CN113601483A - A goods grabbing device for industrial robot - Google Patents
A goods grabbing device for industrial robot Download PDFInfo
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- CN113601483A CN113601483A CN202110846075.1A CN202110846075A CN113601483A CN 113601483 A CN113601483 A CN 113601483A CN 202110846075 A CN202110846075 A CN 202110846075A CN 113601483 A CN113601483 A CN 113601483A
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- 240000004282 Grewia occidentalis Species 0.000 claims abstract description 24
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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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
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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Abstract
The invention discloses a cargo gripping device for an industrial robot, relates to the technical field of industrial robots, and solves the problem that the existing device is inconvenient to control the inclination angle of a gripping structure. A cargo gripping device for an industrial robot includes a robot arm main body; the left side of the mechanical arm main body base is fixedly connected with a hydraulic pump; the tail end of the top of the mechanical arm main body is provided with a primary angle adjusting structure through hinge connection; the front end of the first-stage hinged seat is provided with a second-stage angle adjusting structure through hinged connection; the front end of the secondary angle adjusting structure is provided with a flexible grabbing structure; the control part circuit controls the telescopic parts of the four-corner hydraulic cylinder to stretch and retract, and the control part circuit can adjust the angles of the four groups of inner side plates by matching with the support frame, so that the inclination of an angle adjusting disc hinged to the front ends of the four groups of inner side plates can be controlled, the structure can be flexibly grabbed by the hinged front ends of the angle adjusting disc to control the inclination angle, and the grabbing structure can be conveniently adjusted at multiple angles.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a cargo gripping device for an industrial robot.
Background
The arm of articulated industrial machine is similar with the integrative upper limbs of people, and its structure is compactest, and the flexibility is big, and area is minimum, can coordinate work with other industrial robot, and this kind of industrial robot uses more and more extensively, and current industrial robot is not convenient for snatch small-size unordered goods.
For example, patent No. CN109159140A discloses a goods grabbing device for industrial robot through retrieving, the on-line screen storage device comprises a base, fixedly connected with flange joint board on the roof of base, the diapire central authorities fixedly connected with cylinder of base, be connected with the universal joint on the diapire of cylinder, the one end fixedly connected with that the cylinder was kept away from to the universal joint has the horizontally backup pad, set up the rectangle opening of two upper and lower intercommunications on the roof of backup pad, install the one-level on the base of rectangle opening upside and snatch the mechanism, and the one-level snatchs the downside that the mechanism can extend to the backup pad, install on the diapire of base and snatch the adjustment mechanism that the mechanism is connected with the one-level, the advantage lies in: the invention can carry out corresponding adjustment according to the requirement of the goods grabbing position and avoid the situation that the goods fall off during the transportation.
For another example, patent No. is CN110281261A discloses a goods grabbing device for industrial robot, including the carriage, the inside of carriage is provided with the biax motor, be provided with screw rod one and screw rod two on the output shaft of biax motor both sides, the cover is equipped with splint one on the screw rod one, splint one with splint two with be provided with stop gear between the carriage, splint one with a plurality of through-holes have all been seted up respectively to the inside bottom of splint two, splint one with one side of splint two is provided with the framework, the inside bottom of framework is provided with supplementary clamping device, the top of the inside one side of framework is provided with driving motor, driving motor with cooperate through the assembly pulley between the supplementary clamping device and connect, beneficial effect: job stabilization can carry out dual reinforcement to the goods at the in-process of snatching, avoids causing the emergence of the goods condition that drops, convenient to use, easy operation, work efficiency is high.
Based on the aforesaid, traditional goods grabbing device for industrial robot generally is the splint structure, is not convenient for carry out unordered the snatching to the goods of equidimension and different angle of putting, and the suitability of device is relatively poor, is not convenient for carry out inclination angle control to grabbing the structure, can not further carry out the multi-angle to grabbing the structure and adjust, is not convenient for accomplish the snatching to miniature goods spare part.
Thus, the existing requirements are not met, for which we propose a goods gripping device for an industrial robot.
Disclosure of Invention
Problem (A)
The invention aims to provide a goods gripping device for an industrial robot, and the goods gripping device is used for solving the problems that the traditional goods gripping device for the industrial robot, which is proposed in the background technology, is generally of a clamping plate structure, is inconvenient to grip goods with different sizes and different placing angles, is poor in adaptability, is inconvenient to control the inclination angle of a gripping structure, cannot further adjust the gripping structure in multiple angles, and is inconvenient to grip micro goods parts.
