CN218927860U

CN218927860U - Grabbing mechanism of industrial robot

Info

Publication number: CN218927860U
Application number: CN202223189756.4U
Authority: CN
Inventors: 马新志; 刘连艳; 张毅; 李力
Original assignee: Guangzhou Beitian Intelligent Technology Co ltd
Current assignee: Guangzhou Beitian Intelligent Technology Co ltd
Priority date: 2022-11-30
Filing date: 2022-11-30
Publication date: 2023-04-28
Anticipated expiration: 2032-11-30

Abstract

The utility model relates to the technical field of industrial robot accessories, in particular to a grabbing mechanism of an industrial robot, which comprises a supporting frame and a driving assembly arranged above the supporting frame, wherein the supporting frame consists of an upper supporting plate and a lower supporting plate which are symmetrical with each other, a plurality of first arc holes are formed in the supporting plate, limiting sliding grooves are formed in the hole walls of the first arc holes, chucks are arranged in the first arc holes, each chuck comprises a sliding rod which is arranged in the first arc holes and is in sliding connection with the first arc holes, the sliding rod is fixedly provided with the upper limiting plate and the lower limiting plate which are symmetrical with each other, the limiting plates are in sliding connection with the limiting sliding grooves, the bottom end of each sliding rod is fixedly provided with a clamping convex column, the driving assembly comprises a driving motor, a driving plate is arranged on an output shaft of the driving motor, a second arc hole is formed in each driving plate, and a top rod body of each sliding rod is positioned in each second arc hole. The utility model is convenient to operate, and the grabbing is more firm and stable, thereby being convenient to use.

Description

Grabbing mechanism of industrial robot

Technical Field

The utility model relates to the technical field of industrial robot accessories, in particular to a grabbing mechanism of an industrial robot.

Background

Industrial robots are processing robots which are applied to the industrial field and can simulate human actions to assemble products, convey logistics and the like, the industrial robots can finish corresponding processing operations by utilizing mechanical transmission, the industrial robots are generally provided with corresponding grabbing mechanisms, and the grabbing mechanisms are utilized to grab articles and then carry out subsequent processing operations;

the utility model patent with the publication number of CN217494319U discloses a grabbing mechanism of an industrial intelligent robot, which comprises an arm rod, wherein a claw body is sleeved on the arm rod, a distance sensor is arranged at the center of the bottom wall of the claw body, a plurality of first grabbing rods are annularly and symmetrically rotated and embedded at the edge of one end, far away from the arm rod, of the claw body, a pipeline groove is formed in one end, far away from the claw body, of each first grabbing rod, and a second grabbing rod is rotatably arranged at one end, far away from the claw body, of each first grabbing rod. By means of separate hydraulic control of the first gripper bar and the second gripper bar, it is possible to grip objects of different shapes by adjusting the gripping angles of the first gripper bar and the second gripper bar.

Although this technical scheme has application scope wider and snatchs more firm, control simpler advantage, but this technical scheme is when specifically using, and the mechanism of snatching on it only is provided with two clips, and two clips can only grip around, and two clips are when the centre of holding object is difficult to guarantee that the object is located between two clips, and when the centre of object is not located between two clips, it is not firm enough to cause the clip to clamp the object easily, further causes the object to drop from between two clips, influences the effect of snatching, brings inconvenience for the user. In view of this, we propose a gripping mechanism for an industrial robot.

Disclosure of Invention

The object of the present utility model is to provide a gripping mechanism for an industrial robot, which solves the above mentioned drawbacks of the prior art.

