Cargo gripping device for an industrial robot

Abstract

The utility model belongs to industrial robot technical field especially, and it is more particularly to a kind of goods grabbing device for industrial robot, including mechanical arm, first disc body, electric telescopic rod and butt joint block, the first disc body is fixedly installed on the mechanical arm of industrial robot, and the below of first disc body is fixedly installed with second disc body by multiple struts, and the center of second disc body is fixed with electric telescopic rod, and the telescopic end of electric telescopic rod is fixedly connected with tripod, the outer wall of butt joint block is hingedly installed with auxiliary rod and push rod, and the top of auxiliary rod and push rod is all hingedly connected with second disc body, and one end of butt joint block is fixedly installed with fixed support component, and the inboard of fixed support component is equipped with the clamping assembly for grabbing goods, and multiple clamping assemblies are linked. The utility model has two kinds of grabbing means of outer clamping and inner supporting, can satisfy the actual demand of industrial manufacturing, and device practicality is stronger.

Description

Technical Field

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

[0002] An industrial robot is a multi-jointed manipulator or multi-degree-of-freedom machine device designed for industrial applications. It can perform tasks such as manufacturing, processing, and material handling, greatly reducing labor intensity and improving efficiency. The gripping device is an important component of an industrial material handling robot.

[0003] Chinese utility model patent CN222155616U discloses a cargo gripping device for an industrial robot. The device consists of an industrial robot body, a mounting base rotatably connected to the bottom of a second support arm, and a connecting rod, a first support rod, a second support rod, and a clamping seat at the bottom of the mounting base. The bottom of the connecting rod is rotatably connected to the middle of each of the three first support rods to facilitate the formation of a clamping mechanism. A hydraulic cylinder shortens its movement, which in turn drives the connecting rod to retract the three clamping seats in parallel, thus facilitating cargo clamping. Furthermore, the use of a hydraulic cylinder as a power source, combined with the low compressibility of hydraulic oil, results in better clamping force, effectively solving the problems existing in the prior art.

[0004] Through a review of the aforementioned comparative documents and in conjunction with practical work, it was found that the above-mentioned devices still have some defects and shortcomings: In the field of industrial processing, such as in the production of high-mast lights and other lighting fixtures, it is necessary not only to externally grip and grasp solid cargo components, but also to use internal supports to grip some ring-shaped cargo components for assembly operations. However, the above-mentioned gripping devices do not have multiple gripping methods, which affects the practicality of the devices and makes it difficult to meet the diverse gripping needs of actual industrial manufacturing. Therefore, there is an urgent need to improve the existing industrial robot cargo gripping devices and provide a cargo gripping device for industrial robots. Utility Model Content

[0005] The purpose of this utility model is to address the shortcomings of existing technologies by providing a reasonably designed, simple structure, and more practical cargo gripping device for industrial robots, which has two gripping methods, in order to solve the problems existing in the prior art.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A cargo gripping device for an industrial robot includes a robotic arm, a first disk, an electric telescopic rod, and a docking block. The first disk is fixedly mounted on the robotic arm of the industrial robot. A second disk is fixedly mounted below the first disk via multiple support pillars. An electric telescopic rod is fixedly mounted at the center of the second disk, and a tripod is fixedly connected to the telescopic end of the electric telescopic rod. An auxiliary rod and a push rod are hinged to the outer wall of the docking block, and the top ends of the auxiliary rod and the push rod are hinged to the second disk. A fixed support assembly is fixedly mounted at one end of the docking block, and a gripping assembly for gripping cargo is provided on the inner side of the fixed support assembly. Multiple sets of gripping assemblies are linked together.

[0008] In a preferred embodiment, a fixing post is fixedly provided on the outer wall of the tripod near the thrust rod. The thrust rod includes a first straight segment and a second straight segment located at the top of the first straight segment. A through groove structure is provided inside the second straight segment. The end of the fixing post away from the tripod is guided and slidably located in the through groove structure inside the second straight segment of the thrust rod.

[0009] In a preferred embodiment, the auxiliary rod and the thrust rod are arranged in a one-to-one correspondence, and the first straight segment of the thrust rod is equal in length to the auxiliary rod and is always parallel to each other.

[0010] In a preferred embodiment, the fixed support assembly includes a fixed plate, a sliding groove, a slot, a vertical rod, a slider, and a spring. The fixed plate is fixedly installed on the outside of the docking block. The fixed plate has a U-shaped cross-section and a sliding groove is provided at the middle of both sides. Slots are provided at the top and bottom of both sides of the fixed plate. A vertical rod is fixedly installed in the sliding groove. A slider is slidably fitted on the outside of the vertical rod. A spring is fixedly connected between the bottom end of the slider and the bottom surface of the sliding groove.

