WO2021017187A1 - 一种用于抓取工作的工业机器人 - Google Patents

一种用于抓取工作的工业机器人 Download PDF

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Publication number
WO2021017187A1
WO2021017187A1 PCT/CN2019/111593 CN2019111593W WO2021017187A1 WO 2021017187 A1 WO2021017187 A1 WO 2021017187A1 CN 2019111593 W CN2019111593 W CN 2019111593W WO 2021017187 A1 WO2021017187 A1 WO 2021017187A1
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Prior art keywords
grasping
fixedly installed
industrial robot
double
rods
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PCT/CN2019/111593
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English (en)
French (fr)
Inventor
李辉
谢海
孔芳
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南京蹑波物联网科技有限公司
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Publication of WO2021017187A1 publication Critical patent/WO2021017187A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members

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  • the invention relates to the technical field of industrial robots, in particular to an industrial robot used for grasping work.
  • An industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device oriented to the industrial field. It can automatically perform work and is a machine that realizes various functions by its own power and control capabilities.
  • industrial robots are mainly robotic industrial robots, which can be divided into welding industrial robots, grasping industrial robots, polishing industrial robots, dispensing industrial robots, and painting industrial robots according to their functions.
  • mechanical arm industrial robots mainly rely on four axes.
  • the robotic arm, six-axis robotic arm and eight-axis robotic arm drive the corresponding devices to operate.
  • the grasping industrial robot is mainly used for industrial product processing, packaging, palletizing and other operations.
  • the mechanical arm drives the mechanical claw to complete the grasping of the product.
  • the existing industrial robots still have the following shortcomings;
  • the types of products that can be grasped by the mechanical claws of the current grabbing industrial machines are fixed, and the mechanical claws cannot be adjusted, so that only one product can be grasped, and the mechanical claws are limited by the position when grabbing the goods.
  • the side or bottom surface can be gripped, and it must be multi-sided gripping. When the object to be grabbed is irregular, it is difficult to grab it.
  • the present invention provides an industrial robot for grasping work, which solves the problems raised by the above background art.
  • an industrial robot for grasping work including: a connecting plate; an adjusting mechanism, the adjusting mechanism is fixed on the connecting plate; a grasping mechanism, the grasping mechanism Set on the adjustment mechanism; an adsorption mechanism, the adsorption mechanism is set on the adjustment mechanism and the grasping mechanism.
  • the adjustment mechanism includes a servo motor, a double-threaded screw and two sliding rods, the servo motor is fixed on the top of the connecting plate, and both ends of the double-threaded screw are fixed in the connection through a bearing seat.
  • the two sliding rods are fixed on both sides of the bottom of the connecting plate with a double-threaded screw as a symmetry axis, the output shaft of the servo motor is fixedly installed with a drive gear, and the double-threaded screw is fixedly installed with A transmission gear, the driving gear meshes with the transmission gear, two threaded blocks are threadedly connected to the double-threaded screw rod, two sliding blocks are slidably connected to each sliding rod, and each threaded block One of the two sliding rods is a set; the grasping mechanism can be adjusted, which enhances the applicability and versatility of the present invention.
  • the double-threaded screw rod is provided with two sections of threads with opposite directions; this ensures the spacing of the grasping mechanism.
  • the grasping mechanism includes two U-shaped plates, the top of each U-shaped plate is fixedly connected to the bottom of the corresponding screw block and the two sliding blocks, and each U-shaped plate Support blocks are fixedly installed at both ends of the support block, a rotating shaft is rotatably connected to each of the two support blocks through a bearing, and two grippers are fixedly installed on each rotating shaft, each of the U-shaped Two L-shaped connecting rods are fixedly installed at the bottom of the board, a supporting plate is fixedly installed on the top of each two L-shaped connecting rods, and a power device is fixedly installed on the top of the two supporting plates.
  • a hinge seat is fixedly installed on the rotating shafts, and the output shaft of each power device is hinged with a corresponding hinge seat through a pin shaft, which can complete the clamping and fixing function of the product.
  • the power device is a cylinder push rod; the cylinder push rod is used to facilitate installation and maintenance, and at the same time, the operation is convenient.
