CN116922431A - Mechanical gripper for industrial robot - Google Patents

Abstract

The utility model relates to the technical field of industrial manipulators, in particular to a manipulator claw for an industrial robot, which comprises a manipulator arm, a top plate and a grabbing part; the existing manipulator has the following problems: 1. the friction force between the manipulator and the side hub is small when the manipulator clamps the side hub, so that the side hub lacks stability and is easy to slide off; 2. the fixed positions of the spokes by the hook claw and the binding belt cannot be calibrated, the balance of the hub cannot be ensured, the hub is easy to incline, and the hub lacks stability; according to the wheel hub, the bearing plate is abutted against the bottoms of two adjacent spokes while the wheel hub is pressed and fixed by the pressing plate, so that stability in taking the wheel hub is enhanced, correction between the wheel hub and the wheel hub is facilitated by the anti-slip pad, balance of the whole wheel hub is ensured when the wheel hub is fixed by the wheel hub, and balance and stability of the wheel hub can be further enhanced by clamping the wheel rim by the plurality of rotating rods.

Description

Mechanical gripper for industrial robot

Technical Field

The utility model relates to the technical field of industrial manipulators, in particular to a manipulator claw for an industrial robot.

Background

The industrial robot and the mechanical gripper thereof are adopted to take materials in industrial production, so that the stability of the materials in taking can be improved, the mechanical gripper is widely applied to industries such as medicines, foods, chemical industry and automobile manufacturing, wherein in the manufacturing process of the automobile hub, the mechanical gripper is generally required to be adopted to take the automobile hub to a designated position due to the large weight, the carrying time of the hub can be saved, and the production efficiency of the hub can be improved.

The Chinese patent with publication number of CN214394198U provides a technical scheme about taking a hub, and discloses a manipulator for producing and processing a side hub, wherein the manipulator is mainly used for controlling relative sliding of two first thread seats through linkage among a plurality of groups of gears, so as to drive the manipulator to relatively move to clamp the opposite side hub for the first time, and the circular limiting block on the second clamping block is matched with the torsion spring to clamp the opposite side hub for the second time, so that the clamping of the opposite side hub is realized.

However, the above patent also has the following problems: because the lateral wall of side wheel hub is smooth surface, therefore the frictional force between its and the side wheel hub is less when manipulator centre gripping side wheel hub, consequently side wheel hub lacks stability, and the easy landing, in addition, manipulator and circular stopper and side wheel hub direct contact easily cause defects such as mar on side wheel hub's surface.

In addition, chinese patent application of publication No. CN111633453a also provides a technical scheme about the wheel hub taking, which discloses a loading and unloading manipulator and a control system for automobile wheel hub production, wherein the bottom surface of the spoke is hooked by the end part of the hook claw to limit the bottom surface of the spoke, then the upper surface of the spoke is limited by the binding belt, the binding belt and the hook claw cooperate to fix the wheel hub, and the winding roller can be driven to rotate by the reduction transmission of the driving wheel and the driving wheel, so that the binding belt is retracted and released to control the binding of the binding belt to the wheel hub.

However, the above patent also has the following problems: this patent is fixed with whole wheel hub through fixing to the spoke, but the fixed position of knuckle and bandage to the spoke can't obtain the calibration, when the knuckle is fixed with the different positions of bandage to the spoke, can't ensure wheel hub's equilibrium, leads to wheel hub to incline easily, and then wheel hub lacks stability, and in addition, this patent needs to adopt a plurality of drives to just can realize fixing to the spoke, and overall efficiency is lower, and the cost is higher.

Disclosure of Invention

1. The technical problems to be solved are as follows: the mechanical gripper for the industrial robot can solve the problems pointed out in the background technology.

2. The technical scheme is as follows: in order to achieve the above purpose, the utility model adopts the following technical scheme that the mechanical gripper for the industrial robot comprises a mechanical arm, a top plate and a grabbing part, wherein the grabbing part is arranged at the lower end of the mechanical arm through the top plate.

The grabbing part comprises a plurality of hollow threaded rods, a plurality of hollow threaded rods are uniformly arranged at the circumference of the lower end of a top plate, a bearing plate is rotationally connected to the lower end of the hollow threaded rods through a first torsion spring, a transmission mechanism is commonly arranged between the plurality of hollow threaded rods, a pressing plate is mounted at the lower end of the transmission mechanism through a supporting cylinder which is in sliding connection with the hollow threaded rods, the pressing plate which is in sliding connection with the hollow threaded rods is commonly mounted at the lower end of the plurality of supporting cylinders, the supporting cylinder is rotationally connected with the pressing plate, a rotating mechanism is arranged inside the hollow threaded rods, and a fastening mechanism is arranged between the supporting cylinder and the pressing plate.

