CN111531570A

CN111531570A - A grabbing device for industrial robot

Info

Publication number: CN111531570A
Application number: CN202010493935.3A
Authority: CN
Inventors: 赵君爱
Original assignee: Jiangsu Maritime Institute
Current assignee: Jiangsu Maritime Institute
Priority date: 2020-06-03
Filing date: 2020-06-03
Publication date: 2020-08-14

Abstract

The invention discloses a grabbing device for an industrial robot, which comprises a mechanical arm, wherein the mechanical arm is connected with an installation disc, a transmission cavity is arranged in the installation disc, the inner side wall of the transmission cavity is connected with a protective cover through a support shaft, a motor is arranged in the mechanical arm, the output end of the motor is connected with a rotating ring through a transmission device, the rotating ring is provided with an L-shaped installation block, the installation block is connected with a grabbing rod through a linkage device, and a grabbing mechanism is arranged on the grabbing rod. According to the invention, the driving disc driven by the motor is arranged on the mechanical arm, so that the rotating disc performs clearance rotation, the rotating ring is driven to perform clearance rotation, the plurality of mounting blocks sequentially move to the bottom of the cylinder, and the grabbing rods linked by the linkage columns can sequentially realize the processes of opening, grabbing and clamping under the action of the cylinder, so that objects are grabbed, and therefore, the mechanical arm can transport a plurality of objects during moving and conveying, the processing and transporting efficiency is accelerated, and the picking cost is reduced.

Description

A grabbing device for industrial robot

Technical Field

The invention relates to the technical field of robots, in particular to a gripping device for an industrial robot.

Background

Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices oriented to the industrial field, can automatically execute work, and are machines which realize various functions by means of self power and control capacity. The robot can receive human commands and can also run according to a pre-arranged program, and a modern industrial robot can also perform actions according to a principle formulated by an artificial intelligence technology; an industrial robot is composed of three basic parts, namely a main body, a driving system and a control system. The main body is a machine base and an actuating mechanism, and comprises an arm part, a wrist part and a hand part, and some robots also comprise a walking mechanism. Most industrial robots have 3-6 degrees of freedom of motion, wherein the wrist generally has 1-3 degrees of freedom of motion; the driving system comprises a power device and a transmission mechanism and is used for enabling the executing mechanism to generate corresponding actions; the control system sends command signals to the driving system and the executing mechanism according to the input program and controls the driving system and the executing mechanism.

The grabbing device of current robot can only grab an article simultaneously and transport when using, consumes a large amount of time in the transportation of making a round trip, causes to pick up the conveying inefficiency, influences production speed, and when round trip movement, can consume a large amount of energy, provides a grabbing device for industrial robot that can realize picking up many times now.

Disclosure of Invention

The invention aims to solve the defects that the existing grabbing device of a robot can only grab one object to be transported at the same time when in use, a large amount of time is consumed in the back-and-forth transportation process, the picking transportation efficiency is low, and the production speed is influenced.

In order to achieve the purpose, the invention adopts the following technical scheme:

the utility model provides a grabbing device for industrial robot, includes the arm, arm tip fixedly connected with mounting disc, be provided with the transmission chamber in the mounting disc, transmission intracavity lateral wall is connected with the protective cover through the back shaft, the motor chamber has been seted up in the arm, the motor intracavity is provided with the motor, the motor output runs through to the transmission intracavity to be connected with rotatory ring through transmission, be provided with a plurality of installation pieces that are the L type on the rotatory ring, be connected with through the aggregate unit on the installation piece and snatch the pole, it snatchs the mechanism to be provided with on the pole to snatch, back shaft lateral wall is provided with the cylinder, the cylinder output is provided with starting drive.

Preferably, transmission includes the driving-disc of fixed connection at motor output end tip, motor output lateral wall is connected with the drive post through the spliced pole, the transmission intracavity lateral wall rotates and is connected with the fixed axle, fixed axle lateral wall fixedly connected with rolling disc, set up the drive mouth with drive post looks adaptation on the rolling disc.

Preferably, a transmission gear is fixedly connected to the end of the fixed shaft, an annular opening penetrating through the side wall is formed in the side wall of the transmission cavity, a straight tooth ring is fixedly connected to the side wall of the rotating ring, and the straight tooth ring is located in the annular opening and is meshed with the transmission gear.

Preferably, the aggregate unit has seted up the removal mouth including seting up on the installation piece, the inside wall sliding connection of removal mouth has the linkage post, linkage post one end fixedly connected with spur rack is located the spur rack both sides the installation piece lateral wall all rotates and is connected with the axis of rotation, axis of rotation lateral wall fixedly connected with drive gear, drive gear is connected with the spur rack meshing, the axis of rotation tip with snatch pole fixed connection.