In order to achieve the above purpose, the present utility model provides the following technical solutions:

the grabbing mechanism of the industrial robot comprises a supporting frame and a driving assembly arranged above the supporting frame, wherein the supporting frame is composed of an upper supporting disc and a lower supporting disc which are symmetrical with each other, a plurality of first arc-shaped holes which are annularly and equidistantly arranged are arranged in the supporting disc, limiting sliding grooves are formed in the hole walls of the first arc-shaped holes, chucks used for grabbing are arranged in the first arc-shaped holes, each chuck comprises a sliding rod which is arranged in the first arc-shaped holes and is in sliding connection with the first arc-shaped holes, the upper limiting disc and the lower limiting disc which are symmetrical with each other are fixedly arranged on the sliding rod, the limiting discs are positioned in the limiting sliding grooves and are in sliding connection with the limiting sliding grooves, and clamping convex columns are fixedly arranged at the bottom ends of the sliding rods;

the driving assembly comprises a driving motor, a driving disc is arranged on an output shaft of the driving motor, a second arc-shaped hole is formed in the driving disc and opposite to the first arc-shaped hole, and a rod body at the top end of the sliding rod is positioned in the second arc-shaped hole.

Preferably, the driving disc rotates forward to push the sliding rod to move towards the central position of the supporting disc to complete the clamping operation, and the driving disc rotates reversely to push the sliding rod to move towards the central position away from the supporting disc to complete the loosening operation.

Preferably, two mutually symmetrical supporting plates are fixedly arranged on the supporting plate, and the supporting plates are fixedly arranged on an external bracket, so that the supporting plate is convenient to support and fix.

Preferably, the U-shaped frames are fixedly installed on the two supporting plates above, the supporting seat is fixedly installed on the top plate body of the U-shaped frames, the driving motor is fixedly installed on the supporting seat, and the supporting seat is convenient to use for carrying out stable supporting operation on the driving motor.

Preferably, a fixed disc is fixedly arranged at the tail end of the output shaft of the driving motor, and the driving disc is fixedly arranged on the fixed disc through a plurality of fastening bolts, so that the driving disc is convenient to fixedly install.

Preferably, one end of the first arc-shaped hole is located near the center of the supporting disc, and the other end of the first arc-shaped hole is located near the edge of the supporting disc, so that the clamping bosses can move towards the middle position to clamp, and move towards the edge position to realize the loosening operation.

Preferably, a rubber pad is arranged on the surface of the clamping convex column, and the rubber pad is used for anti-skid protection.

Compared with the prior art, the utility model has the beneficial effects that:

1. according to the utility model, through the plurality of first arc holes, the second arc holes and the clamping heads, when the clamping device is used, the driving motor can be used for working, the driving disc is driven to rotate, the sliding rod is further driven to slide along the first arc holes, the plurality of clamping convex columns can move towards the middle position for clamping, the clamping operation is realized, the loosening operation is realized, the plurality of clamping convex columns can be respectively clamped on the plurality of sides of an object, the center of the object is conveniently ensured to be positioned between the plurality of clamping convex columns, loosening is prevented, a good clamping effect on the object can be realized, the clamping device is convenient to use, the problem that the conventional clamping mechanism of the industrial robot is inconvenient for a user because the clamping mechanism is only provided with two clamps, the two clamps can only clamp front and back when the object is clamped, the center of the object is difficult to be ensured to be positioned between the two clamps, the object is easy to be clamped and is further caused to fall off from the two clamps when the center of the object is not positioned between the two clamps is solved, and the problem that the clamping effect is inconvenient for the user is caused.

2. According to the utility model, the anti-skid protection effect can be achieved through the rubber pad, so that the friction between an object and the rubber pad can be increased, the object can be clamped more firmly and stably, and the use is convenient.

Drawings

FIG. 1 is a schematic diagram of the overall structure of the present utility model;

FIG. 2 is a schematic diagram of an explosive structure according to the present utility model;

FIG. 3 is a schematic view of a portion of the structure of the present utility model;

FIG. 4 is an enlarged view of the utility model at A in FIG. 3;

FIG. 5 is a schematic view of an exploded view of the drive assembly of the present utility model;

fig. 6 is a schematic structural view of the chuck of the present utility model.

