CN111993405A - Grabbing equipment of industrial intelligent robot and grabbing method thereof - Google Patents
Grabbing equipment of industrial intelligent robot and grabbing method thereof Download PDFInfo
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- CN111993405A CN111993405A CN202010881228.1A CN202010881228A CN111993405A CN 111993405 A CN111993405 A CN 111993405A CN 202010881228 A CN202010881228 A CN 202010881228A CN 111993405 A CN111993405 A CN 111993405A
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- grabbing
- arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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Abstract
The invention discloses grabbing equipment of an industrial intelligent robot, which comprises an installation base, a fixed seat, a supporting column, a grabbing arm support and a grabbing component, wherein the installation base is provided with a plurality of fixing seats; the industrial intelligent robot comprises an installation base, a fixed base, a support column, a rotating cover, a grabbing arm support, a second motor and a third motor, wherein the installation base is fixedly installed with the industrial intelligent robot, the central position of the upper end of the installation base is fixedly connected with a support column, the rotating cover is rotatably installed on the support column, the grabbing arm support is fixedly installed on the rotating cover, and the second motor and the third motor are fixedly installed on the grabbing arm support.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to grabbing equipment and a grabbing method of an industrial intelligent robot.
Background
The industrial intelligent robot is a multi-joint mechanical arm widely used in the industrial field or a multi-degree-of-freedom machine device, has certain automaticity, and can realize various industrial processing and manufacturing functions by depending on the power energy and control capability of the industrial intelligent robot. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemical industry.
The industrial intelligent robot grabs articles most in the using process, and the patent with the publication number of CN111267133A discloses an automatic robot grabbing device, wherein a mechanical arm drives a fixed frame, two groups of moving frames, two groups of clamping plates and two groups of suction cups to move to the outer sides of external mechanical parts, a power device is opened, the power device drives two groups of first rotating shafts to synchronously rotate, the rotating directions of the two groups of first rotating shafts are opposite, the two groups of first rotating shafts drive two groups of power arms to rotate through two groups of power wheels, the two groups of power arms respectively drive the two groups of moving frames to move inwards, the two groups of moving frames respectively drive the two groups of clamping plates to move inwards, the inner ends of the two groups of clamping plates are in contact with the outer walls of the external mechanical parts and clamp the parts, but the existing robot grabbing device has a single function and cannot fixedly clamp the articles to process the articles, and the clamping range of the existing clamping equipment is limited, flexible rotation cannot be realized, and the object is moved or moved by workers during processing, so that the clamping and processing efficiency of the object is reduced.
Disclosure of Invention
The invention aims to provide grabbing equipment and a grabbing method of an industrial intelligent robot, which are used for grabbing and clamping articles by arranging a grabbing component and a clamping component, so that different functions of the industrial intelligent robot are realized, the use range of the industrial intelligent robot is improved, the grabbing and clamping of the articles are quickly and stably operated, the grabbing and clamping range is wide, the position is greatly shifted, the stable grabbing and clamping of the articles with different shapes are effectively ensured, and the clamping and processing efficiency of the articles is improved.
The purpose of the invention can be realized by the following technical scheme:
the grabbing equipment of the industrial intelligent robot comprises an installation base, a fixed seat, a supporting column, a grabbing arm support and a grabbing assembly, wherein the installation base is fixedly installed with the industrial intelligent robot, the fixed seat is fixedly installed at the central position of the upper end of the installation base, the supporting column is fixedly connected with the upper end of the fixed seat, a rotating cover is rotatably installed on the supporting column, a grabbing arm support is fixedly installed on the rotating cover, a second motor and a third motor are fixedly installed on the grabbing arm support, the second motor and the third motor are symmetrically distributed on two sides of the grabbing arm support, a grabbing main arm is rotatably installed on the grabbing arm support, the grabbing main arm is fixedly connected with an output shaft of the third motor, a grabbing support arm is rotatably installed on one side, away from the grabbing arm support, of the grabbing main arm, a rotating rod is rotatably installed on an output shaft of the second motor, a first adjusting arm is rotatably mounted on the rotating rod, one side, close to the grabbing main arm, of the grabbing support arm is rotatably connected with the first adjusting arm, the other end of the grabbing support arm is fixedly connected with a grabbing connecting seat, a fourth motor which faces downwards vertically is fixedly mounted on the grabbing connecting seat, an output shaft of the fourth motor penetrates through the grabbing connecting seat to be connected with a rotating connecting seat, and a grabbing assembly is mounted at the lower end of the rotating connecting seat;
snatch the subassembly including snatching bedplate and second drive shaft, it puts the fixed connector that is provided with to snatch bedplate upper end central point, it links to each other with swivelling joint seat to go up the connector, snatch fixed mounting has four groups of rolling bearing, four groups on the bedplate the rolling bearing annular array distributes in the four corners position of snatching the bedplate, the second drive shaft is provided with two sets ofly side by side, and second drive shaft both ends fixed connection is at two sets of rolling bearing inner circles with one side, the both sides of second drive shaft end difference fixed mounting has first jack catch and the second snatchs the jack catch, and two sets of first jack catch and the second snatchs the jack catch and be diagonal distribution, fixed mounting has the cylinder block on the first jack catch, rotate on the cylinder block and install and snatch the cylinder, the drive telescopic link that snatchs the cylinder.