Preferably, snatch the mechanism and include fixed connection at the grip block who snatchs the rod end portion, the centre gripping chamber has been seted up in the grip block, the centre gripping intracavity is provided with the touch panel, the touch panel is connected with the grip block through the conflict post, the touch panel is established with the grip block lateral wall through the cover and is connected at the conflict spring of conflict post lateral wall.

Preferably, the installation piece lateral wall is connected with arcuation restriction piece through the connecting piece rotation, set up the arcuation slide that runs through the lateral wall on the arcuation restriction piece, snatch pole tip fixedly connected with and be located the stable post of arcuation slide.

Preferably, starting drive includes the restriction ring of fixed connection at linkage post tip, the restriction ring is connected with the installation piece lateral wall through the answer spring of cover on the linkage post, the cylinder output is connected with conflict ball.

Preferably, all fixedly connected with solid fixed ring on mounting disc and the protective cover relative lateral wall, be located conflict ball below the semicircle mouth with the adaptation of limit ring is seted up to the fixed ring lateral wall.

Compared with the prior art, the invention has the beneficial effects that:

through the driving-disc that is driven by the motor in the arm setting, make the rolling disc carry out the clearance and rotate, it carries out the clearance with it through the rotatory ring of drive gear with the spur rack linkage to drive, make a plurality of installation pieces that set up on rotatory ring remove the cylinder bottom in proper order, under the effect of cylinder, make the linkage post move down, the pole of snatching through the drive gear linkage can realize opening in proper order, snatch, the process of centre gripping, thereby realize to the article, realize the centre gripping of a plurality of articles right through setting up a plurality of poles of snatching on rotatory ring, thereby make the arm can realize transporting a plurality of articles when removing the transport, thereby accelerate processing conveying efficiency, reduce and pick up the cost.

Drawings

Fig. 1 is a schematic structural view of a gripping device for an industrial robot according to the present invention;

fig. 2 is a schematic front view of a gripping device for an industrial robot according to the present invention;

FIG. 3 is an enlarged schematic view of the structure at A in FIG. 2;

fig. 4 is a schematic structural diagram of an internal transmission device of a gripping device for an industrial robot according to the present invention.

In the figure: the device comprises a mechanical arm 1, a mounting disc 2, a supporting shaft 3, a protective cover 4, a motor 5, a rotating ring 6, a mounting block 7, a grabbing rod 8, a cylinder 9, a driving disc 10, a driving column 11, a fixed shaft 12, a rotating disc 13, a driving port 14, a transmission gear 15, a straight-tooth ring 16, a linkage column 17, a straight-tooth rack 18, a rotating shaft 19, a driving gear 20, a clamping block 21, a contact plate 22, a clamping plate 23, an arc limiting sheet 24, a stabilizing column 25, an arc slideway 26, a limiting ring 27, an arc ball 28, a fixing ring 29 and a semicircular port 30.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

Referring to fig. 1-4, a gripping device for an industrial robot comprises a mechanical arm 1, the mechanical arm 1 is a prior art, which is not described herein, and is an industrial robot component, a mounting plate 2 is fixedly connected to an end of the mechanical arm 1, a transmission cavity is arranged in the mounting plate 2, a protective cover 4 is connected to an inner side wall of the transmission cavity through a support shaft 3, the support shaft 3 is fixedly connected to a side wall of the transmission cavity, a motor cavity is arranged in the mechanical arm 1, a motor 5 is arranged in the motor cavity, the motor 5 is a prior art, which is not described herein, an output end of the motor 5 penetrates into the transmission cavity, and a rotating ring 6 is connected through a transmission device, a side wall of the rotating ring 6 is rotatably connected to a side wall of the mounting plate 2 through a bearing, further, the transmission device comprises a driving plate 10 fixedly connected, a fixed shaft 12 is rotatably connected to the inner side wall of the transmission cavity, a rotating disc 13 is fixedly connected to the outer side wall of the fixed shaft 12, a driving port 14 matched with the driving column 11 is formed in the rotating disc 13, and intermittent rotation of a transmission gear 15 is achieved through the rotating disc 13 and the driving column 11;

still further, the end of the fixed shaft 12 is fixedly connected with a transmission gear 15, the side wall of the transmission cavity is provided with an annular opening penetrating through the side wall, the side wall of the rotating ring 6 is fixedly connected with a straight toothed ring 16, the straight toothed ring 16 is positioned in the annular opening and is meshed with the transmission gear 15, and the transmission gear 15 drives the rotating ring 6 to rotate through the straight toothed ring 16.