[0011] In a preferred embodiment, a fastening bolt is threaded onto the outer wall of the fixing plate near the docking block, and the slider has a hole-like structure inside that matches the fastening bolt.

[0012] In a preferred embodiment, the clamping assembly includes a clamping plate, a rubber pad, and a locking block. One end of the clamping plate is bearing-mounted between the two sliders, and the other end of the clamping plate has a rubber pad bonded to its outer surface. The locking blocks are symmetrically fixed on the sidewalls of the clamping plate.

[0013] In a preferred embodiment, the card block is engaged with the fixing plate via a card slot.

[0014] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0015] In the solution of this utility model:

[0016] The tripod is raised vertically by retracting the electric telescopic rod. At this time, the fixed column can press the through groove structure opened inside the second straight section of the push rod, which can control the rotation of the push rod. With the cooperation of the auxiliary rod, it is easy to control the docking block, fixed support assembly and clamping assembly to maintain a stable state during movement. At this time, the multiple sets of clamping assemblies distributed in a ring can gradually retract, which is convenient for gripping the target cargo parts. In addition, the outer surface of each clamping plate is glued with a rubber pad, which can increase the friction between the clamping plate and the cargo and ensure stability during the gripping and transfer process.

[0017] Loosen the fastening bolts to disengage one end from the slider. Then, manually pull the clamping assembly to move the slider vertically downwards along the vertical rod. Once the locking block disengages from the bottom slot of the fixed plate, rotate the clamping assembly to a horizontal position and push it and the slider upwards to the top of the vertical rod. At this point, the spring is stretched. Rotate the clamping assembly to a vertical position with the rubber pad facing outwards. The clamping assembly and slider can then move downwards via the spring, causing the locking block to engage in the slot at the top of the fixed plate. Tighten the fastening bolts to position the slider. Simultaneously, control multiple clamping assemblies to be in a retracted state, enabling internal support gripping of annular cargo components. This device has both external gripping and internal support gripping methods, meeting the actual needs of industrial manufacturing and making it more practical. Attached Figure Description

[0018] 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. The drawings are described as follows:

[0019] Figure 1 This is a three-dimensional front view structural diagram of the present invention;

[0020] Figure 2 This is a schematic diagram of the overall structure of the fixed support component and clamping component of this utility model;

[0021] Figure 3 This is a schematic diagram of the structure of the vertical rod and the slider of this utility model;

[0022] Figure 4 This is a schematic diagram of the clamping plate rotation adjustment state structure of this utility model;

[0023] Figure 5 This is a schematic diagram of the first clamping working state structure of this utility model;

[0024] Figure 6 This is a schematic diagram of the second clamping working state structure of this utility model;

[0025] Figure 7 This is a top view of the tripod and fixed column of this utility model.

[0026] In the picture:

[0027] 1. Robotic arm; 2. First plate; 3. Support column; 4. Second plate; 5. Electric telescopic rod; 6. Tripod; 7. Fixed column; 8. Fixed support assembly; 81. Fixed plate; 82. Slide groove; 83. Slot; 84. Vertical rod; 85. Slider; 86. Spring; 9. Clamping assembly; 91. Clamping plate; 92. Rubber pad; 93. Clamping block; 10. Connecting block; 11. Auxiliary rod; 12. Push rod; 13. Fastening bolt. Detailed Implementation

[0028] The embodiments described below are merely some embodiments of the present invention and do not represent all embodiments consistent with the present invention. Exemplary embodiments will now be described with reference to the accompanying drawings:

[0029] like Figure 1-7 As shown, this utility model relates to a cargo gripping device for industrial robots, comprising a robotic arm 1, a first disc 2, an electric telescopic rod 5, and a docking block 10. The first disc 2 is fixedly mounted on the robotic arm 1 of the industrial robot. A second disc 4 is fixedly mounted below the first disc 2 via multiple support pillars 3. An electric telescopic rod 5 is fixedly mounted at the center of the second disc 4. A tripod 6 is fixedly connected to the telescopic end of the electric telescopic rod 5. An auxiliary rod 11 and a push rod 12 are hingedly mounted on the outer wall of the docking block 10. The top ends of the auxiliary rod 11 and the push rod 12 are both hingedly connected to the second disc 4. A fixed support assembly 8 is fixedly mounted on one end of the docking block 10. A clamping assembly 9 for gripping cargo is provided on the inner side of the fixed support assembly 8. Multiple clamping assemblies 9 are linked together.