As a further scheme of the invention, a first motor which faces downwards vertically is fixedly arranged on the rotating cover, a first driving shaft is fixedly connected to the output end of the first motor, the first driving shaft penetrates through the rotating cover downwards, a driving gear is fixedly arranged at the lower end of the first driving shaft, an annular rack is fixedly arranged on the inner side wall of the rotating cover, and the annular rack is in meshing transmission connection with the driving gear.
As a further scheme of the invention, a second adjusting arm is rotatably connected to the grabbing arm support, a rotating connecting shaft is arranged at the rotating connection position of the grabbing main arm and the grabbing arm, a triangular support is rotatably connected to the rotating connecting shaft, one end of the triangular support is rotatably connected with the second adjusting arm, the other end of the triangular support is rotatably connected with a third adjusting arm, and the third adjusting arm is rotatably connected with the grabbing connecting seat.
As a further scheme of the invention, a plurality of groups of through holes are formed in the main grabbing arm, the first adjusting arm, the grabbing support arm, the second adjusting arm, the triangular support and the third adjusting arm.
As a further scheme of the invention, an adjusting plate is slidably connected to the second driving shaft, the adjusting plate is fixedly mounted with the second driving shaft through an adjusting bolt, a connecting support rod is fixedly mounted on the adjusting plate, and the connecting support rod is rotatably connected with a driving telescopic rod of the grabbing cylinder.
As a further scheme of the invention, a lower connector is fixedly arranged at the center of the lower end of the grabbing seat plate, and a clamping assembly is detachably arranged on the lower connector through a bolt.
According to a further scheme of the invention, the clamping assembly comprises a clamping joint and a clamping seat plate, the clamping joint is detachably mounted on the lower connecting head through a bolt, a rotary cylinder is fixedly mounted at the center of the lower end of the clamping joint, the output end of the rotary cylinder is fixedly connected with the clamping seat plate, a double-head cylinder is fixedly mounted at the lower end of the clamping seat plate, clamping supports are fixedly connected to the end portions of two output telescopic rods at two ends of the double-head cylinder, and clamping jaws are fixedly mounted on the clamping supports.
As a further scheme of the invention, the bottom of the clamping jaw is detachably provided with a limiting baffle plate, and the limiting baffle plate is connected with the clamping jaw through a bolt.