The meaning of each reference numeral in the figures is:

1. a support frame; 10. a support plate; 11. a first arcuate aperture; 111. limiting sliding grooves; 12. a support plate; 121. a U-shaped frame; 13. a support base;

2. a chuck; 20. clamping the convex column; 21. a rubber pad; 22. a slide bar; 23. a limiting disc;

3. a drive assembly; 30. a driving motor; 31. a fixed plate; 32. a drive plate; 33. and a second arcuate aperture.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1-6, the present utility model provides a technical solution: the grabbing mechanism of the industrial robot comprises a supporting frame 1 and a driving assembly 3 arranged above the supporting frame 1, wherein the supporting frame 1 consists of an upper supporting plate 10 and a lower supporting plate 10 which are symmetrical with each other, a plurality of first arc-shaped holes 11 which are annularly and equidistantly arranged are arranged in the supporting plate 10, limiting sliding grooves 111 are formed in the hole walls of the first arc-shaped holes 11, chucks 2 used for grabbing are arranged in the first arc-shaped holes 11, each chuck 2 comprises a sliding rod 22 which is arranged in the first arc-shaped holes 11 and is in sliding connection with the first arc-shaped holes 11, an upper limiting plate 23 and a lower limiting plate 23 which are symmetrical with each other are fixedly arranged on the sliding rods 22, the limiting plates 23 are positioned in the limiting sliding grooves 111 and are in sliding connection with the limiting sliding grooves 111, and clamping convex columns 20 are fixedly arranged at the bottom ends of the sliding rods 22, so that when the grabbing robot is used, the clamping robot can move towards the middle positions by utilizing the plurality of clamping convex columns 20 to realize the clamping operation of objects;

specifically, the driving assembly 3 includes a driving motor 30, a driving disc 32 is disposed on an output shaft of the driving motor 30, a second arc hole 33 is disposed in the driving disc 32 and opposite to the first arc hole 11, a rod body at the top end of the sliding rod 22 is located in the second arc hole 33, the driving disc 32 rotates forward to push the sliding rod 22 to move towards the central position of the supporting disc 10 to complete the clamping operation, and the driving disc 32 rotates reversely to push the sliding rod 22 to move towards the central position far away from the supporting disc 10 to complete the releasing operation, so that the clamping device is convenient to use.

In this embodiment, two mutually symmetrical support plates 12 are fixedly mounted on the support plate 10, and the support plates 12 are fixedly mounted on an external bracket, so that the support and fixing operation of the support plate 10 is facilitated.

In this embodiment, the number of the clamping studs 20 is between 3 and 6, so that the clamping studs 20 can be used to clamp the object on the sides of the object, thereby realizing stable clamping operation on the object.

Specifically, the two support plates 12 located above are fixedly provided with the U-shaped frame 121, the top plate body of the U-shaped frame 121 is fixedly provided with the support seat 13, the driving motor 30 is fixedly arranged on the support seat 13, and stable supporting operation of the driving motor 30 by the support seat 13 is facilitated.

Further, the fixed disc 31 is fixedly mounted at the end of the output shaft of the driving motor 30, and the driving disc 32 is fixedly mounted on the fixed disc 31 through a plurality of fastening bolts, so that the driving disc 32 is convenient to fixedly mount.

In addition, one end of the first arc-shaped hole 11 is located near the center of the support plate 10, and the other end of the first arc-shaped hole 11 is located near the edge of the support plate 10, so that the plurality of clamping bosses 20 can move toward the middle position to clamp, and move toward the edge position to perform the unclamping operation.

It is worth noting that the surface of the clamping convex column 20 is provided with a rubber pad 21, the rubber pad 21 is used for anti-skid protection, and friction force between the clamping convex column and an object can be increased through the arranged rubber pad 21, so that slipping is not easy to occur.

It should be noted that the driving motor 30 in the present embodiment is a conventional technology, and will not be described herein.

When the grabbing mechanism of the industrial robot is used, the driving motor 30 is connected with an external power supply and works, when the output shaft on the driving motor is rotated in the forward direction, the driving disk 32 is driven to rotate in the forward direction, after the driving disk 32 is rotated in the forward direction, after the sliding rod 22 is propped against the wall of one end part of the second arc-shaped hole 33, the sliding rod 22 can be pushed to move towards the central position of the supporting disk 10 along the first arc-shaped hole 11 along with the continuous rotation of the driving disk 32, and a plurality of clamping convex columns 20 are further driven to move towards the central position of the supporting disk 10, so that the clamping grabbing operation on an object is completed;