Preferably, the drive mechanism includes the sleeve that slides, hollow threaded rod outer wall slip cap is equipped with the sleeve that slides, install the link between a plurality of sleeves that slide, the link upper end is provided with positive and negative motor through the motor cabinet, positive and negative motor's output axle sleeve is equipped with the driving gear, hollow threaded rod outer wall is equipped with the driven gear with driving gear engaged with through threaded connection's mode cover, driven gear rotates to be connected in the sleeve bottom that slides, driven gear lower extreme is connected with a support section of thick bamboo, driving gear's upper and lower both sides wall all is provided with annular baffle, annular baffle rotates with driven gear's upper and lower both sides wall and is connected.

Preferably, the rotary mechanism comprises a positioning plate, the positioning plate is arranged at one side of the connecting frame upper end relative to the hollow threaded rod, a pull rope is arranged at one side of the positioning plate, which is close to the hollow threaded rod, a through hole for penetrating the pull rope is formed in one side of the hollow threaded rod, which is close to the positioning plate, the through hole is flush with the positioning plate, a winding roller is connected at the lower end of the hollow threaded rod through rotation of a second torsion spring, one end of the pull rope, which is far away from the positioning plate, is wound on the winding roller, a linkage gear is sleeved on the outer wall of the winding roller, and a face gear meshed with the linkage gear is arranged at the upper end of the bearing plate.

Preferably, the fastening mechanism comprises a guide chute, a plurality of guide chutes corresponding to the positions of the hollow threaded rods are uniformly formed in the circumferential direction on the pressing plate, a displacement block is connected in the guide chute in a sliding manner, one side, far away from the hollow threaded rods, of the displacement block and the guide chute is connected with a reset spring, the upper end of the displacement block is provided with a fixing plate, a winding wheel is sleeved on the outer wall of the supporting cylinder, a steel wire rope connected with the fixing plate is wound on the winding wheel, and a buckling piece is installed at the lower end of the displacement block.

Preferably, the fastener comprises a mounting block, a rack, a connecting plate, a contraction spring, a linkage shaft, an auxiliary gear and a rotating rod, wherein: the installation piece sets up in displacement piece lower extreme, run through on the installation piece and offered the connecting hole that parallels with the direction spout, the inside sliding connection of connecting hole has the rack, the connecting plate is installed to one side that hollow threaded rod was kept away from to the rack, about rack up-down symmetry is provided with two shrink springs between connecting plate and the installation piece, circular slot has been offered to the connecting hole lower extreme and two grooves of stepping down about rack symmetry are offered, the universal driving axle passes the circular slot back rotation and connects in the groove of stepping down, the universal driving axle outer wall cover is equipped with the auxiliary gear who rotates to connect in the circular slot, auxiliary gear meshes with the rack mutually, the universal driving axle outer wall is equipped with two rotary rods that rotate to connect in the groove of stepping down about auxiliary gear symmetry cover, one side that the rotary rod is close to hollow threaded rod is provided with the protection pad.

Preferably, the lower end of the hollow threaded rod is symmetrically provided with two limiting plates about the axis, the upper end of the supporting plate is symmetrically provided with two auxiliary plates about the length direction of the supporting plate, and the auxiliary plates and the limiting plates are vertically arranged.

Preferably, the outer wall of the hollow threaded rod is symmetrically provided with two limiting sliding grooves about the axis of the hollow threaded rod, and the inner wall of the sliding sleeve is symmetrically provided with two sliding clamping blocks which are in sliding connection with the axis of the hollow threaded rod in the limiting sliding grooves.

Preferably, the middle part of the lower end of the pressing plate is provided with an anti-skid pad, the lower end of the pressing plate is also provided with an annular rubber ring, and the diameter of the annular rubber ring is larger than that of the anti-skid pad.

3. The beneficial effects are that: 1. according to the utility model, the driving gear and the driven gear are driven by the forward and reverse motor to rotate so that the pressing plate moves downwards and presses and fixes the wheel hub, the driven gear drives the connecting frame and the positioning plate to move downwards through the sliding sleeve so as to drive the bearing plate to rotate by 90 degrees and abut against the bottoms of two adjacent spokes, in addition, the driven gear drives the winding wheel to rotate through the supporting cylinder, the displacement block and the mounting block can be driven to move through winding and unreeling of the wire rope by the winding wheel so that the rotating rod abuts against the bottom of the wheel rim, and the wheel hub, the spokes and the wheel rim can be fixed simultaneously through one driving, so that the overall working efficiency is improved, and the cost can be effectively reduced.