A grabbing method of grabbing equipment of an industrial intelligent robot specifically comprises the following steps:
the method comprises the following steps: when grabbing operation is needed, the mounting base is fixedly mounted on the industrial intelligent robot, the first driving shaft and the driving gear are driven to rotate through the work of the first motor, the driving gear drives the annular rack and the rotating cover to rotate through meshing transmission, and therefore the grabbing arm support is driven to rotate, and the whole rotation of grabbing equipment is achieved, so that objects in different directions are grabbed;
step two: when an object is grabbed, the third motor is electrified to work to drive the grabbing main arm to rotate on the grabbing arm support, so that the rotation control of the grabbing main arm is realized, the second motor is electrified to work to drive the first adjusting arm to rotate, the first adjusting arm drives the grabbing support arm to rotate on the grabbing main arm, the grabbing main arm and the grabbing support arm can flexibly rotate, so that objects in different directions are grabbed, and the second adjusting arm, the triangular support and the third adjusting arm position and support the rotation of the grabbing main arm and the grabbing support arm in the rotating grabbing process;
step three: the grabbing main arm and the grabbing support arm rotate to drive the grabbing connecting base to move to grab an article, the fourth motor is electrified to work to drive the rotating connecting base to rotate, the rotating connecting base drives the grabbing component to rotate to grab different positions of the article, the two groups of grabbing cylinders work to drive the first grabbing claw and the second grabbing claw to rotate, the article is grabbed by the two groups of first grabbing claws and the second grabbing claw which are arranged diagonally, the grabbing main arm and the grabbing support arm are driven to rotate by the second motor and the third motor to move the article after the article is grabbed, and the grabbing arm support is driven by the first motor to rotate to place the article to a specific place;
step four: to need carry out the fixed clamp and get the article of carrying out processing, will press from both sides subassembly fixed mounting and snatch the bedplate lower extreme, snatch the main arm and snatch the support arm and rotate to drive to press from both sides and get the subassembly and remove and get article and press from both sides, revolving cylinder work drives to press from both sides and gets the bedplate and rotate, thereby press from both sides the different positions to article and get, double-end cylinder work drives two sets of clamps and gets the support and press from both sides the jack catch and remove and fix the clamp to article and get, press from both sides the limit baffle who gets demountable installation on the jack catch and press from both sides article and get and carry out spacing fixed, article press from both sides the back and drive through second motor and third motor and snatch the.
The invention has the beneficial effects that: when grabbing operation is needed, the mounting base is fixedly mounted on the industrial intelligent robot, the first driving shaft and the driving gear are driven to rotate through the work of the first motor, the driving gear drives the annular rack and the rotating cover to rotate through meshing transmission, the stable rotation of the rotating cover is ensured through the transmission of the gear rack, so that the support of the grabbing arm is driven to rotate, the overall rotation of grabbing equipment is realized, articles in different directions are grabbed, and the grabbing range of the robot is effectively realized; in the process of grabbing an object, a third motor is electrified to work to drive a grabbing main arm to rotate on a grabbing arm support, so that rotation control of the grabbing main arm is achieved, a second motor is electrified to work to drive a first adjusting arm to rotate, the first adjusting arm drives a grabbing support arm to rotate on the grabbing main arm, flexible rotation of the grabbing main arm and the grabbing support arm is achieved, and therefore the object in different directions is grabbed; the grabbing main arm and the grabbing support arm rotate to drive the grabbing connecting base to move to grab an article, the fourth motor is electrified to work to drive the rotating connecting base to rotate, the rotating connecting base drives the grabbing component to rotate to grab different positions of the article, the two groups of grabbing cylinders work to drive the first grabbing claw and the second grabbing claw to rotate, the article is grabbed by the two groups of first grabbing claws and the second grabbing claw which are arranged diagonally, the grabbing main arm and the grabbing support arm are driven to rotate by the second motor and the third motor to move the article after the article is grabbed, and the grabbing arm support is driven by the first motor to rotate to place the article to a specific place; for the object to be fixedly clamped and processed, the clamping component is fixedly arranged at the lower end of the grabbing seat plate, the grabbing main arm and the grabbing support arm rotate to drive the clamping component to move to clamp the object, the rotary cylinder works to drive the clamping seat plate to rotate, thereby clamping different positions of the article, the double-head cylinder works to drive the two groups of clamping support seats and the clamping jaws to move to fixedly clamp the article, the limiting baffle which is detachably arranged on the clamping jaws limits and fixes the article, thereby effectively ensuring the clamping and fixing effect on the articles, ensuring the stability of the articles during the clamping and processing, improving the processing precision of the articles, driving the grabbing main arm and the grabbing support arm to rotate to move the clamped articles through the second motor and the third motor after the articles are clamped, the first motor drives the grabbing arm support to rotate so as to process different positions of the clamped articles;
snatch the subassembly and press from both sides the subassembly and realize snatching and press from both sides getting article through setting up to realize industry intelligent robot's different functions, improve industry intelligent robot's application range, to article snatch with press from both sides and get the operation that all realizes rapid stabilization, snatch with press from both sides the scope of getting wide, the position is transferred greatly, effectively ensures to carry out stable snatching and press from both sides the getting to article of different shapes, improves the clamp of article and gets and machining efficiency.