(II) technical scheme
In order to achieve the purpose, the invention provides the following technical scheme: a cargo gripping device for an industrial robot includes a robot arm main body;
the left side of the mechanical arm main body base is fixedly connected with a hydraulic pump;
the tail end of the top of the mechanical arm main body is provided with a primary angle adjusting structure through hinge connection;
the primary angle adjusting structure comprises a primary hinge seat, a control part and a servo motor, wherein the primary hinge seat is arranged at the tail end of the top of the mechanical arm main body through hinge connection, the control part is fixedly connected to the left vertical surface of the primary hinge seat, and the servo motor is fixedly connected to the front end of the primary hinge seat;
the front end of the first-stage hinged seat is provided with a second-stage angle adjusting structure through hinged connection;
the front end of the secondary angle adjusting structure is provided with a flexible grabbing structure;
the front end of the flexible grabbing structure is provided with grabbing petals, and the number of the grabbing petals is four.
Preferably, the secondary angle modulation structure includes:
the inclination adjusting frame is of a cross structure and is arranged at the front end of a rotating shaft of the servo motor in a coaxial connection manner;
the four corners camera, four corners camera quantity set up to four groups, its fixed connection in the inboard sunk angle department of slope alignment jig.
Preferably, the secondary angle modulation structure further includes:
the extension frame is fixedly connected to the outer vertical surface of the inclination adjusting frame;
the four corners pneumatic cylinder, four corners pneumatic cylinder quantity sets up to four groups, and it sets up in extension frame front side through the hinge.
Preferably, the secondary angle modulation structure further includes:
the supporting frame is fixedly connected to the front end vertical surface of the inclination adjusting frame;
the inner side plates are arranged in four groups, the inner side plates are arranged at the front end of the support frame through hinge connection, and the outer side vertical surface of the front end of the inner side plates is connected with the front ends of the telescopic parts of the four-corner hydraulic cylinders through hinges.
Preferably, the secondary angle modulation structure further includes:
the angle adjusting disc is of a disc-shaped structure and is arranged at the front ends of the four groups of inner side plates through hinge connection;
extension head, extension head quantity set up to four groups, extension head fixed connection in angle modulation dish outer curved side, it passes through the hinge with the interior side plate front end and is connected.
Preferably, the secondary angle modulation structure further includes:
the sliding chutes are arranged in four groups, are equidistantly arranged on the side surface of the angle modulation disc curve, and are separated from the extension head by forty-five degrees;
the extension threaded pipe is fixedly connected to the vertical surface of the front end of the angle adjusting disc.
Preferably, the secondary angle modulation structure further includes:
the inner hinge seat is fixedly connected to the vertical surface of the front end of the extension threaded pipe;
the front extension rods are arranged into four groups and fixedly connected to the front end vertical face of the inner hinged seat.
Preferably, the flexible grasping structure includes:
the built-in flange sleeves are sleeved on the opposite inner sides of the four groups of inner side plates;
the supporting plates are arranged in four groups and fixedly connected to the vertical face of the front end of the built-in flange sleeve, and the front end of each supporting plate is fixed to the vertical face of the rear end of the angle adjusting disc.
Preferably, the flexible grasping structure further includes:
the built-in hydraulic cylinder is arranged on the inner curved side surface of the built-in flange sleeve through flange connection;
the telescopic fixed disc is fixedly connected to the tail end of the front telescopic part of the built-in hydraulic cylinder;
the number of the first-stage connecting rods is four, and the first-stage connecting rods are fixedly connected to the front end of the telescopic fixed disc;
and the second-stage connecting rod is arranged at the front end of the first-stage connecting rod through hinged connection and is positioned on the inner side of the sliding groove.
Preferably, the gripping flap comprises:
the circular grooves are fixedly connected to the opposite inner sides of the four groups of gripping petals;
the fan-shaped seat is arranged on the front side of the angle adjusting disc;
the equidistant hinging seats are arranged into eight groups, are fixedly connected to the vertical surface of the rear end of the fan-shaped seat and are respectively hinged with the front ends of the front extension rod and the secondary connecting rod;
the clamping cone flap is fixedly connected to the front end of the fan-shaped seat.