2. According to the wheel hub, the anti-slip pad is driven by the pressing plate to abut against the center of the wheel hub, and the annular rubber ring is driven by the pressing plate to abut against the wheel rim, so that the wheel hub is pressed and fixed by the pressing plate, the friction force between the wheel hub and the wheel spoke can be increased by the anti-slip pad, the stability of the wheel hub when the wheel hub is taken can be ensured, and the wheel spoke and the wheel rim can be protected by the anti-slip pad and the annular rubber ring, so that the wheel hub is prevented from being scratched when the wheel hub is taken.

3. The rotating mechanism provided by the utility model can realize the rotation of the bearing plate and support the bottoms of two adjacent spokes by moving the positioning plate along with the connecting frame so as to support the spokes, external driving is not needed, the operation is convenient, and the wheel hub can be limited by pressing the wheel hub by the pressing plate and supporting the spokes by the bearing plate.

4. According to the fastening mechanism, the steel wire rope is wound by the winding wheel pair and drives the displacement block and the mounting block to move to the side close to the hollow threaded rod, so that the rack is pressed to move to the side far from the hollow threaded rod and drives the auxiliary gear to rotate, the auxiliary gear drives the rotary rod to rotate to the side close to the wheel hub through the linkage shaft and drives the protection pad to abut against the bottom of the wheel rim, the rotary rod is matched with the pressing plate to clamp the wheel rim, and the stability of the wheel hub can be further improved through clamping the wheel rim through the plurality of rotary rods.

5. The anti-slip pad provided by the utility model is convenient to clamp on the upper end of the central ring of the hub, so that the anti-slip pad can be used for correcting the gap between the anti-slip pad and the hub, so that the axis of the pressing plate is coincident with the axis of the hub, the balance of the whole hub when the spoke is fixed is ensured, and in addition, the balance of the hub in the carrying process can be further enhanced by clamping the rim through a plurality of rotating rods, and the hub is prevented from falling due to inclination.

Drawings

The utility model will be further described with reference to the drawings and examples.

Fig. 1 is a schematic perspective view of the present utility model.

Fig. 2 is a schematic perspective view of the grip portion of the present utility model.

Fig. 3 is a partial cutaway view of the grip and hub of the present utility model.

Fig. 4 is an enlarged view of a portion of fig. 3a of the present utility model.

Fig. 5 is a cross-sectional view of the grip portion and hub of the present utility model (along a longitudinal section of the hub).

Fig. 6 is a partial enlarged view at B of fig. 5 of the present utility model.

Fig. 7 is a partial enlarged view at C of fig. 5 of the present utility model.

Fig. 8 is a partial cutaway view of the hollow threaded rod and slipping sleeve of the present utility model.

FIG. 9 is a top view of the carrier plate and hub of the present utility model.

Reference numerals: 1. a mechanical arm; 2. a top plate; 3. a gripping part; 31. a hollow threaded rod; 311. a limiting plate; 312. limiting sliding grooves; 32. a bearing plate; 321. an auxiliary plate; 33. a transmission mechanism; 331. a slipping sleeve; 332. a connecting frame; 333. a forward and reverse rotation motor; 334. a drive gear; 335. a driven gear; 336. an annular baffle; 337. a sliding clamping block; 34. a support cylinder; 35. pressing the plate; 351. an anti-slip pad; 352. an annular rubber ring; 36. a rotation mechanism; 361. a positioning plate; 362. a pull rope; 363. a wind-up roll; 364. a linkage gear; 365. face gears; 37. a fastening mechanism; 371. a guide chute; 372. a displacement block; 373. a return spring; 374. a fixing plate; 375. a winding wheel; 376. a wire rope; 377. a fastener; 378. a mounting block; 379. a rack; 380. a connecting plate; 381. a retraction spring; 382. a linkage shaft; 383. an auxiliary gear; 384. a rotating rod; 4. a hub; 5. a spoke; 6. a rim.

Detailed Description

Embodiments of the utility model are described in detail below with reference to the attached drawings, but the utility model can be implemented in a number of different ways, which are defined and covered by the claims.

Referring to fig. 1, a manipulator for an industrial robot includes a manipulator 1, a top plate 2, and a gripping portion 3, where the gripping portion 3 is provided at the lower end of the manipulator 1 through the top plate 2.