  • the adsorption mechanism includes four support rods and two moving plates, two of the four support rods form a group, and the two sets of support rods are respectively fixed on the bottom of the corresponding U-shaped plate,
  • the two moving plates are slidably connected to two sliding rods, and the end of each group of the supporting rods away from the corresponding U-shaped plate is fixedly connected to the corresponding moving plate, and the bottom of each moving plate is fixedly installed Vacuum chuck; it can directly adsorb and fix the product, which is convenient and fast, and at the same time, the damage to the product is low.
  • both of the moving plates are provided with through holes, and the diameter of the double-threaded screw rod is smaller than the diameter of the through hole; this ensures that the moving process of the moving plate is reasonable.
  • the present invention provides an industrial robot for grasping work, which has the following beneficial effects:
  • the industrial robot used for grasping work can adjust the grasping mechanism through the adjustment mechanism, which is suitable for grasping products of different sizes, which enhances the applicability and convenience, and adopts the adsorption mechanism to adsorb and fix the product.
  • the gripping mechanism has a clamping and stabilizing effect on the product, so that it can be applied to the gripping work of irregular products, with a wider application range and high versatility.
  • the adsorption mechanism reduces the damage to the product.
  • Figure 1 is a perspective view of the structure of the present invention
  • Figure 2 is a perspective bottom view of the structure of the present invention.
  • Figure 3 is a perspective view of part of the structure of the present invention.
  • connecting plate 2. adjusting mechanism; 201, servo motor; 202, double threaded screw rod; 203, sliding rod; 204, drive gear; 205, transmission gear; 206, threaded block; 207, slider; 3.
  • Grasping mechanism 301, U-shaped plate; 302, support block; 303, rotating shaft; 304, gripper; 305, L-shaped connecting rod; 306, supporting plate; 307, power unit; 308, hinge seat; 4 , Adsorption mechanism; 401, support rod; 402, moving plate; 403, vacuum suction cup.
  • an industrial robot for grasping work including: a connecting plate 1; an adjusting mechanism 2, which is fixed on the connecting plate 1, and a grasping mechanism 3.
  • the grasping mechanism 3 is arranged on the adjusting mechanism 2; the suction mechanism 4 is arranged on the adjusting mechanism 2 and the grasping mechanism 3.
  • the connecting plate 1 can be used when it is fixed on a four-axis robotic arm, a six-axis robotic arm or an eight-axis robotic arm; the gripping mechanism 3 can be adjusted through the adjustment mechanism 2, so as to be suitable for products of different sizes
  • the gripping enhances the applicability and convenience, and the adsorption mechanism 4 is used to adsorb and fix the product, and the gripping mechanism 3 plays a role in clamping and stabilizing the product, so that it can be applied to the gripping work of irregular products. Wider, high versatility, and the use of the adsorption mechanism 4 reduces the damage to the product.
  • the adjustment mechanism 2 includes a servo motor 201, a double-threaded screw 202, and two sliding rods 203.
  • the servo motor 201 is fixed on the top of the connecting plate 1, and both ends of the double-threaded screw 202 are fixed on the connecting plate 1 through a bearing seat.
  • the two sliding rods 203 are fixed on both sides of the bottom of the connecting plate 1 with the double-threaded screw 202 as the symmetry axis.
  • the output shaft of the servo motor 201 is fixedly installed with a driving gear 204, and the double-threaded screw 202 is fixedly installed with a transmission Gear 205, driving gear 204 meshes with transmission gear 205, two threaded blocks 206 are screwed on the double threaded screw rod 202, and two sliding blocks 207 are slidingly connected to each sliding rod 203.
  • Each threaded block 206 and One slider 207 of the two sliding rods 203 is a group.
  • the servo motor 201 drives the drive gear 204 to rotate, and the drive gear 204 drives the transmission gear 205 meshed with it to rotate, so that the double-threaded screw 202 rotates. Because the servo motor 201 can rotate forward and backward, according to the servo motor For the forward or reverse rotation of 201, the two sets of threaded blocks 206 and the slider 207 move together on the double threaded screw 202 and the sliding rod 203, so that the grasping mechanism 3 can be adjusted and the applicability of the grasping mechanism 3 can be improved And versatility.
  • the double-threaded screw rod 202 is provided with two threads with opposite directions.
  • the two sets of threaded blocks 206 and the slider 207 can be moved in opposite directions, so that the spacing of the grasping mechanism 3 can be adjusted.