[0030] Based on the above structure, a fixing post 7 is fixedly provided on the outer wall of the tripod 6 near the thrust rod 12. The thrust rod 12 includes a first straight segment and a second straight segment located at the top of the first straight segment. A through groove structure is opened inside the second straight segment. The end of the fixing post 7 away from the tripod 6 is guided and slidably located in the through groove structure inside the second straight segment of the thrust rod 12.

[0031] In this embodiment, when controlling the tripod 6 to rise and fall, it is convenient to use the fixed column 7 to squeeze and push the push rod 12 to rotate, thereby facilitating the control of the operation of multiple clamping components 9.

[0032] Based on the above structure, the auxiliary rod 11 and the thrust rod 12 are arranged in a one-to-one correspondence. The first straight segment of the thrust rod 12 is equal in length to the auxiliary rod 11 and is always parallel to each other.

[0033] In this embodiment, an auxiliary rod 11 of equal length to and parallel to the first straight segment of the thrust rod 12 is used to facilitate the movement of the docking block 10, the fixed support assembly 8, and the clamping assembly 9 in a stable state. By controlling the multiple sets of clamping assemblies 9 distributed in a ring to gradually retract, it is convenient to grasp the target cargo parts.

[0034] Based on the above structure, the fixed support assembly 8 includes a fixed plate 81, a sliding groove 82, a slot 83, a vertical rod 84, a slider 85, and a spring 86. The fixed plate 81 is fixedly installed on the outside of the docking block 10. The fixed plate 81 has a "U" shaped cross section and a sliding groove 82 is provided in the middle of both sides. Slots 83 are provided at the top and bottom of both sides of the fixed plate 81. A vertical rod 84 is fixedly installed in the sliding groove 82. A slider 85 is slidably sleeved on the outside of the vertical rod 84. A spring 86 is fixedly connected between the bottom end of the slider 85 and the bottom surface of the sliding groove 82.

[0035] Based on the above structure, a fastening bolt 13 is threadedly connected to the outer wall of the fixing plate 81 near the docking block 10, and a hole-like structure that matches the fastening bolt 13 is opened inside the slider 85.

[0036] In this embodiment, by tightening the fastening bolt 13 so that one end of it is inserted into the corresponding hole-like structure inside the slider 85, the slider 85 and the clamping assembly 9 can be positioned.

[0037] Based on the above structure, the clamping assembly 9 includes a clamping plate 91, a rubber pad 92, and a locking block 93. One end of the clamping plate 91 is mounted between two sliders 85 with a bearing. The other end of the clamping plate 91 has a rubber pad 92 bonded to its outer surface. The locking blocks 93 are symmetrically fixed on the side wall of the clamping plate 91.

[0038] In this embodiment, the rubber pad 92 adhered to the outer surface of the clamp 91 can increase the friction between the clamp and the cargo, ensuring the stability of the cargo during the gripping and transfer process.

[0039] Based on the above structure, the locking block 93 is engaged with the fixing plate 81 through the locking slot 83.

[0040] In this embodiment, the locking block 93 engages with the fixing plate 81, which facilitates the improvement of the stability of the clamping plate 91 during operation.

[0041] The working principle of this utility model is as follows:

[0042] In use, the robotic arm 1 of the industrial robot is first used to control the movement of this gripping device, so that the goods or parts to be gripped are located between multiple sets of clamping components 9. Then, the electric telescopic rod 5 is activated to retract and control the tripod 6 to rise vertically. At this time, the fixed column 7 can squeeze the through groove structure opened inside the second straight section of the push rod 12, thereby controlling the rotation of the push rod 12. With the cooperation of the auxiliary rod 11, the docking block 10, the fixed support component 8 and the clamping component 9 can be controlled to maintain a stable state and move. By controlling the multiple sets of clamping components 9 distributed in a ring to gradually close, the target goods or parts can be gripped. Moreover, each clamping plate 91 has a rubber pad 92 bonded to its outer surface, which can increase the friction between the clamping plate and the goods and improve the stability of the goods or parts during gripping and transfer. Then, the gripped goods or parts can be transferred to the designated position by the existing industrial robotic arm 1.