The rotating ring 6 is provided with a plurality of L-shaped mounting blocks 7, the mounting blocks 7 are connected with grabbing rods 8 through a linkage device, further, the linkage device comprises a moving port formed in the mounting blocks 7, the inner side wall of the moving port is connected with a linkage column 17 in a sliding mode, one end of the linkage column 17 is fixedly connected with a spur rack 18, two side walls of the spur rack 18 are provided with straight tooth grooves, the side walls of the mounting blocks 7 positioned on two sides of the spur rack 18 are connected with a rotating shaft 19 in a rotating mode, the outer side wall of the rotating shaft 19 is fixedly connected with a driving gear 20, the driving gear 20 is meshed with the spur rack 18, the end portion of the rotating shaft 19 is fixedly connected with the grabbing rods 8, and the connecting position;

the grabbing rod 8 is provided with a grabbing mechanism, further, the grabbing mechanism comprises a clamping block 21 fixedly connected with the end part of the grabbing rod 8, a clamping cavity is arranged in the clamping block 21, a touch plate 22 is arranged in the clamping cavity, the touch plate 22 is connected with a clamping plate 23 through a touch column, the touch plate 22 is connected with the side wall of the clamping cavity through a touch spring sleeved on the outer side wall of the touch column, the clamping plate 23 is buffered through the touch spring, so that the damage to the object caused by the overlarge clamping force on the object is avoided, the side wall of the mounting block 7 is rotatably connected with an arc-shaped limiting sheet 24 through a connecting piece, the arc-shaped limiting sheet 24 is rotatably connected with the connecting piece, wherein the side wall of the arc-shaped limiting sheet 24 is provided with a connecting hole to be connected with the connecting piece, the arc-shaped limiting sheet 24 is provided with an arc-shaped, by providing the stabilizing post 25, the grasping rod 8 can be moved in the arcuate sliding 26 by the stabilizing post 25, and stable grasping can be achieved.

The side wall of the supporting shaft 3 is provided with an air cylinder 9, the air cylinder 9 is the prior art and is not described herein, and the output end of the air cylinder 9 is provided with a starting device; further, the starting device comprises a limiting ring 27 fixedly connected to the end of the linkage column 17, the limiting ring 27 is connected with the side wall of the mounting block 7 through a return spring sleeved on the linkage column 17, the return spring has upward return force to the limiting ring 29, the output end of the air cylinder 9 is connected with an abutting ball 28, and the acting point is concentrated through the abutting ball 28.

Still further, all fixedly connected with solid fixed ring 29 on the relative lateral wall of mounting disc 2 and protective cover 4, lie in solid fixed ring 29 lateral wall of conflict ball 28 below and offer the semicircle mouth 30 with the adaptation of retainer ring 27, in all the other positions, guarantee through solid fixed ring 29 lateral wall when carrying out the transmission that retainer ring 27 conflicts with solid fixed ring 29, can not cause linkage post 17 to remove.

In the invention, when the mechanical arm 1 moves to the position above the object replacing position in the operation process of the industrial robot, the cylinder 9 is started to operate, so that the output end of the cylinder 9 moves downwards, so that the limit ring 27 located at the semi-circular opening 30 of the fixing ring 29 moves downwards under the action of the interference ball 28 connected with the output end of the cylinder 9, the limit ring 27 moves downwards from the semi-circular opening 30 to drive the linkage column 17 connected with the limit ring to move, when the linkage column 17 moves downwards, the spur rack 18 connected with the linkage column moves downwards, when the spur rack 18 moves downwards, two driving gears 20 engaged with both sides of the spur rack 18 are rotated, and when the driving gears 20 are rotated, the catching rod 8 connected thereto through the rotating shaft 19 is rotated, the gripping blocks 21 at the ends of the gripping bars 8 are moved away from each other, so that the mechanical grip of the device is opened;

when the clamping device is far away from the object, the object is transported to a grabbing position under the action of a conveying belt, at the moment, the output end of the air cylinder 9 retracts, the limiting ring 27 abutted by the abutting ball 28 moves upwards under the action of the return spring, the limiting ring 27 moves into a gap between the two fixing rings 29 through the semicircular opening 30, the object is clamped stably during rotation, when the return spring acts, the straight rack 18 can move upwards, when the straight rack 18 moves upwards, the clamping plates 23 at the end parts of the two clamping rods 8 are close to each other under the action of the driving gear 20, the object is clamped, and the clamping plates 23 are guaranteed to have a buffering effect on the object by arranging the abutting spring;