Drawings
In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the assembled configuration of the master arm of the present invention;
FIG. 3 is a schematic front view of the structure of FIG. 2 according to the present invention;
FIG. 4 is a schematic top view of FIG. 2 according to the present invention;
FIG. 5 is a schematic view of the internal cross-section of the spin cover of the present invention;
FIG. 6 is a schematic view of the grasping element according to the present invention;
FIG. 7 is a schematic view of the gripping assembly of the present invention;
in the figure: 1. installing a base; 2. a fixed seat; 3. a support pillar; 4. a rotating cover; 5. a first motor; 6. a first drive shaft; 7. a drive gear; 8. an annular rack; 9. a gripper arm support; 10. a second motor; 11. a third motor; 12. grabbing a main arm; 13. rotating the rod; 14. a first adjustment arm; 15. grabbing a support arm; 16. a second adjustment arm; 17. a triangular bracket; 18. a third adjusting arm; 19. grabbing the connecting seat; 20. a rotating connecting seat; 21. a fourth motor; 22. a grasping assembly; 23. an upper connector; 24. grabbing a seat plate; 25. a lower connector; 26. a pedestal bearing; 27. a second drive shaft; 28. a cylinder block; 29. a grabbing cylinder; 30. an adjusting plate; 31. connecting a support rod; 32. a first grabbing jaw; 33. a second grabbing jaw; 40. a gripping assembly; 41. clamping a joint; 42. a rotating cylinder; 43. a clamping seat plate; 44. a double-ended cylinder; 45. clamping a support; 46. clamping jaws; 47. and a limiting baffle.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-7, a grabbing device of an industrial intelligent robot and a grabbing method thereof includes an installation base 1, a fixed seat 2, a supporting column 3, a grabbing arm support 9 and a grabbing component 22, the installation base 1 is fixedly installed with the industrial intelligent robot, the fixed seat 2 is fixedly installed at the central position of the upper end of the installation base 1, the supporting column 3 is fixedly connected at the central position of the upper end of the fixed seat 2, a rotating cover 4 is rotatably installed on the supporting column 3, a grabbing arm support 9 is fixedly installed on the rotating cover 4, a second motor 10 and a third motor 11 are fixedly installed on the grabbing arm support 9, the second motor 10 and the third motor 11 are symmetrically distributed at two sides of the grabbing arm support 9, a grabbing main arm 12 is rotatably installed on the grabbing arm support 9, the grabbing main arm 12 is fixedly connected with an output shaft of the third motor 11, a grabbing arm 15 is rotatably installed at one side of the grabbing main arm 12 far, a rotating rod 13 is fixedly installed on an output shaft of the second motor 10, a first adjusting arm 14 is rotatably installed on the rotating rod 13, one side, close to the grabbing main arm 12, of the grabbing support arm 15 is rotatably connected with the first adjusting arm 14, the other end of the grabbing support arm 15 is fixedly connected with a grabbing connecting seat 19, a fourth motor 21 which faces vertically downwards is fixedly installed on the grabbing connecting seat 19, an output shaft of the fourth motor 21 penetrates through the grabbing connecting seat 19 to be connected with a rotating connecting seat 20, and a grabbing assembly 22 is installed at the lower end of the rotating connecting seat 20;
Fixed mounting has vertical decurrent first motor 5 on the rotatory cover 4, and 5 output end fixedly connected with of first motor 6, first drive shaft 6 pass rotatory cover 4 downwards, and 6 lower extremes of first drive shaft fixed mounting have drive gear 7, and the fixed annular rack 8 that is provided with on the 4 inside walls of rotatory cover, annular rack 8 and drive gear 7 mesh transmission are connected.
The grabbing arm support 9 is rotatably connected with a second adjusting arm 16, the rotating connection position of the grabbing main arm 12 and the grabbing support arm 15 is provided with a rotating connection shaft, a triangular support 17 is rotatably connected to the rotating connection shaft, one end of the triangular support 17 is rotatably connected with the second adjusting arm 16, the other end of the triangular support 17 is rotatably connected with a third adjusting arm 18, and the third adjusting arm 18 is rotatably connected with the grabbing connection seat 19.
And a plurality of groups of through holes are formed in the grabbing main arm 12, the first adjusting arm 14, the grabbing support arm 15, the second adjusting arm 16, the triangular support 17 and the third adjusting arm 18.
An adjusting plate 30 is connected to the second driving shaft 27 in a sliding mode, the adjusting plate 30 is fixedly installed with the second driving shaft 27 through an adjusting bolt, a connecting support rod 31 is fixedly installed on the adjusting plate 30, and the connecting support rod 31 is rotatably connected with a driving telescopic rod of the grabbing cylinder 29.