(III) advantageous effects
1. According to the invention, the four-corner cameras are arranged, the goods on the front side of the flexible grabbing structure are shot at four angles through the four-corner cameras, after the four groups of images are combined and comprehensively processed through the processor in the control part, three-dimensional judgment on the appearance of the goods can be formed, the control part can conveniently control the servo motor to rotate and the four-corner hydraulic cylinders to operate and cooperate, the goods grabbing angles can be conveniently set in real time, further, the goods with different sizes and different placing angles can be conveniently and disorderly grabbed, and the adaptability of the device is improved.
2. The invention also provides a secondary angle modulation structure, after the secondary angle modulation structure is matched with the primary angle modulation structure, the middle motor is controlled to operate by the console, after the four-corner camera synthetic image is detected by the control part, the grabbing angle is calculated by the processor, after the mechanical arm main body is controlled by the control part circuit to deflect, the hydraulic pump is controlled by the circuit to operate, the four groups of four-corner hydraulic cylinders operate by the pipeline, the four groups of inner side plates can be adjusted by the telescopic parts of the four-corner hydraulic cylinders, and the angles of the four groups of inner side plates can be adjusted by matching with the support frame, so that the inclination angles of the angle modulation discs hinged with the front ends of the four groups of inner side plates can be controlled, the inclination angles of the flexible grabbing structure hinged with the front ends of the angle modulation discs can be controlled, and the grabbing structure can be conveniently adjusted in multiple angles.
3. The invention also arranges the grasping flaps, after the angle of the flexible grasping structure is adjusted by the angle adjusting disc, the control part circuit controls the built-in hydraulic cylinder to operate, so that the telescopic parts can be contracted backwards, the four groups of first-stage connecting rods drive the second-stage connecting rods to slide backwards in the sliding chute, the rear ends of the four groups of fan-shaped seats are driven to turn backwards relative to the outer ring equidistant hinged seat, the four groups of grasping flaps can be split and opened by matching with the front extension rod, the control part controls the built-in hydraulic cylinder to operate and expand, the grasping flaps can be controlled to open and close, and the grasping of the micro cargo parts can be conveniently completed.
Drawings
FIG. 1 is a schematic front side perspective view of an embodiment of the present invention;
FIG. 2 is an enlarged view of a portion of FIG. 1 in accordance with an embodiment of the present invention;
FIG. 3 is a schematic view of a disassembled three-dimensional structure on the left side of the tilt adjusting bracket according to the embodiment of the present invention;
FIG. 4 is an enlarged view of a portion of B in FIG. 3 according to an embodiment of the present invention;
FIG. 5 is a schematic view of a disassembled three-dimensional structure on the right side of the tilt adjusting bracket according to the embodiment of the present invention;
FIG. 6 is an enlarged view of a portion of C in FIG. 5 according to an embodiment of the present invention;
FIG. 7 is a schematic perspective exploded view of an inner hinge base according to an embodiment of the present invention;
FIG. 8 is a schematic top view of an embodiment of the present invention;
FIG. 9 is a schematic perspective view of a gripping flap in an embodiment of the present invention;
in fig. 1 to 9, the correspondence between the part names or lines and the reference numbers is:
1. a robot arm main body;
2. a hydraulic pump;
3. a first-stage hinge base;
301. a control unit; 302. a servo motor;
4. an inclination adjusting bracket;
401. a four-corner camera; 402. an extension frame; 4021. a four-corner hydraulic cylinder; 403. a support frame; 4031. an inner side plate;
5. an angle adjusting disc;
501. an extension head; 502. a chute; 503. an extended threaded pipe; 5031. an inner hinged seat; 5032. a forward extending rod;
6. a flange sleeve is arranged inside;
601. a support plate; 602. a hydraulic cylinder is arranged in the cylinder; 6021. a telescopic fixed disc; 6022. a primary connecting rod; 6023. a secondary connecting rod;
7. a grasping flap;
701. a circular groove; 702. a fan-shaped seat; 7021. equidistant hinged seats; 703. the cone flap is clamped.
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.