Referring to fig. 2, 3 and 5, the gripping portion 3 includes a hollow threaded rod 31, a plurality of hollow threaded rods 31 are uniformly circumferentially arranged at the lower end of the top plate 2, a bearing plate 32 is rotatably connected at the lower end of the hollow threaded rod 31 through a first torsion spring, a transmission mechanism 33 is commonly arranged among the plurality of hollow threaded rods 31, a pressing plate 35 is mounted at the lower end of the transmission mechanism 33 through a supporting cylinder 34 which is slidably connected with the hollow threaded rod 31, an anti-slip pad 351 is arranged at the middle part of the lower end of the pressing plate 35, an annular rubber ring 352 is further arranged at the lower end of the pressing plate 35, the diameter of the annular rubber ring 352 is larger than that of the anti-slip pad 351, the pressing plate 35 is slidably connected with the hollow threaded rod, a pressing plate 35 which is slidably connected with the hollow threaded rod 31 is commonly mounted at the lower end of the plurality of supporting cylinders 34, a rotating mechanism 36 is arranged inside the hollow threaded rod 31, and a fastening mechanism 37 is arranged between the supporting cylinder 34 and the pressing plate 35; it should be noted that, the lower end of the anti-slip pad 351 provided by the utility model is provided with a groove so as to be conveniently clamped at the upper end of the central ring of the hub 4, thereby being capable of correcting the space between the utility model and the hub 4, so that the axis of the pressing plate 35 is coincident with the axis of the hub 4, and further ensuring the balance of the whole hub 4 when the spoke 5 is fixed by the utility model.

Referring to fig. 2, fig. 3, fig. 5 and fig. 7, the transmission mechanism 33 includes a sliding sleeve 331, the outer wall sliding sleeve of the hollow threaded rod 31 is provided with the sliding sleeve 331, two limiting sliding grooves 312 are symmetrically arranged on the outer wall of the hollow threaded rod 31 around the axis of the hollow threaded rod 31, two sliding clamping blocks 337 which are in sliding connection with the limiting sliding grooves 312 are symmetrically arranged on the inner wall of the sliding sleeve 331 around the axis of the hollow threaded rod 31, only relative sliding between the sliding sleeve 331 and the hollow threaded rod 31 can be ensured through matching between the limiting sliding grooves 312 and the sliding clamping blocks 337, relative rotation cannot occur, a connecting frame 332 is arranged between the sliding sleeves 331, the upper end of the connecting frame 332 is provided with a forward and reverse rotation motor 333 through a motor seat, an output shaft sleeve of the forward and reverse rotation motor 333 is provided with a driving gear 334, the outer wall of the hollow threaded rod 31 is sleeved with a driven gear 335 meshed with the driving gear 334 in a threaded connection mode, the driven gear 335 is rotationally connected to the bottom of the sliding sleeve 331, the lower end of the driven gear 335 is connected with the supporting cylinder 34, the upper side wall and the lower side wall of the driving gear 334 is provided with an annular baffle 336.

When the wheel hub 4 is in operation, the mechanical arm 1 is started firstly, the mechanical arm 1 drives the grabbing part 3 to move to the upper side of the wheel hub 4 through the top plate 2, the hollow threaded rod 31 drives the bearing plate 32 to be inserted between two adjacent spokes 5, then the forward and reverse motor 333 is started, the forward and reverse motor 333 drives the driving gear 334 to rotate positively, the driving gear 334 drives the driven gear 335 to rotate, the driven gear 335 moves downwards along the hollow threaded rod 31 while rotating, the driven gear 335 drives the connecting frame 332, the forward and reverse motor 333 and the driving gear 334 to synchronously move through the sliding sleeve 331, thereby ensuring that the driving gear 334 and the driven gear 335 are always in an engaged state, meanwhile, the driven gear 335 drives the pressing plate 35 to move downwards through the supporting cylinder 34, the pressing plate 35 drives the anti-slip pad 351 to be abutted with the center of the wheel hub 4, the pressing plate 35 drives the annular rubber ring 352 to be abutted with the wheel rim 6, the wheel hub 4 is pressed and fixed through the pressing plate 35, the friction force between the anti-slip pad 351 and the wheel hub 5 can be increased, so that the stability when the wheel hub 4 is taken, and the wheel hub 4 can be prevented from being scratched when the wheel hub 4 and the wheel hub 4 is taken through the anti-slip pad 351 and the annular rubber ring 352.