The centre position of the lower end of the grabbing seat plate 24 is fixedly provided with a lower connector 25, and a clamping assembly 40 is detachably mounted on the lower connector 25 through bolts.
The clamping assembly 40 comprises a clamping joint 41 and a clamping base plate 43, the clamping joint 41 is detachably mounted on the lower connector 25 through a bolt, a rotary cylinder 42 is fixedly mounted at the center of the lower end of the clamping joint 41, the output end of the rotary cylinder 42 is fixedly connected with the clamping base plate 43, a double-end cylinder 44 is fixedly mounted at the lower end of the clamping base plate 43, a clamping support 45 is fixedly connected to the end of an output telescopic rod at two ends of the double-end cylinder 44, and a clamping claw 46 is fixedly mounted on the clamping support 45.
The bottom of the clamping claw 46 is detachably provided with a limiting baffle plate 47, and the limiting baffle plate 47 is connected with the clamping claw 46 through a bolt.
A grabbing method of grabbing equipment of an industrial intelligent robot specifically comprises the following steps:
the method comprises the following steps: when grabbing operation is needed, the mounting base 1 is fixedly mounted on the industrial intelligent robot, the first motor 5 works to drive the first driving shaft 6 and the driving gear 7 to rotate, the driving gear 7 drives the annular rack 8 and the rotating cover 4 to rotate through meshing transmission, and therefore the grabbing arm support 9 is driven to rotate, and overall rotation of grabbing equipment is achieved, so that objects in different directions are grabbed;
step two: in the process of grabbing an object, the third motor 11 is electrified to work to drive the grabbing main arm 12 to rotate on the grabbing arm support 9, so that the rotation control of the grabbing main arm 12 is realized, the second motor 10 is electrified to work to drive the first adjusting arm 14 to rotate, the first adjusting arm 14 drives the grabbing support arm 15 to rotate on the grabbing main arm 12, so that the grabbing main arm 12 and the grabbing support arm 15 can flexibly rotate, and therefore the objects in different directions are grabbed, and in the rotating grabbing process of the grabbing main arm 12 and the grabbing support arm 15, the second adjusting arm 16, the triangular support 17 and the third adjusting arm 18 position and support the rotation of the grabbing main arm 12 and the grabbing support arm 15;
step three: the grabbing main arm 12 and the grabbing support arm 15 rotate to drive the grabbing connecting base 19 to move to grab an article, the fourth motor 21 is electrified to work to drive the rotating connecting base 20 to rotate, the rotating connecting base 20 drives the grabbing component 22 to rotate to grab different positions of the article, the two groups of grabbing cylinders 29 work to drive the first grabbing claws 32 and the second grabbing claws 33 to rotate, the article is grabbed through the two groups of first grabbing claws 32 and the second grabbing claws 33 which are arranged diagonally, the grabbing main arm 12 and the grabbing support arm 15 are driven to rotate to move the article after the article is grabbed, and the grabbing arm support 9 is driven to rotate by the first motor 5 to place the article in a specific place;
step four: to the article that need to carry out the fixed clamp and get and process, will press from both sides subassembly 40 fixed mounting and snatch the bedplate 24 lower extreme, snatch main arm 12 and snatch the support arm 15 and rotate to drive to press from both sides and get subassembly 40 and remove and press from both sides and get the article, revolving cylinder 42 works and drives to press from both sides and get bedplate 43 and rotate, thereby press from both sides the different positions of article and get, double-end cylinder 44 works and drives two sets of clamp and get support 45 and press from both sides and get claw 46 and move and fix the clamp and get the article and get, press from both sides the limit baffle 47 of demountable installation on getting claw 46 and get article and get and carry out spacing fixed, article are got the back and are driven through second motor 10 and third motor 11 and snatch main arm 12 and snatch.