In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", 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 and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1 to 9, an embodiment of the present invention includes: a cargo gripping device for an industrial robot includes a robot arm main body 1; the left side of the base of the mechanical arm main body 1 is fixedly connected with a hydraulic pump 2; the tail end of the top of the mechanical arm main body 1 is provided with a primary angle adjusting structure through hinge connection; the primary angle adjusting structure comprises a primary hinge seat 3, a control part 301 and a servo motor 302, wherein the primary hinge seat 3 is arranged at the tail end of the top of the mechanical arm main body 1 through hinge connection, the control part 301 is fixedly connected to the left vertical surface of the primary hinge seat 3, and the servo motor 302 is fixedly connected to the front end of the primary hinge seat 3; the front end of the first-level hinged seat 3 is provided with a second-level angle adjusting structure through hinged connection; the front end of the secondary angle adjusting structure is provided with a flexible grabbing structure; the front end of the flexible grabbing structure is provided with grabbing petals 7, the grabbing petals 7 are arranged in four groups, a circuit of the control portion 301 is electrically connected with the hydraulic pump 2, and the hydraulic pump 2 is connected with the four groups of four-corner hydraulic cylinders 4021 through hydraulic pipelines.
As shown in fig. 3, the secondary angle adjusting structure further includes: the extension frame 402, the extension frame 402 is fixedly connected to the outer vertical surface of the tilt adjusting frame 4; the four-corner hydraulic cylinders 4021 are provided in four groups, and are hinged to the front side of the extension frame 402; the supporting frame 403 is fixedly connected to the front end vertical surface of the inclination adjusting frame 4; the inner side plates 4031, the inner side plates 4031 are provided with four groups, the inner side plates 4031 are arranged at the front ends of the support frames 403 through hinge connection, and the outer side vertical surfaces of the front ends of the inner side plates 4031 are connected with the front ends of the telescopic parts of the four-corner hydraulic cylinders 4021 through hinges; the angle adjusting disc 5 is of a disc-shaped structure, and the angle adjusting disc 5 is arranged at the front ends of the four groups of inner side plates 4031 through hinge connection; the number of the extension heads 501 is four, the extension heads 501 are fixedly connected to the outer curved side surface of the angle adjusting disc 5, and the extension heads 501 are hinged with the front end of the inner side plate 4031; the sliding chutes 502 are arranged in four groups, are equidistantly arranged on the curved side surface of the angle adjusting disc 5, and are separated from the extension head 501 by an angle of forty-five degrees; the extension threaded pipe 503 is fixedly connected to the front end vertical surface of the angle adjusting disc 5; the inner hinging seat 5031 is fixedly connected with the front end vertical surface of the extension threaded pipe 503; the front extension rods 5032 are provided in four groups, the front extension rods 5032 are fixedly connected to the front end vertical surface of the inner hinged seat 5031, after the control unit 301 detects the synthesized image of the four-corner cameras 401, and the processor calculates the grabbing angle, the control unit 301 controls the circuit of the mechanical arm body 1 to deflect the angle, the circuit controls the hydraulic pump 2 to operate, the four groups of four-corner hydraulic cylinders 4021 operate through a pipeline, the four groups of four-corner hydraulic cylinders 4021 extend and retract through the extension parts of the four-corner hydraulic cylinders 4021, and the angles of the four groups of inner side plates 4031 can be adjusted by matching with the support frame 403, so that the inclination of the angle adjusting discs 5 hinged to the front ends of the four groups of inner side plates 4031 can be controlled, the flexible grabbing structure hinged to the front ends of the angle adjusting discs 5 can be controlled to control the inclination, and the grabbing structure can be adjusted in multiple angles.
As shown in fig. 2, the secondary recliner structure includes: the inclination adjusting frame 4 is of a cross structure, and the inclination adjusting frame 4 is coaxially connected and arranged at the front end of a rotating shaft of the servo motor 302; four corners camera 401, four corners camera 401 quantity sets up to four groups, its fixed connection is in 4 inboard recessed angle departments of slope alignment jig, carry out the shooting of four angles to the goods that snatch the structure front side in a flexible way through four groups of images, through merge the back with four groups of images, carry out the integrated processing back through the inside treater of control part 301, can form the three-dimensional judgement to the goods appearance, the control part 301 control servo motor 302 of being convenient for rotates and the operation of four corners pneumatic cylinder 4021, be convenient for snatch the angle to the goods and set for, and then be convenient for snatch the goods.