Then the hub 4 is fixed again through the rotating mechanism 36 and the fastening mechanism 37, the mechanical arm 1 drives the grabbing part 3 and the hub 4 to move to a designated position, then the forward and reverse rotation motor 333 drives the driving gear 334 to rotate reversely, the driving gear 334 drives the driven gear 335 to rotate reversely and drives the connecting frame 332, the supporting cylinder 34 and the pressing plate 35 to move upwards for resetting, and at the moment, the rotating mechanism 36 and the fastening mechanism 37 release the fixation of the hub 4, so that the carrying operation of the hub 4 is completed.

Referring to fig. 7 and 8, the rotating mechanism 36 includes a positioning plate 361, a positioning plate 361 is disposed at an upper end of the connecting frame 332 opposite to one side of the hollow threaded rod 31, a pull rope 362 is disposed at one side of the positioning plate 361, which is close to the hollow threaded rod 31, a through hole for passing through the pull rope 362 is disposed at one side of the hollow threaded rod 31, which is flush with the positioning plate 361, a winding roller 363 is rotatably connected to a lower end of the hollow threaded rod 31 through a second torsion spring, the second torsion spring always applies a torsion force to the winding roller 363, so that the winding roller 363 winds the pull rope 362, one end of the pull rope 362, which is far away from the positioning plate 361, is wound on the winding roller 363, a linkage gear 364 is sleeved on an outer wall of the winding roller 363, and a face gear 365 meshed with the linkage gear 364 is mounted at an upper end of the supporting plate 32.

Referring to fig. 8 and 9, two limiting plates 311 are symmetrically disposed at the lower end of the hollow threaded rod 31 about the axis thereof, two auxiliary plates 321 are symmetrically disposed at the upper end of the support plate 32 about the length direction thereof, the auxiliary plates 321 and the limiting plates 311 are vertically arranged, and in an initial state, the first torsion spring applies a torsion force to the support plate 32, so that the support plate 32 drives the auxiliary plates 321 at the upper end thereof to abut against the limiting plates 311, and at this time, the length direction of the support plate 32 points to the hollow threaded rod 31, so that the hollow threaded rod 31 drives the support plate 32 to be inserted between two adjacent spokes 5 (as shown in fig. 9).

During operation, the sliding sleeve 331 and the connecting frame 332 can drive the positioning plate 361 to synchronously move when moving downwards, because the position of the through hole is unchanged, a downward pulling force is applied to one end of the pull rope 362 away from the wind-up roller 363 when the positioning plate 361 moves downwards, so that the wind-up roller 363 drives the linkage gear 364 to rotate, the linkage gear 364 drives the bearing plate 32 to overcome the torsion force of the first torsion spring through the face gear 365 and then rotate 90 degrees, so that the upper end of the bearing plate 32 abuts against the bottoms of two adjacent spokes 5 to support the spokes 5, rotation of the bearing plate 32 can be realized through the movement of the positioning plate 361 along with the connecting frame 332, external driving is not needed, the operation is convenient, and the hub 4 can be limited through the pressing of the pressing plate 35 on the hub 4 and the support provided by the bearing plate 32 on the spokes 5, so that the hub 4 can be taken conveniently; after the hub 4 is placed at the designated position, the connecting frame 332 drives the positioning plate 361 to move upwards, the positioning plate 361 does not apply tension to the pull rope 362 any more, the pull rope 362 is wound up by the wind-up roller 363 under the action of the second torsion spring, and then the support plate 32 is reset to the initial state under the action of the first torsion spring, so that the hollow threaded rod 31 and the support plate 32 are taken out from between the two adjacent spokes 5.