When the robot is used and needs to be grabbed, the mounting base 1 is fixedly mounted on the industrial intelligent robot, the first motor 5 works to drive the first driving shaft 6 and the driving gear 7 to rotate, the driving gear 7 drives the annular rack 8 and the rotating cover 4 to rotate through meshing transmission, the transmission of the gear and the rack ensures the stable rotation of the rotating cover 4, so that the grabbing arm support 9 is driven to rotate, the overall rotation of grabbing equipment is realized, articles in different directions are grabbed, and the grabbing range of the robot is effectively realized; when an object is grabbed, the third motor 11 is electrified to work to drive the grabbing main arm 12 to rotate on the grabbing arm support 9, so that the rotation control of the grabbing main arm 12 is realized, the second motor 10 is electrified to work to drive the first adjusting arm 14 to rotate, the first adjusting arm 14 drives the grabbing support arm 15 to rotate on the grabbing main arm 12, so that the grabbing main arm 12 and the grabbing support arm 15 can flexibly rotate, so that objects in different directions are grabbed, in the rotating grabbing process of the grabbing main arm 12 and the grabbing support arm 15, the second adjusting arm 16, the triangular support 17 and the third adjusting arm 18 are used for positioning and supporting the rotation of the grabbing main arm 12 and the grabbing support arm 15, and a plurality of through holes are formed in the adjusting arm and the grabbing arm of the grabbing equipment, so that the material consumption of the equipment is reduced to achieve the effect of saving cost, on the other hand, the whole quality of the equipment is reduced, so that, the object can be rapidly grabbed; the grabbing main arm 12 and the grabbing support arm 15 rotate to drive the grabbing connecting base 19 to move to grab an article, the fourth motor 21 is electrified to work to drive the rotating connecting base 20 to rotate, the rotating connecting base 20 drives the grabbing component 22 to rotate to grab different positions of the article, the two groups of grabbing cylinders 29 work to drive the first grabbing claws 32 and the second grabbing claws 33 to rotate, the article is grabbed through the two groups of first grabbing claws 32 and the second grabbing claws 33 which are arranged diagonally, the grabbing main arm 12 and the grabbing support arm 15 are driven to rotate to move the article after the article is grabbed, and the grabbing arm support 9 is driven to rotate by the first motor 5 to place the article in a specific place; for the object to be fixedly clamped for processing, the clamping assembly 40 is fixedly arranged at the lower end of the grabbing seat plate 24, the grabbing main arm 12 and the grabbing support arm 15 rotate to drive the clamping assembly 40 to move for clamping the object, the rotating cylinder 42 works to drive the grabbing seat plate 43 to rotate, thereby clamping different positions of the article, the double-head cylinder 44 works to drive the two groups of clamping support seats 45 and the clamping claws 46 to move to fixedly clamp the article, the limit baffle plates 47 which are detachably arranged on the clamping claws 46 limit and fix the article, thereby effectively ensuring the clamping and fixing effect of the object, ensuring the stability of the object during clamping and processing, improving the processing precision of the object, driving the main grabbing arm 12 and the grabbing arm 15 to rotate to move the clamped object through the second motor 10 and the third motor 11 after the object is clamped, the first motor 5 drives the grabbing arm support 9 to rotate so as to process different positions of the clamped articles.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation and a specific orientation configuration and operation, and thus, should not be construed as limiting the present invention. Furthermore, "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be directly connected or indirectly connected through an intermediate member, or they may be connected through two or more elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
While one embodiment of the present invention has been described in detail, the description is only a preferred embodiment of the present invention and should not be taken as limiting the scope of the invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.