As shown in FIG. 9, the grip flap 7 includes: the circular grooves 701 are fixedly connected to the opposite inner sides of the four groups of gripping petals 7; the fan-shaped seat 702 is arranged on the front side of the angle adjusting disc 5; eight equidistant hinged seats 7021 are provided, which are fixedly connected to the rear end vertical surface of the fan-shaped seat 702 and are respectively hinged to the front ends of the front extension rod 5032 and the secondary connecting rod 6023; the clamping cone flaps 703 are fixedly connected to the front ends of the fan-shaped seats 702, and the circular grooves 701 are formed in the centers of the four groups of fan-shaped seats 702, so that the distance between the four groups of equidistant hinged seats 7021 hinged to the front extension rod 5032 can be increased, and the clamping position can be prevented by preventing the contact of the inner sides of the fan-shaped seats 702 when the four groups of clamping flaps 7 are expanded.
As shown in fig. 7, the flexible grasping configuration includes: the built-in flange sleeves 6 are arranged on the opposite inner sides of the four groups of inner side plates 4031; the supporting plates 601 are arranged in four groups and fixedly connected to the vertical surface of the front end of the built-in flange sleeve 6, and the front ends of the supporting plates 601 are fixed to the vertical surface of the rear end of the angle adjusting disc 5; the built-in hydraulic cylinder 602 is arranged on the inner curved side surface of the built-in flange sleeve 6 through flange connection, and the circuit of the built-in hydraulic cylinder 602 is coupled with the circuit of the control part 301; a telescopic fixed disc 6021 fixedly connected to the end of the front telescopic part of the built-in hydraulic cylinder 602; the primary connecting rods 6022 are arranged in four groups and fixedly connected to the front end of the telescopic fixed disc 6021; the secondary connecting rods 6023 are hinged to the front ends of the primary connecting rods 6022 and located inside the sliding grooves 502, the angle of the flexible grabbing structure is adjusted by the angle adjusting disc 5, the control part 301 controls the operation of the built-in hydraulic cylinders 602, and the telescopic parts of the built-in hydraulic cylinders can be retracted backwards, so that the four groups of primary connecting rods 6022 drive the secondary connecting rods 6023 to slide backwards inside the sliding grooves 502, the outer ring equidistant hinged seats 7021 at the rear ends of the four groups of fan-shaped seats 702 are driven to turn backwards, the four groups of grabbing flaps 7 can be split and opened by matching with the front extension rods 5032, the control part 301 controls the built-in hydraulic cylinders 602 to extend and retract, and the grabbing flaps 7 can be controlled to open and close, so that the grabbing of the micro cargo parts is completed.
In another embodiment of the invention, the outer curved side surface of the primary connecting rod 6022 is fixedly connected to the spring, the front end of the spring is fixed with the vertical surface of the rear end of the angle adjusting disc 5, when the operation of the built-in hydraulic cylinder 602 is stopped, the grasping flap 7 stops clamping the goods, and the spring is reset to drive the primary connecting rod 6022 to displace towards the rear side, so that the four groups of grasping flaps 7 at the front end can be rapidly expanded, and the response speed can be improved.
The working principle is as follows:
when the device is used, after the mechanical arm main body 1 is started, the four-corner camera 401 shoots four angles of goods on the front side of the flexible grabbing structure, after four groups of images are combined, after the comprehensive treatment is carried out by the processor in the control part 301, the three-dimensional judgment of the appearance of the goods can be formed, the control part 301 can conveniently control the servo motor 302 to rotate and the four-corner hydraulic cylinder 4021 to operate, after the control part 301 detects the combined image of the four-corner camera 401, the grabbing angle is calculated by the processor, after the control part 301 controls the mechanical arm main body 1 to deflect the angle by the circuit, the hydraulic pump 2 is controlled by the circuit to operate, the four groups of the four-corner hydraulic cylinders 4021 operate by pipelines, the four-corner hydraulic cylinder 4021 telescopic parts stretch and contract, the angles of the four groups of inner side plates 4031 can be adjusted by being matched with the supporting frame 403, thereby the inclination of the angle adjusting discs 5 hinged with the front ends of the four groups of the inner side plates 4031 can be controlled, therefore, the flexible grabbing structure hinged to the front end of the angle adjusting disc 5 can be controlled in inclination angle, the built-in hydraulic cylinder 602 is controlled by the control part 301 through a circuit to operate, the telescopic part of the built-in hydraulic cylinder can be contracted backwards, the four groups of first-stage connecting rods 6022 can drive the two-stage connecting rods 6023 to slide backwards in the sliding groove 502, the hinging seats 7021 at the back ends of the four groups of fan-shaped seats 702 are driven to turn backwards, the four groups of grabbing petals 7 can be split and opened by matching with the front extension rod 5032, the built-in hydraulic cylinder 602 is controlled by the control part 301 to operate and contract, the grabbing petals 7 can be controlled to open and close, and grabbing of micro cargo parts is completed.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (10)