[0043] This device can also loosen the fastening bolt 13 to disengage it from the slider 85. Then, manually control the clamping assembly 9 and slider 85 to move vertically downwards along the vertical rod 84. Once the locking block 93 disengages from the bottom slot 83 of the fixing plate 81, the clamping assembly 9 can be rotated to a horizontal position and pushed upwards along with the slider 85 to the top of the vertical rod 84. At this point, the spring 86 is in a stretched state. Then, rotate the clamping assembly 9 to a vertical position with the rubber pad 92 facing outwards. The clamping assembly 9 and slider 85 can then move vertically downwards under the tension of the spring 86, causing the locking block 93 to engage in the slot 83 at the top of the fixing plate 81. Tightening the fastening bolt 13 positions the slider 85, thus achieving the positioning of the clamping assembly 9. Simultaneously, multiple sets of clamping assemblies 9 can be controlled to be in a retracted state, allowing for the handling of annular cargo components. Figure 6 The internal support gripping shown in the image;

[0044] In summary, this device has two gripping methods: external clamping and internal support, which can meet the actual needs of industrial manufacturing. The device is more practical, better suited to the market, and has a wide range of application prospects.

[0045] It should be noted that the robotic arm 1 of this device is an existing industrial machine, and the circuit layout, control method and specific operating principle of both the robotic arm 1 and the electric telescopic rod 5 are mature technologies, which are not the key innovative improvement directions of this case, so they will not be described in detail.

[0046] The above are merely preferred embodiments of this utility model and are not intended to limit the scope of protection of this utility model. Any equivalent changes, modifications, substitutions, and variations made by those skilled in the art based on the concept of this utility model and on the basis of existing technology through logical analysis, reasoning, or limited experiments shall be within the scope of protection defined by the claims.

Claims

1. A cargo gripping device for an industrial robot, comprising a robotic arm (1), a first disk (2), an electrically operated telescopic rod (5), and a docking block (10), characterized in that: The first disc (2) is fixedly installed on the robotic arm (1) of the industrial robot. The second disc (4) is fixedly installed below the first disc (2) through multiple pillars (3). An electric telescopic rod (5) is fixedly installed at the center of the second disc (4). A tripod (6) is fixedly connected to the telescopic end of the electric telescopic rod (5). An auxiliary rod (11) and a push rod (12) are hinged to the outer wall of the docking block (10). The top ends of the auxiliary rod (11) and the push rod (12) are both hinged to the second disc (4). A fixed support assembly (8) is fixedly installed at one end of the docking block (10). A clamping assembly (9) for gripping goods is provided on the inner side of the fixed support assembly (8). Multiple sets of clamping assemblies (9) are linked together.

2. The cargo gripping device for an industrial robot according to claim 1, characterized in that: A fixing post (7) is fixed on the outer wall of the tripod (6) near the thrust rod (12). The thrust rod (12) includes a first straight segment and a second straight segment located at the top of the first straight segment. A through groove structure is opened inside the second straight segment. The fixing post (7) is guided and slidably located in the through groove structure inside the second straight segment of the thrust rod (12) at the end away from the tripod (6).

3. A cargo gripping device for an industrial robot according to claim 2, characterized in that: The auxiliary rod (11) and the thrust rod (12) are arranged in a one-to-one correspondence. The first straight segment of the thrust rod (12) is equal in length to the auxiliary rod (11) and is always parallel to each other.

4. A cargo gripping device for an industrial robot according to claim 1, characterized in that: The fixed support assembly (8) includes a fixed plate (81), a sliding groove (82), a slot (83), a vertical rod (84), a slider (85), and a spring (86). The fixed plate (81) is fixedly installed on the outside of the docking block (10). The fixed plate (81) has a "U" shaped cross section and a sliding groove (82) is provided in the middle of both sides. Slots (83) are provided at the top and bottom of both sides of the fixed plate (81). A vertical rod (84) is fixedly installed in the sliding groove (82). A slider (85) is slidably sleeved on the outside of the vertical rod (84). A spring (86) is fixedly connected between the bottom end of the slider (85) and the bottom surface of the sliding groove (82).

5. A cargo gripping device for an industrial robot according to claim 4, characterized in that: The fixing plate (81) has a fastening bolt (13) threaded on the outer wall of the side near the docking block (10), and the slider (85) has a hole-like structure inside that matches the fastening bolt (13).

6. A cargo gripping device for an industrial robot according to claim 5, characterized in that: The clamping assembly (9) includes a clamping plate (91), a rubber pad (92), and a locking block (93). One end of the clamping plate (91) is mounted between the two sliders (85) by a bearing. The other end of the clamping plate (91) is bonded with a rubber pad (92). The locking blocks (93) are symmetrically fixed on the side wall of the clamping plate (91).

7. A cargo gripping device for an industrial robot according to claim 6, characterized in that: The card block (93) is engaged with the fixing plate (81) through the card slot (83).

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