  • the grasping mechanism 3 includes two U-shaped plates 301, the top of each U-shaped plate 301 is fixedly connected to the bottom of the corresponding screw block 206 and the two sliding blocks 207, and both ends of each U-shaped plate 301
  • a supporting block 302 is fixedly installed, and a rotating shaft 303 is rotatably connected between each two supporting blocks 302 through a bearing.
  • Two grippers 304 are fixedly installed on each rotating shaft 303.
  • the bottom of each U-shaped plate 301 Two L-shaped connecting rods 305 are fixedly installed, and the top of each two L-shaped connecting rods 305 are fixedly installed with a supporting plate 306.
  • the tops of the two supporting plates 306 are fixedly installed with a power unit 307 and two rotating shafts 303.
  • a hinge seat 308 is fixedly installed on the upper part, and the output shaft of each power device 307 is hinged to the corresponding hinge seat 308 through a pin.
  • the distance between the corresponding grippers 304 on the two rotating shafts 303 can be adjusted by the adjusting mechanism 2, so as to be suitable for the grasping work of products of different sizes.
  • the two rotating shafts 303 are driven by the two power devices 307. Rotating, thereby driving the four grippers 304 to rotate, which completes the clamping and fixing of the product.
  • the power device 307 is a cylinder push rod.
  • the use of a cylinder push rod has the advantages of convenient installation, simple maintenance, and convenient operation.
  • the adsorption mechanism 4 includes four supporting rods 401 and two moving plates 402. Two of the four supporting rods 401 form a group.
  • the two groups of supporting rods 401 are respectively fixed on the bottom of the corresponding U-shaped plate 301, and the two moving The plate 402 is slidably connected to two sliding rods 203, and the end of each group of support rods 401 away from the corresponding U-shaped plate 301 is fixedly connected to the corresponding moving plate 402, and the bottom of each moving plate 402 is fixedly installed with a vacuum suction cup 403 .
  • the present invention mainly relies on the vacuum suction cup 403 to adsorb and fix the product, and rely on the cooperation of the gripper 304 to ensure the stability of the product.
  • the vacuum suction cup 403 can also be adjusted with the adjustment work of the gripper 304, thereby facilitating the present invention
  • the vacuum suction cup 403 also completes the adjustment work, and then cooperates with the gripper 304 to complete the product grasping work, and then use the four-axis robotic arm, six-axis robotic arm or eight-axis robotic arm. Under the action of the axis mechanical arm, the movement of the product is completed.
  • both moving plates 402 are provided with through holes, and the diameter of the double threaded screw rod 202 is smaller than the diameter of the through hole.
  • the present invention is installed on a four-axis, six-axis, or eight-axis robotic arm through the connecting plate 1.
  • the four-axis, six-axis, or eight-axis robotic arms are all
  • the servo motor 201 drives the drive gear 204 to rotate
  • the drive gear 204 drives the transmission gear 205 meshed with it to rotate, thereby double-threaded screw rod 202 rotates
  • the double-threaded screw 202 is provided with two oppositely-directed threads
  • the two sets of threaded blocks 206 and the sliding block 207 move in opposite directions on the double-threaded screw 202 and the sliding rod 203
  • the two power devices 307 are activated to drive the two rotating shafts 303 to rotate, and then the two rotating shafts 303 drive the four grippers 304 to rotate.