Referring to fig. 3, 4 and 6, the fastening mechanism 37 includes a guide chute 371, a plurality of guide chutes 371 corresponding to the positions of the hollow threaded rods 31 are uniformly formed on the pressing plate 35 in the circumferential direction, a displacement block 372 is slidably connected to the guide chute 371, a return spring 373 is connected to one side of the displacement block 372, far away from the hollow threaded rods 31, of the guide chute 371, the return spring 373 always applies a contraction force to one side, far away from the hollow threaded rods 31, of the displacement block 372, a fixing plate 374 is arranged at the upper end of the displacement block 372, a winding wheel 375 is sleeved on the outer wall of the supporting cylinder 34, a steel wire rope 376 connected with the fixing plate 374 is wound on the winding wheel 375, and a fastener 377 is mounted at the lower end of the displacement block 372; the fastener 377 is composed of a mounting block 378, a rack 379, a connecting plate 380, a retraction spring 381, a linkage shaft 382, an auxiliary gear 383 and a rotating rod 384, wherein: the mounting block 378 is arranged at the lower end of the displacement block 372, a connecting hole parallel to the guide sliding chute 371 is formed in the mounting block 378 in a penetrating manner, a rack 379 is connected inside the connecting hole in a sliding manner, a connecting plate 380 is mounted on one side, far away from the hollow threaded rod 31, of the rack 379, two contraction springs 381 are symmetrically arranged between the connecting plate 380 and the mounting block 378 and vertically relative to the rack 379, the contraction springs 381 always apply contraction force pointing to one side of the hollow threaded rod 31 to the connecting plate 380 and the rack 379, a circular groove and two abdicating grooves symmetrically arranged relative to the rack 379 are formed in the lower end of the connecting hole, a linkage shaft 382 penetrates through the circular groove and then is rotationally connected in the abdicating grooves, an auxiliary gear 383 rotationally connected in the circular groove is sleeved on the outer wall of the linkage shaft 382, the auxiliary gear 383 is meshed with the rack 379, two rotary rods 384 rotationally connected in the abdicating grooves are symmetrically sleeved on the outer wall of the linkage shaft 382 relative to the auxiliary gear 383, and a protection pad is arranged on one side, close to the hollow threaded rod 31, of the rotary rod 384; by providing the protective pad, the rotating lever 384 is prevented from being scratched by contact with the rim 6.

In the initial state, the displacement block 372 is located at one side of the guide chute 371 away from the hollow threaded rod 31 under the action of the return spring 373, at this time, the connecting plate 380 drives the rack 379 to be close to one side of the hollow threaded rod 31 under the action of the retraction spring 381, and the rotating rod 384 is in a vertical state.

When the automatic wheel winding device works, the driven gear 335 can drive the winding wheel 375 to rotate through the supporting cylinder 34 when rotating, the winding wheel 375 winds the steel wire rope 376 and drives the fixed plate 374 and the displacement block 372 to move towards one side close to the hollow threaded rod 31, so that the displacement block 372 drives the installation block 378 to synchronously move, when the installation block 378 drives the rack 379 to abut against the outer wall of the wheel rim 6, the rack 379 is pressed to move towards one side far away from the hollow threaded rod 31 by pressing force, the rack 379 drives the auxiliary gear 383 to rotate, the auxiliary gear 383 drives the rotating rod 384 to rotate towards one side close to the wheel hub 4 through the linkage shaft 382 and drives the protection pad to abut against the bottom of the wheel rim 6, so that the rotating rod 384 is matched with the pressing plate 35 to clamp the wheel rim 6, the stability of the wheel hub 4 can be further improved through clamping the plurality of rotating rods 384, and the balance of the wheel hub 4 in the carrying process can be further enhanced, and the wheel hub 4 is prevented from inclining and falling down; after the hub 4 is placed at the designated position, the driven gear 335 drives the winding wheel 375 to reversely rotate through the supporting cylinder 34, the winding wheel 375 unwinds the steel wire rope 376 and releases the tension to the fixing plate 374, so that the displacement block 372 drives the fixing plate 374 and the mounting block 378 to return to the initial state under the action of the return spring 373, and at the moment, the rack 379 is separated from the outer wall of the rim 6 and drives the rotating rod 384 to return to the initial state through the auxiliary gear 383.

The working process of the utility model is as follows: s1: firstly, the mechanical arm 1 is started, the mechanical arm 1 drives the grabbing part 3 to move above the wheel hub 4 through the top plate 2, and the hollow threaded rod 31 drives the bearing plate 32 to be inserted between two adjacent spokes 5.

S2: the forward and reverse rotation motor 333 is started, the forward and reverse rotation motor 333 drives the driving gear 334 to rotate forward, the driving gear 334 drives the driven gear 335 to rotate, the driven gear 335 moves downwards along the hollow threaded rod 31 while rotating, the driven gear 335 drives the connecting frame 332 through the sliding sleeve 331, the forward and reverse rotation motor 333 and the driving gear 334 synchronously move, and accordingly the driving gear 334 and the driven gear 335 are always in an engaged state, meanwhile, the driven gear 335 drives the pressing plate 35 to move downwards through the supporting cylinder 34, the pressing plate 35 drives the anti-slip pad 351 to abut against the center of the hub 4, the pressing plate 35 drives the annular rubber ring 352 to abut against the rim 6, and the hub 4 is pressed and fixed through the pressing plate 35.

