydraulic pressure cooperation mechanism and modularization clamping unit, not only realized the adaptive envelope of complex surface and grabbed, more through the independent hydraulic drive balance of segmented joint's load capacity and movement accuracy, in addition, the combination of carousel limiting structure and quick detachable clamping head improves equipment compatibility significantly, reduces the maintenance complexity while guaranteeing the stability of grabbing, thereby forms the comprehensive breakthrough in the operation flexibility, load adaptability and maintenance efficiency.

Description

Technical Field

[0001] This utility model relates to a clamping structure for industrial robots. Background Technology

[0002] The gripping structure of an industrial robot is a core actuator in an automated production line, primarily used for grasping, handling, and precisely positioning various workpieces. Its performance directly impacts production efficiency and operational safety. These structures typically consist of multi-degree-of-freedom joints and end effectors, achieving complex operations by simulating the mechanical movements of a human hand.

[0003] Existing grippers have significant shortcomings in terms of flexibility: traditional rigid joints are difficult to adapt to irregular workpiece contours, resulting in unstable gripping or workpiece damage; at the same time, the single drive method limits the flexibility of movement, cannot meet the needs of large loads and delicate operations, and the lack of quick changeover capability seriously restricts the flexible upgrading of production lines. Utility Model Content

[0004] The purpose of this invention is to provide an industrial robot clamping structure to solve the above-mentioned technical problems.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: An industrial robot gripping structure includes a rotary joint, a first joint, a first pivot, a second joint, a third joint, a second pivot, finger joints, and a gripping head. The first joint is connected to the front end of the rotary joint. Two second joints are connected to the front end of the first pivot via two first pivots. Two third joints are connected to the two second joints via two second pivots. The finger joint is connected to the front end of the third joint. The gripping head is fixedly connected to the inside of the finger joint.

[0006] Based on the above technical solution, the rotary joint includes a turntable, a connecting turntable, a limiting strip, and a drive shaft. The connecting turntable is fixedly connected to the back of the turntable, the limiting strip is fixedly connected to the outside of the connecting turntable, and the drive shaft is installed on the inside of the front end of the turntable.

[0007] Based on the above technical solution, the second joint includes a segmented joint, a pre-drilled hole for the pivot, and a hydraulic telescopic rod. The pre-drilled hole for the pivot is opened at the front end of the segmented joint, and the hydraulic telescopic rod is installed on the inner side of the segmented joint.

[0008] Compared with the prior art, this utility model has the following advantages: Through the innovative design of the multi-joint hydraulic collaborative mechanism and the modular clamping unit, this utility model not only achieves adaptive envelope gripping of complex curved surfaces, but also balances load capacity and motion accuracy through the independent hydraulic drive of the segmented joints; in addition, the combination of the turntable limiting structure and the quick-release clamping head significantly improves the compatibility of the equipment, reduces the maintenance complexity while ensuring gripping stability, and thus achieves a comprehensive breakthrough in terms of operational flexibility, load adaptability and maintenance efficiency. Attached Figure Description

[0009] Figure 1 This is a schematic diagram of the appearance and structure of this utility model.

[0010] Figure 2 This is a schematic diagram of the rotary joint structure of this utility model.

[0011] Figure 3 This is a schematic diagram of the second joint structure of this utility model.

[0012] In the diagram: 1. Rotary joint, 2. First joint, 3. First pivot, 4. Second joint, 5. Third joint, 6. Second pivot, 7. Finger joint, 8. Grip head, 9. Turntable, 10. Connecting turntable, 11. Limiting strip, 12. Drive shaft, 13. Segmented joint, 14. Pivot hole, 15. Hydraulic telescopic rod. Detailed Implementation

[0013] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0014] like Figure 1-3 As shown, an industrial robot clamping structure includes a rotary joint 1, a first joint 2, a first rotating shaft 3, a second joint 4, a third joint 5, a second rotating shaft 6, a finger joint 7, and a clamping head 8. The front end of the rotary joint 1 is axially connected to the first joint 2. The two second joints 4 are connected to the front end of the first rotating shaft 3 through the two first rotating shafts 3. The two third joints 5 are axially connected to the two second joints 4 through the two second rotating shafts 6. The finger joint 7 is axially connected to the front end of the third joint 5. The clamping head 8 is fixedly connected to the inside of the finger joint 7.

[0015] The rotary joint 1 includes a turntable 9, a connecting turntable 10, a limiting strip 11, and a drive shaft 12. The connecting turntable 10 is fixedly connected to the back of the turntable 9, the limiting strip 11 is fixedly connected to the outside of the connecting turntable 10, and the drive shaft 12 is installed on the inner side of the front end of the turntable 9.

[0016] The second joint 4 includes a segmented joint 13, a pivot hole 14, and a hydraulic telescopic rod 15. The pivot hole 14 is located at the front end of the segmented joint 13, and the hydraulic telescopic rod 15 is installed inside the segmented joint 13.

[0017] The working principle of this utility model is as follows: First, the drive shaft 12 drives the turntable 9 to rotate the overall structure to the target angle, and the limit strip 11 locks the position; then, the hydraulic telescopic rods 15 in each segmented joint 13 retract according to the program setting, and the finger joints 7 form an envelope trajectory through the linkage of the first rotating shaft 3 and the second rotating shaft 6; then the clamping head 8 contacts the surface of the workpiece, and the hydraulic system dynamically adjusts the pressure of each joint to achieve stable gripping; finally, after the operation is completed, the hydraulic telescopic rods 15 extend and reset, and the rotating joint 1 rotates back to the initial position.

[0018] The above description is a preferred embodiment of the present utility model. For those skilled in the art, any changes, modifications, substitutions and variations made to the implementation methods without departing from the principles and spirit of the present utility model, based on the teachings of the present utility model, still fall within the protection scope of the present utility model.

Claims

1. An industrial robot clamping structure, comprising a rotary joint (1), a first joint (2), a first rotating shaft (3), a second joint (4), a third joint (5), a second rotating shaft (6), finger joints (7), and a clamping head (8), characterized in that: The front end of the rotating joint (1) is connected to the first joint (2), the two second joints (4) are connected to the front end of the first rotating shaft (3) through the two first rotating shafts (3), the two third joints (5) are connected to the two second joints (4) through the two second rotating shafts (6), the finger joint (7) is connected to the front end of the third joint (5), and the clamping head (8) is fixedly connected to the inside of the finger joint (7).

2. The industrial robot clamping structure according to claim 1, characterized in that: The rotary joint (1) includes a turntable (9), a connecting turntable (10), a limiting strip (11), and a drive shaft (12). The connecting turntable (10) is fixedly connected to the back of the turntable (9). The limiting strip (11) is fixedly connected to the outside of the connecting turntable (10). The drive shaft (12) is installed on the inside of the front end of the turntable (9).

3. The industrial robot clamping structure according to claim 1, characterized in that: The second joint (4) includes a segmented joint (13), a pivot hole (14), and a hydraulic telescopic rod (15). The pivot hole (14) is located at the front end of the segmented joint (13), and the hydraulic telescopic rod (15) is installed inside the segmented joint (13).

Images