  • the product is clamped to complete the grasping of the goods.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

一种用于抓取工作的工业机器人，包括：连接板（1）；调节机构（2），调节机构（2）固定在连接板（1）上；抓取机构（3），抓取机构（3）设置在调节机构（2）上；吸附机构（4），吸附机构（4）设置在调节机构（2）和抓取机构（3）上。该工业机器人依靠真空吸盘（403）对产品进行吸附固定，依靠抓手（304）的配合保证产品稳定，其中真空吸盘（403）随着抓手（304）的调节工作同样可以进行调整，通过调节机构（2）可以对抓取机构（3）进行调整，从而可以适用不规则产品的抓取工作，适用范围广，通用性高，同时采用吸附机构（4）降低了对产品的损坏。

Description

一种用于抓取工作的工业机器人 技术领域
本发明涉及工业机器人技术领域，具体为一种用于抓取工作的工业机器人。
背景技术
工业机器人是面向工业领域的多关节机械手或多自由度的机器装置，它能自动执行工作，是靠自身动力和控制能力来实现各种功能的一种机器。目前工业机器人主要为机械臂式工业机器人，其中按照功能可以分为焊接工业机器人、抓取工业机器人、打磨工业机器人、点胶工业机器人和喷漆工业机器人等，其中机械臂式工业机器人主要依靠四轴机械臂、六轴机械臂和八轴机械臂带动相应的装置进行操作，其中抓取工业机器人主要用于工业产品加工、包装、码垛等操作，其中依靠机械臂带动机械爪完成对产品的抓取工作，但现有抓取工业机器人还存在以下的不足；
目前的抓取工业机器的机械爪可抓取产品的类型是固定的，无法对机械爪进行调节，从而只能适用一种产品的抓取，并且机械爪对货物抓取时受位置限定，只能夹取侧面或底面，且必须为多面夹取，在被抓取物为不规则时体时，对其抓取难度大。
发明概述
技术问题
针对现有技术的不足，本发明提供了一种用于抓取工作的工业机器人，解决了上述背景技术提出的问题。
问题的解决方案
技术解决方案
为实现上述目的，本发明提供如下技术方案：一种用于抓取工作的工业机器人，包括：连接板；调节机构，所述调节机构固定在连接板上；抓取机构，所述抓取机构设置在调节机构上；吸附机构，所述吸附机构设置在调节机构和抓取机构上。
在进一步实施例中，所述调节机构包括伺服电机、双螺纹丝杆和两个滑杆，所述伺服电机固定在连接板的顶部，所述双螺纹丝杆的两端通过轴承座固定在连接板的底部，两个所述滑杆以双螺纹丝杆为对称轴固定在连接板底部的两侧，所述伺服电机的输出轴固定安装有驱动齿轮，所述双螺纹丝杆上固定安装有传动齿轮，所述驱动齿轮与传动齿轮相啮合，所述双螺纹丝杆上螺纹连接有两个螺纹块，每个所述滑杆上均滑动连接有两个滑块，每个所述螺纹块和两个滑杆其中一个滑块为一组；可以对抓取机构进行调节，增强了本发明的适用性和通用性。
在进一步实施例中，所述双螺纹丝杆上设置有两段方向相反的螺纹；对抓取机构间距的提供了保证。
在进一步实施例中，所述抓取机构包括两个U型板，每个所述U型板的顶部均与相对应螺纹块和两个滑块的底部固定连接，每个所述U型板的两端均固定安装有支撑块，每两个所述支撑块之间均通过轴承转动连接有旋转轴，每个所述旋转轴上均固定安装有两个抓手，每个所述U型板的底部均固定安装有两个L型连接杆，每两个所述L型连接杆的顶部均固定安装有支板，两个所述支板的顶部均固定安装有动力装置，两个所述旋转轴上均固定安装有铰接座，每个所述动力装置的输出轴分别通过销轴与相对应的铰接座铰接；可以完成对产品的夹持固定作用。
在进一步实施例中，所述动力装置为气缸推杆；采用气缸推杆方便安装检修，同时操作便捷。
在进一步实施例中，所述吸附机构包括四个支杆和两个移动板，四个所述支杆两个为一组，两组所述支杆分别固定在相对应U型板的底部，两个所述移动板均与两个滑杆滑动连接，每组所述支杆远离各自对应U型板的一端均与相对应移动板固定连接，每个所述移动板的底部均固定安装有真空吸盘；直接对产品进行吸附固定，方便快捷，同时对产品的损伤低。
在进一步实施例中，两个所述移动板上均开设有通孔，所述双螺纹丝杆的直径小于通孔的直径；确保了移动板移动过程合理。
发明的有益效果
有益效果
与现有技术相比，本发明提供了一种用于抓取工作的工业机器人，具备以下有益效果：