in addition, the driving motor 30 is continuously connected with an external power supply and is enabled to work, when the output shaft on the driving motor 30 reversely rotates, the driving disc 32 is driven to reversely rotate, after the driving disc 32 reversely rotates, when the sliding rod 22 is propped against the hole wall at the other end part of the second arc-shaped hole 33, the sliding rod 22 can be pushed to move along the first arc-shaped hole 11 towards the central position far away from the supporting disc 10 along with the continuous rotation of the driving disc 32, the clamping convex columns 20 are further driven to move towards the central position far away from the supporting disc 10, the object is released, and in addition, the clamping convex columns 20 clamp the object in multiple directions, so that the object is clamped more firmly, and the use is convenient.

The foregoing has shown and described the basic principles, principal features and advantages of the utility model. It will be understood by those skilled in the art that the present utility model is not limited to the above-described embodiments, and that the above-described embodiments and descriptions are only preferred embodiments of the present utility model, and are not intended to limit the utility model, and that various changes and modifications may be made therein without departing from the spirit and scope of the utility model as claimed. The scope of the utility model is defined by the appended claims and equivalents thereof.

Claims

1. Grabbing mechanism of industrial robot, its characterized in that: the automatic gripping device comprises a supporting frame (1) and a driving assembly (3) arranged above the supporting frame (1), wherein the supporting frame (1) is composed of an upper supporting disc (10) and a lower supporting disc (10) which are symmetrical to each other, a plurality of first arc-shaped holes (11) which are annularly and equidistantly arranged are arranged in the supporting disc (10), limiting sliding grooves (111) are formed in the hole walls of the first arc-shaped holes (11), a gripping head (2) for gripping operation is arranged in the first arc-shaped holes (11), the gripping head (2) comprises a sliding rod (22) which is arranged in the first arc-shaped holes (11) and is in sliding connection with the first arc-shaped holes (11), two mutually symmetrical limiting discs (23) are fixedly arranged on the sliding rod (22), and the limiting discs (23) are positioned in the limiting sliding grooves (111) and are in sliding connection with the limiting sliding grooves (111), and a clamping convex column (20) is fixedly arranged at the bottom end of the sliding rod (22).

The driving assembly (3) comprises a driving motor (30), a driving disc (32) is arranged on an output shaft of the driving motor (30), a second arc-shaped hole (33) is formed in the driving disc (32) and opposite to the first arc-shaped hole (11), and a top rod body of the sliding rod (22) is located in the second arc-shaped hole (33).

2. The grasping mechanism of an industrial robot according to claim 1, wherein: the drive disk (32) rotates forward to push the slide bar (22) to move towards the center of the support disk (10) to complete the clamping operation, and the drive disk (32) rotates reversely to push the slide bar (22) to move towards the center away from the support disk (10) to complete the loosening operation.

3. The grasping mechanism of an industrial robot according to claim 1, wherein: two mutually symmetrical supporting plates (12) are fixedly arranged on the supporting plate (10), and the supporting plates (12) are fixedly arranged on an external bracket.

4. A gripping mechanism for an industrial robot according to claim 3, characterized in that: the U-shaped frames (121) are fixedly arranged on the two supporting plates (12) above, supporting seats (13) are fixedly arranged on the top plate bodies of the U-shaped frames (121), and the driving motor (30) is fixedly arranged on the supporting seats (13).

5. The grasping mechanism of an industrial robot according to claim 1, wherein: the end of the output shaft of the driving motor (30) is fixedly provided with a fixed disc (31), and the driving disc (32) is fixedly arranged on the fixed disc (31) through a plurality of fastening bolts.

6. The grasping mechanism of an industrial robot according to claim 1, wherein: one end of the first arc-shaped hole (11) is positioned near the center of the supporting disc (10), and the other end of the first arc-shaped hole (11) is positioned near the edge of the supporting disc (10).

7. The grasping mechanism of an industrial robot according to claim 1, wherein: the surface of the clamping convex column (20) is provided with a rubber pad (21), and the rubber pad (21) is used for anti-skid protection.