Claims (9)
1. The grabbing equipment of the industrial intelligent robot is characterized by comprising an installation base (1), a fixed seat (2), a supporting column (3), a grabbing arm support (9) and a grabbing assembly (22), wherein the installation base (1) is fixedly installed with the industrial intelligent robot, the fixed seat (2) is fixedly installed at the central position of the upper end of the installation base (1), the supporting column (3) is fixedly connected to the central position of the upper end of the fixed seat (2), a rotating cover (4) is rotatably installed on the supporting column (3), the grabbing arm support (9) is fixedly installed on the rotating cover (4), a second motor (10) and a third motor (11) are fixedly installed on the grabbing arm support (9), the second motor (10) and the third motor (11) are symmetrically distributed on two sides of the grabbing arm support (9), the grabbing arm support (9) is rotatably installed with a grabbing main arm (12), the grabbing main arm (12) is fixedly connected with an output shaft of a third motor (11), a grabbing support arm (15) is rotatably arranged on one side of the grabbing main arm (12) far away from the grabbing arm support seat (9), a rotating rod (13) is fixedly arranged on an output shaft of the second motor (10), a first adjusting arm (14) is rotatably arranged on the rotating rod (13), one side of the grabbing support arm (15) close to the grabbing main arm (12) is rotatably connected with a first adjusting arm (14), the other end of the grabbing support arm (15) is fixedly connected with a grabbing connecting seat (19), a fourth motor (21) which is vertically downward is fixedly arranged on the grabbing connecting seat (19), an output shaft of the fourth motor (21) penetrates through the grabbing connecting base (19) to be connected with a rotating connecting base (20), and a grabbing assembly (22) is installed at the lower end of the rotating connecting base (20);
the grabbing component (22) comprises a grabbing seat plate (24) and a second driving shaft (27), an upper connector (23) is fixedly arranged at the center of the upper end of the grabbing seat plate (24), the upper connector (23) is connected with a rotating connecting seat (20), four groups of bearings (26) with seats are fixedly arranged on the grabbing seat plate (24), the bearings (26) with seats are distributed at four corners of the grabbing seat plate (24) in an annular array manner, the second driving shaft (27) is arranged in two groups side by side, two ends of the second driving shaft (27) are fixedly connected with inner rings of the two groups of bearings (26) with seats on the same side, two side ends of the second driving shaft (27) are respectively and fixedly provided with a first grabbing jaw (32) and a second grabbing jaw (33), the two groups of first grabbing jaw (32) and the second grabbing jaw (33) are distributed diagonally, and a cylinder seat (28) is fixedly arranged on the first grabbing jaw (32), and a grabbing cylinder (29) is rotatably arranged on the cylinder seat (28), and a driving telescopic rod of the grabbing cylinder (29) is rotatably connected with another group of second driving shafts (27).
2. The industrial intelligent robot grabbing device according to claim 1, wherein a first motor (5) which faces vertically downwards is fixedly mounted on the rotating cover (4), a first driving shaft (6) is fixedly connected to an output end of the first motor (5), the first driving shaft (6) penetrates through the rotating cover (4) downwards, a driving gear (7) is fixedly mounted at the lower end of the first driving shaft (6), an annular rack (8) is fixedly arranged on the inner side wall of the rotating cover (4), and the annular rack (8) is in meshing transmission connection with the driving gear (7).
3. The industrial intelligent robot grabbing device according to claim 1, wherein a second adjusting arm (16) is rotatably connected to the grabbing arm support (9), a rotating connecting shaft is arranged at the rotating connection position of the grabbing main arm (12) and the grabbing arm (15), a triangular bracket (17) is rotatably connected to the rotating connecting shaft, one end of the triangular bracket (17) is rotatably connected to the second adjusting arm (16), the other end of the triangular bracket (17) is rotatably connected to a third adjusting arm (18), and the third adjusting arm (18) is rotatably connected to the grabbing connecting base (19).
4. The industrial intelligent robot grabbing device according to claim 3, wherein a plurality of groups of through holes are formed in the grabbing main arm (12), the first adjusting arm (14), the grabbing support arm (15), the second adjusting arm (16), the triangular support (17) and the third adjusting arm (18).
5. The industrial intelligent robot grabbing device according to claim 1, wherein an adjusting plate (30) is connected to the second driving shaft (27) in a sliding mode, the adjusting plate (30) is fixedly installed on the second driving shaft (27) through an adjusting bolt, a connecting supporting rod (31) is fixedly installed on the adjusting plate (30), and the connecting supporting rod (31) is rotatably connected with a driving telescopic rod of the grabbing cylinder (29).
6. The industrial intelligent robot grabbing device according to claim 1, wherein a lower connector (25) is fixedly arranged at the center of the lower end of the grabbing seat plate (24), and the clamping assembly (40) is detachably mounted on the lower connector (25) through a bolt.
7. The industrial intelligent robot grabbing device according to claim 6, wherein the grabbing assembly (40) comprises a grabbing joint (41) and a grabbing seat plate (43), the grabbing joint (41) is detachably mounted on the lower connector (25) through a bolt, a rotating cylinder (42) is fixedly mounted at the center of the lower end of the grabbing joint (41), the output end of the rotating cylinder (42) is fixedly connected with the grabbing seat plate (43), a double-head cylinder (44) is fixedly mounted at the lower end of the grabbing seat plate (43), clamping supports (45) are fixedly connected with the end portions of output telescopic rods at two ends of the double-head cylinder (44), and clamping claws (46) are fixedly mounted on the clamping supports (45).