S3: the sliding sleeve 331 and the connecting frame 332 can drive the positioning plate 361 to move synchronously when moving downwards, because the position of the through hole is unchanged, the positioning plate 361 moves downwards and simultaneously applies downward pulling force to one end of the pull rope 362 away from the winding roller 363, so that the winding roller 363 drives the linkage gear 364 to rotate, the linkage gear 364 drives the bearing plate 32 to overcome the torsion force of the first torsion spring through the face gear 365 and then rotate 90 degrees, the upper end of the bearing plate 32 abuts against the bottoms of two adjacent spokes 5 so as to support the spokes 5, and the hub 4 can be limited by the pressing plate 35 to press the hub 4 and the support provided by the bearing plate 32 to the spokes 5 so as to take the hub 4.

S4: when the driven gear 335 rotates, the winding wheel 375 is driven to rotate through the supporting cylinder 34, the winding wheel 375 winds the steel wire rope 376 and drives the fixed plate 374 and the displacement block 372 to move towards one side close to the hollow threaded rod 31, the displacement block 372 drives the installation block 378 to synchronously move, when the installation block 378 drives the rack 379 to abut against the outer wall of the wheel rim 6, the rack 379 is pressed to move towards one side far away from the hollow threaded rod 31 by pressing force, the rack 379 drives the auxiliary gear 383 to rotate, the auxiliary gear 383 drives the rotating rod 384 to rotate towards one side close to the wheel hub 4 through the linkage shaft 382 and drives the protection pad to abut against the bottom of the wheel rim 6, so that the rotating rod 384 is matched with the pressing plate 35 to clamp the wheel rim 6, and the stability of the wheel hub 4 can be further improved through clamping the plurality of rotating rods 384.

S5: then the mechanical arm 1 drives the grabbing part 3 and the hub 4 to move to a designated position, then the forward and reverse rotation motor 333 drives the driving gear 334 to rotate reversely, the driving gear 334 drives the driven gear 335 to rotate reversely and drives the connecting frame 332, the supporting cylinder 34 and the pressing plate 35 to move upwards for reset, at the moment, the connecting frame 332 drives the positioning plate 361 to move upwards, the positioning plate 361 does not exert pulling force on the pulling rope 362 any more, the winding roller 363 winds the pulling rope 362 under the action of the second torsion spring, and then the bearing plate 32 is reset to an initial state under the action of the first torsion spring, so that the hollow threaded rod 31 and the bearing plate 32 can be taken out from between two adjacent spokes 5; meanwhile, the driven gear 335 drives the winding wheel 375 to reversely rotate through the supporting cylinder 34, the winding wheel 375 unwinds the steel wire rope 376 and releases the pulling force to the fixed plate 374, so that the displacement block 372 drives the fixed plate 374 and the mounting block 378 to reset to an initial state under the action of the reset spring 373, and at the moment, the rack 379 is separated from the outer wall of the rim 6 and drives the rotating rod 384 to reset to the initial state through the auxiliary gear 383, so that the carrying operation of the hub 4 is completed by matching with the mechanical arm 1.

The above description is not intended to limit the utility model to the particular embodiments disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the utility model.

Claims (8)

1. The mechanical gripper for the industrial robot comprises a mechanical arm (1), a top plate (2) and a grabbing part (3), and is characterized in that the grabbing part (3) is arranged at the lower end of the mechanical arm (1) through the top plate (2);

the grabbing part (3) comprises a hollow threaded rod (31), a plurality of hollow threaded rods (31) are uniformly arranged at the circumference of the lower end of the top plate (2), a bearing plate (32) is rotatably connected to the lower end of the hollow threaded rod (31) through a first torsion spring, a transmission mechanism (33) is jointly arranged between the plurality of hollow threaded rods (31), a pressing plate (35) is arranged at the lower end of the transmission mechanism (33) through a supporting cylinder (34) which is slidably connected with the hollow threaded rod (31), the pressing plate (35) is slidably connected with the hollow threaded rod, a pressing plate (35) which is slidably connected with the hollow threaded rod (31) is jointly arranged at the lower end of the plurality of supporting cylinders (34), a rotating mechanism (36) is arranged inside the hollow threaded rod (31), and a fastening mechanism (37) is arranged between the supporting cylinder (34) and the pressing plate (35); the wheel hub (4) is carried more efficiently and stably by the cooperation of the grabbing part (3) and the transmission mechanism (33), the rotating mechanism (36) and the fastening mechanism (37) inside the grabbing part.