1. A goods grabbing device for industrial robot which characterized in that: comprises a mechanical arm main body (1);
the left side of the base of the mechanical arm main body (1) is fixedly connected with a hydraulic pump (2);
the tail end of the top of the mechanical arm main body (1) is provided with a primary angle adjusting structure through hinge connection;
the primary angle adjusting structure comprises a primary hinge seat (3), a control part (301) and a servo motor (302), wherein the primary hinge seat (3) is arranged at the tail end of the top of the mechanical arm main body (1) through hinge connection, the control part (301) is fixedly connected to the vertical surface of the left side of the primary hinge seat (3), and the servo motor (302) is fixedly connected to the front end of the primary hinge seat (3);
the front end of the primary hinge seat (3) is provided with a secondary angle adjusting structure through hinge connection;
the front end of the secondary angle adjusting structure is provided with a flexible grabbing structure;
the front end of the flexible grabbing structure is provided with grabbing petals (7), and the number of the grabbing petals (7) is four.
2. The cargo gripping device for an industrial robot according to claim 1, characterized in that the secondary angling structure comprises:
the inclination adjusting frame (4) is of a cross structure, and the inclination adjusting frame (4) is coaxially connected and arranged at the front end of a rotating shaft of the servo motor (302);
four corners camera (401), four corners camera (401) quantity sets up to four groups, and its fixed connection is in slope alignment jig (4) inboard sunk angle department.
3. The cargo gripping device for an industrial robot according to claim 2, characterized in that the secondary angling structure further comprises:
the extension frame (402), the extension frame (402) is fixedly connected to the outer side vertical surface of the tilt adjusting frame (4);
the four-corner hydraulic cylinder (4021) is provided with four groups in number and is arranged on the front side of the extension frame (402) through hinged connection.
4. A cargo gripping device for an industrial robot according to claim 3 characterized in that said secondary angling structure further comprises:
the supporting frame (403), the supporting frame (403) is fixedly connected to the front end vertical surface of the inclination adjusting frame (4);
the number of the inner side plates (4031) is four, the inner side plates (4031) are arranged at the front end of the support frame (403) through hinge connection, and the outer side vertical surface of the front end of the inner side plate (4031) is connected with the front end of the telescopic part of the four-corner hydraulic cylinder (4021) through hinge connection.
5. The cargo gripping device for an industrial robot according to claim 4, characterized in that the secondary angling structure further comprises:
the angle adjusting disc (5), the angle adjusting disc (5) is of a disc-shaped structure, and the angle adjusting disc (5) is arranged at the front ends of the four groups of inner side plates (4031) through hinged connection;
the extension heads (501) are arranged into four groups, the extension heads (501) are fixedly connected to the outer curved side face of the angle adjusting disc (5), and the extension heads are hinged with the front end of the inner side plate (4031).
6. The cargo gripping device for an industrial robot according to claim 5, characterized in that the secondary angling structure further comprises:
the sliding chutes (502) are arranged in four groups, are equidistantly arranged on the curved side surface of the angle adjusting disc (5), and are separated from the extension head (501) by an angle of forty-five degrees;
the extension threaded pipe (503), the extension threaded pipe (503) is fixedly connected to the front end facade of the angle adjusting disc (5).
7. The cargo gripping device for an industrial robot according to claim 6, characterized in that the secondary angling structure further comprises:
the inner hinging seat (5031), the inner hinging seat (5031) is fixedly connected to the front end vertical surface of the extension threaded pipe (503);
the front extension rods (5032) are arranged in four groups, and the front extension rods (5032) are fixedly connected to the front vertical surface of the inner hinged seat (5031).
8. A goods gripping device for an industrial robot according to claim 1, characterized in that the flexible gripping structure comprises:
the built-in flange sleeves (6), the built-in flange sleeves (6) are arranged on the opposite inner sides of the four groups of inner side plates (4031);
the number of the supporting plates (601) is four, the supporting plates are fixedly connected to the vertical face of the front end of the built-in flange sleeve (6), and the front end of each supporting plate (601) is fixed to the vertical face of the rear end of the angle adjusting disc (5).