after the clamping is completed, the motor 5 continuously operates, so that the driving disc 10 connected with the output end of the motor 5 rotates, the driving column 11 rotates by taking the output end of the motor 5 as the center while the driving disc 10 rotates, the driving column 11 moves into the driving port 14 on the rotating disc 13 when rotating, so as to apply pressure on the side wall of the driving port 14, so that the rotating disc 13 intermittently rotates, when the rotating disc 13 performs the clearance rotation, the transmission gear 15 connected with the rotating disc 13 through the fixed shaft 12 performs the clearance rotation, the straight-tooth ring 16 meshed and connected with the transmission gear 15 performs the clearance rotation, so as to drive the rotating ring 6 connected with the rotating disc to perform the clearance rotation, the clamping device arranged on the mounting block 7 on the rotating ring 6 can alternately move to the lower end of the air cylinder 9, the object can be automatically clamped under the action of the air cylinder 9, and the object can be clamped when the rotating disc intermittently, therefore, the grabbing efficiency is accelerated, and the object is grabbed.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims

1. A gripping device for an industrial robot, comprising a robot arm (1), characterized in that, the end part of the mechanical arm (1) is fixedly connected with a mounting disc (2), a transmission cavity is arranged in the mounting disc (2), the inner side wall of the transmission cavity is connected with a protective cover (4) through a support shaft (3), a motor cavity is arranged in the mechanical arm (1), a motor (5) is arranged in the motor cavity, the output end of the motor (5) penetrates into the transmission cavity, and is connected with a rotating ring (6) through a transmission device, a plurality of L-shaped mounting blocks (7) are arranged on the rotating ring (6), the mounting block (7) is connected with a grabbing rod (8) through a linkage device, the grabbing mechanism is arranged on the grabbing rod (8), the air cylinder (9) is arranged on the side wall of the supporting shaft (3), and the starting device is arranged at the output end of the air cylinder (9).

2. The gripping device for the industrial robot according to claim 1, wherein the transmission device comprises a driving disc (10) fixedly connected to the end of the output end of the motor (5), the outer side wall of the output end of the motor (5) is connected with a driving column (11) through a connecting column, the inner side wall of the transmission cavity is rotatably connected with a fixed shaft (12), the outer side wall of the fixed shaft (12) is fixedly connected with a rotating disc (13), and the rotating disc (13) is provided with a driving port (14) matched with the driving column (11).

3. The gripping device for an industrial robot according to claim 2, characterized in that a transmission gear (15) is fixedly connected to the end of the fixed shaft (12), an annular opening is formed in the side wall of the transmission cavity, a straight toothed ring (16) is fixedly connected to the side wall of the rotating ring (6), and the straight toothed ring (16) is located in the annular opening and is meshed with the transmission gear (15).

4. The gripping device for the industrial robot according to claim 1, wherein the linkage device comprises a mounting block (7) provided with a moving port, the inner side wall of the moving port is slidably connected with a linkage column (17), one end of the linkage column (17) is fixedly connected with a spur rack (18), the side walls of the mounting block (7) on two sides of the spur rack (18) are rotatably connected with a rotating shaft (19), the outer side wall of the rotating shaft (19) is fixedly connected with a driving gear (20), the driving gear (20) is meshed with the spur rack (18), and the end part of the rotating shaft (19) is fixedly connected with the gripping rod (8).

5. The gripping device for an industrial robot according to claim 1, wherein the gripping mechanism comprises a clamping block (21) fixedly connected to the end of the gripping rod (8), a clamping cavity is formed in the clamping block (21), a touch plate (22) is arranged in the clamping cavity, the touch plate (22) is connected with a clamping plate (23) through an abutting column, and the touch plate (22) is connected with the side wall of the clamping cavity through an abutting spring sleeved on the outer side wall of the abutting column.

6. The gripping device for an industrial robot according to claim 1, characterized in that the side wall of the mounting block (7) is rotatably connected with an arc-shaped limiting piece (24) through a connecting piece, the arc-shaped limiting piece (24) is provided with an arc-shaped slideway (26) penetrating through the side wall, and the end part of the gripping rod (8) is fixedly connected with a stabilizing column (25) positioned in the arc-shaped slideway (26).

7. A gripping device for an industrial robot according to claim 4, characterized in that the activation means comprises a limiting ring (27) fixedly attached to the end of the linkage post (17), the limiting ring (27) being attached to the side wall of the mounting block (7) by means of a return spring fitted over the linkage post (17), and an interference ball (28) being attached to the output of the cylinder (9).

8. The gripping device for an industrial robot according to claim 7, characterized in that a fixing ring (29) is fixedly connected to the opposite side walls of the mounting plate (2) and the protective cover (4), and the side wall of the fixing ring (29) below the interference ball (28) is provided with a semi-circular opening (30) adapted to the limiting ring (27).