2. The manipulator claw for an industrial robot according to claim 1, wherein: the transmission mechanism (33) comprises a sliding sleeve (331), the sliding sleeve on the outer wall of the hollow threaded rod (31) is provided with the sliding sleeve (331), a connecting frame (332) is arranged between the sliding sleeves (331), a forward and reverse rotating motor (333) is arranged at the upper end of the connecting frame (332) through a motor base, a driving gear (334) is arranged on an output shaft sleeve of the forward and reverse rotating motor (333), a driven gear (335) meshed with the driving gear (334) is sleeved on the outer wall of the hollow threaded rod (31) in a threaded connection mode, the driven gear (335) is rotationally connected to the bottom of the sliding sleeve (331), the lower end of the driven gear (335) is connected with a supporting cylinder (34), and annular baffles (336) are arranged on the upper side wall and the lower side wall of the driving gear (334) and are rotationally connected with the upper side wall and the lower side wall of the driven gear (335).

3. A manipulator claw for an industrial robot according to claim 2, characterized in that: the rotary mechanism (36) comprises a positioning plate (361), one side of the upper end of the connecting frame (332) opposite to the hollow threaded rod (31) is provided with the positioning plate (361), one side of the positioning plate (361) close to the hollow threaded rod (31) is provided with a pull rope (362), one side of the hollow threaded rod (31) close to the positioning plate (361) is provided with a through hole for penetrating through the pull rope (362), the through hole is flush with the positioning plate (361), the inside of the lower end of the hollow threaded rod (31) is rotationally connected with a winding roller (363) through a second torsion spring, one end of the pull rope (362) far away from the positioning plate (361) is wound on the winding roller (363), the outer wall of the winding roller (363) is sleeved with a linkage gear (364), and the upper end of the supporting plate (32) is provided with a face gear (365) meshed with the linkage gear (364).

4. The manipulator claw for an industrial robot according to claim 1, wherein: the fastening mechanism (37) comprises a guide chute (371), a plurality of guide chutes (371) corresponding to the positions of the hollow threaded rods (31) are uniformly formed in the circumferential direction on the pressing plate (35), a displacement block (372) is connected in the guide chute (371) in a sliding mode, one side, far away from the hollow threaded rods (31), of the displacement block (372) and the guide chute (371) is connected with a reset spring (373), the upper end of the displacement block (372) is provided with a fixing plate (374), a winding wheel (375) is sleeved on the outer wall of the supporting cylinder (34), a steel wire rope (376) connected with the fixing plate (374) is wound on the winding wheel (375), and a buckling piece (377) is installed at the lower end of the displacement block (372).

5. The manipulator claw for an industrial robot according to claim 4, wherein: the fastener (377) is composed of a mounting block (378), a rack (379), a connecting plate (380), a contraction spring (381), a linkage shaft (382), an auxiliary gear (383) and a rotating rod (384), wherein: the installation piece (378) sets up in displacement piece (372) lower extreme, the connecting hole that runs through on installation piece (378) and is parallel with direction spout (371), connecting hole inside sliding connection has rack (379), one side that hollow threaded rod (31) was kept away from to rack (379) is installed connecting plate (380), be provided with two shrink springs (381) about rack (379) up-down symmetry between connecting plate (380) and installation piece (378), the circular slot has been seted up to the connecting hole lower extreme and two grooves of stepping down about rack (379) symmetry are seted up, joint shaft (382) pass circular slot back swivelling joint and step down the inslot, joint shaft (382) outer wall cover is equipped with auxiliary gear (383) of swivelling joint in the circular slot, auxiliary gear (383) meshes with rack (379) mutually, joint shaft (382) outer wall is equipped with two swivelling levers (384) of swivelling joint in the groove about auxiliary gear (383) symmetry, one side that the swivelling levers (384) are close to hollow (31) is provided with the protection pad.

6. The manipulator claw for an industrial robot according to claim 1, wherein: the lower end of the hollow threaded rod (31) is symmetrically provided with two limiting plates (311) about the axis, the upper end of the bearing plate (32) is symmetrically provided with two auxiliary plates (321) about the length direction of the bearing plate, and the auxiliary plates (321) and the limiting plates (311) are vertically distributed.

7. A manipulator claw for an industrial robot according to claim 2, characterized in that: two limit sliding grooves (312) are symmetrically formed in the outer wall of the hollow threaded rod (31) around the axis of the hollow threaded rod, and two sliding clamping blocks (337) which are connected in the limit sliding grooves (312) in a sliding mode are symmetrically arranged in the inner wall of the sliding sleeve (331) around the axis of the hollow threaded rod (31).

8. The manipulator claw for an industrial robot according to claim 1, wherein: the middle part of the lower end of the pressing plate (35) is provided with an anti-slip pad (351), the lower end of the pressing plate (35) is also provided with an annular rubber ring (352), and the diameter of the annular rubber ring (352) is larger than that of the anti-slip pad (351).