8. The industrial intelligent robot grabbing device according to claim 7, wherein a limiting baffle (47) is detachably mounted at the bottom of the grabbing jaw (46), and the limiting baffle (47) is connected with the grabbing jaw (46) through a bolt.
9. A grabbing method of grabbing equipment of an industrial intelligent robot is characterized by comprising the following steps:
the method comprises the following steps: when grabbing operation is needed, the mounting base (1) is fixedly mounted on the industrial intelligent robot, the first motor (5) works to drive the first driving shaft (6) and the driving gear (7) to rotate, the driving gear (7) drives the annular rack (8) and the rotating cover (4) to rotate through meshing transmission, and therefore the grabbing arm support (9) is driven to rotate, and the grabbing equipment is integrally rotated to grab articles in different directions;
step two: in the process of grabbing objects, a third motor (11) is electrified to work to drive a grabbing main arm (12) to rotate on a grabbing arm support (9), so that rotation control of the grabbing main arm (12) is achieved, a second motor (10) is electrified to work to drive a first adjusting arm (14) to rotate, the first adjusting arm (14) drives a grabbing support arm (15) to rotate on the grabbing main arm (12), flexible rotation of the grabbing main arm (12) and the grabbing support arm (15) is achieved, so that objects in different directions are grabbed, the grabbing main arm (12) and the grabbing support arm (15) are grabbed, and in the rotating and grabbing process, the second adjusting arm (16), a triangular support (17) and a third adjusting arm (18) position and support rotation of the grabbing main arm (12) and the grabbing support arm (15);
step three: the grabbing main arm (12) and the grabbing support arm (15) rotate to drive the grabbing connecting seat (19) to move to grab an article, the fourth motor (21) is electrified to work to drive the rotating connecting seat (20) to rotate, the rotating connecting seat (20) drives the grabbing component (22) to rotate to grab different positions of the article, two groups of grabbing cylinders (29) work to drive the first grabbing claw (32) and the second grabbing claw (33) to rotate, the article is grabbed through the two groups of first grabbing claw (32) and the second grabbing claw (33) which are arranged diagonally, after being grabbed, the grabbing main arm (12) and the grabbing support arm (15) are driven to rotate through the second motor (10) and the third motor (11) to move the article, and the grabbing support arm (9) is driven to rotate through the first motor (5) to place the article to a specific place;
step four: for the articles to be fixedly clamped and processed, the clamping component (40) is fixedly arranged at the lower end of the grabbing seat plate (24), the grabbing main arm (12) and the grabbing support arm (15) rotate to drive the clamping component (40) to move to clamp the articles, the rotary cylinder (42) works to drive the clamping seat plate (43) to rotate, thereby clamping different positions of the article, the double-head cylinder (44) works to drive the two groups of clamping support seats (45) and the clamping jaws (46) to move to fixedly clamp the article, the limit baffle plates (47) which are detachably arranged on the clamping jaws (46) clamp the article to limit and fix, the article is clamped and then the main grabbing arm (12) and the grabbing support arm (15) are driven to rotate to move the clamped article by the second motor (10) and the third motor (11), the first motor (5) drives the grabbing arm support (9) to rotate so as to process different positions of the clamped articles.
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| CN202010881228.1A CN111993405A (en) | 2020-08-27 | 2020-08-27 | Grabbing equipment of industrial intelligent robot and grabbing method thereof |
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| CN202010881228.1A CN111993405A (en) | 2020-08-27 | 2020-08-27 | Grabbing equipment of industrial intelligent robot and grabbing method thereof |
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| CN112621797A (en) * | 2020-12-01 | 2021-04-09 | 镇江云杰信息技术有限公司 | Clamping arm for industrial robot |
| CN112666169A (en) * | 2020-12-29 | 2021-04-16 | 珠海迪沃航空工程有限公司 | Intelligent detection device and detection method for defects of turbine blades of aircraft engine |
| CN112730439A (en) * | 2020-12-29 | 2021-04-30 | 珠海迪沃航空工程有限公司 | Intelligent detection system and detection method for defects of turbine blades of aircraft engine |
| CN112945983A (en) * | 2021-01-15 | 2021-06-11 | 南京迪沃航空技术有限公司 | Cleaning detection system and cleaning detection method for aircraft engine blade |
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| CN113459150A (en) * | 2021-08-06 | 2021-10-01 | 绍兴建元电力集团有限公司 | Automatic control arm |
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Application publication date: 20201127 |