9. A goods gripping device for an industrial robot according to claim 8, characterized in that the flexible gripping structure further comprises:
the built-in hydraulic cylinder (602), the built-in hydraulic cylinder (602) is connected and arranged on the inner curved side surface of the built-in flange sleeve (6) through a flange;
a telescopic fixed disc (6021) fixedly connected to the tail end of the front telescopic part of the built-in hydraulic cylinder (602);
the number of the primary connecting rods (6022) is four, and the primary connecting rods (6022) are fixedly connected to the front end of the telescopic fixed disc (6021);
and the secondary connecting rod (6023) is arranged at the front end of the primary connecting rod (6022) through hinge joint and is positioned at the inner side of the sliding groove (502).
10. A goods gripping device for an industrial robot according to claim 1, characterized in that the gripping flap (7) comprises:
the circular grooves (701), the circular grooves (701) are fixedly connected to the opposite inner sides of the four groups of gripping petals (7);
the fan-shaped seat (702), the fan-shaped seat (702) is arranged on the front side of the angle adjusting disc (5);
eight groups of equidistant hinged seats (7021) are arranged, are fixedly connected to the rear end vertical surface of the fan-shaped seat (702), and are respectively hinged with the front ends of the front extension rod (5032) and the secondary connecting rod (6023);
the clamping cone flap (703), the clamping cone flap (703) is fixedly connected with the front end of the fan-shaped seat (702).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110846075.1A CN113601483B (en) | 2021-07-26 | 2021-07-26 | A goods grabbing device for industrial robot |
Applications Claiming Priority (1)
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| CN105127982A (en) * | 2015-09-24 | 2015-12-09 | 深圳松健机器人有限公司 | Rapid and high-precision robot manipulator |
| CN105798874A (en) * | 2016-05-25 | 2016-07-27 | 刘明月 | New energy automobile hub grabbing industrial robot |
| CN107443367A (en) * | 2017-08-31 | 2017-12-08 | 广州泰行智能科技有限公司 | A kind of six-joint robot |
| CN207240246U (en) * | 2017-03-24 | 2018-04-17 | 昆明理工大学 | A kind of anti-skidding link robot manipulator of pressure control |
| CN208759581U (en) * | 2018-08-23 | 2019-04-19 | 深圳松健机器人有限公司 | A kind of flexible finger six-shaft industrial robot |
| CN210650734U (en) * | 2019-08-26 | 2020-06-02 | 江苏辛宙环保科技有限公司 | A flexible grabbing device for cosmetics medicine bottle |
| CN211967554U (en) * | 2020-04-23 | 2020-11-20 | 浙江外国语学院 | Special robot for feeding and discharging spherical parts |
| CN212146428U (en) * | 2020-05-08 | 2020-12-15 | 贾瑞清 | Six-axis light cooperative robot |
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2021
- 2021-07-26 CN CN202110846075.1A patent/CN113601483B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105127982A (en) * | 2015-09-24 | 2015-12-09 | 深圳松健机器人有限公司 | Rapid and high-precision robot manipulator |
| CN105798874A (en) * | 2016-05-25 | 2016-07-27 | 刘明月 | New energy automobile hub grabbing industrial robot |
| CN207240246U (en) * | 2017-03-24 | 2018-04-17 | 昆明理工大学 | A kind of anti-skidding link robot manipulator of pressure control |
| CN107443367A (en) * | 2017-08-31 | 2017-12-08 | 广州泰行智能科技有限公司 | A kind of six-joint robot |
| CN208759581U (en) * | 2018-08-23 | 2019-04-19 | 深圳松健机器人有限公司 | A kind of flexible finger six-shaft industrial robot |
| CN210650734U (en) * | 2019-08-26 | 2020-06-02 | 江苏辛宙环保科技有限公司 | A flexible grabbing device for cosmetics medicine bottle |
| CN211967554U (en) * | 2020-04-23 | 2020-11-20 | 浙江外国语学院 | Special robot for feeding and discharging spherical parts |
| CN212146428U (en) * | 2020-05-08 | 2020-12-15 | 贾瑞清 | Six-axis light cooperative robot |
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| CN113601483B (en) | 2022-10-18 |
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