该用于抓取工作的工业机器人，通过调节机构可以对抓取机构进行调整，从而适用不同大小尺寸产品的抓取，增强了适用性和便捷性，并且采用吸附机构对产品进行吸附固定，依靠抓取机构对产品起到夹持稳定作用，从而可以适用不规则产品的抓取工作，适用范围更广，通用性高，同时采用吸附机构降低了对产品的损坏。
对附图的简要说明
附图说明
图1为本发明结构立体图；
图2为本发明结构立体仰视图；
图3为本发明部分结构立体图。
图中：1、连接板；2、调节机构；201、伺服电机；202、双螺纹丝杆；203、滑杆；204、驱动齿轮；205、传动齿轮；206、螺纹块；207、滑块；3、抓取机构；301、U型板；302、支撑块；303、旋转轴；304、抓手；305、L型连接杆；306、支板；307、动力装置；308、铰接座；4、吸附机构；401、支杆；402、移动板；403、真空吸盘。
发明实施例
本发明的实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
实施例
请参阅图1-3，本发明提供以下技术方案：一种用于抓取工作的工业机器人，包括：连接板1；调节机构2，调节机构2固定在连接板1上；抓取机构3，抓取机 构3设置在调节机构2上；吸附机构4，吸附机构4设置在调节机构2和抓取机构3上。
本实施方案中，其中将连接板1固定在四轴机械臂、六轴机械臂或八轴机械臂上即可使用；通过调节机构2可以对抓取机构3进行调整，从而适用不同大小尺寸产品的抓取，增强了适用性和便捷性，并且采用吸附机构4对产品进行吸附固定，依靠抓取机构3对产品起到夹持稳定作用，从而可以适用不规则产品的抓取工作，适用范围更广，通用性高，同时采用吸附机构4降低了对产品的损坏。
具体的，调节机构2包括伺服电机201、双螺纹丝杆202和两个滑杆203，伺服电机201固定在连接板1的顶部，双螺纹丝杆202的两端通过轴承座固定在连接板1的底部，两个滑杆203以双螺纹丝杆202为对称轴固定在连接板1底部的两侧，伺服电机201的输出轴固定安装有驱动齿轮204，双螺纹丝杆202上固定安装有传动齿轮205，驱动齿轮204与传动齿轮205相啮合，双螺纹丝杆202上螺纹连接有两个螺纹块206，每个滑杆203上均滑动连接有两个滑块207，每个螺纹块206和两个滑杆203其中一个滑块207为一组。
本实施例中，通过伺服电机201带动驱动齿轮204转动，驱动齿轮204带动与其相啮合的传动齿轮205转动，从而双螺纹丝杆202转动，由于伺服电机201可以正转和反转，根据伺服电机201的正转或反转，两组螺纹块206和滑块207在双螺纹丝杆202和滑杆203上共同进行移动，从而可以对抓取机构3进行调整，提高抓取机构3的适用性和通用性。
具体的，双螺纹丝杆202上设置有两段方向相反的螺纹。
本实施例中，由于两段方向相反螺纹内的设计，可以使两组螺纹块206和滑块207进行相反方向的移动，从而可以对抓取机构3的间距进行调整。
具体的，抓取机构3包括两个U型板301，每个U型板301的顶部均与相对应螺纹块206和两个滑块207的底部固定连接，每个U型板301的两端均固定安装有支撑块302，每两个支撑块302之间均通过轴承转动连接有旋转轴303，每个旋转轴303上均固定安装有两个抓手304，每个U型板301的底部均固定安装有两个L型连接杆305，每两个L型连接杆305的顶部均固定安装有支板306，两个支板306的顶部均固定安装有动力装置307，两个旋转轴303上均固定安装有铰接座308，每个动 力装置307的输出轴分别通过销轴与相对应的铰接座308铰接。
本实施例中，通过调节机构2可以对两个旋转轴303上对应抓手304的间距进行调整，从而适用不同大小尺寸的产品的抓取工作，通过两个动力装置307带动两个旋转轴303转动，从而带动四个抓手304转动，既完成了对产品的夹持固定。
具体的，动力装置307为气缸推杆。
本实施例中，采用气缸推杆具有安装方便、检修简单和操作便捷等优点。
具体的，吸附机构4包括四个支杆401和两个移动板402，四个支杆401两个为一组，两组支杆401分别固定在相对应U型板301的底部，两个移动板402均与两个滑杆203滑动连接，每组支杆401远离各自对应U型板301的一端均与相对应移动板402固定连接，每个移动板402的底部均固定安装有真空吸盘403。
本实施例中，本发明主要依靠真空吸盘403对产品进行吸附固定，依靠抓手304的配合保证产品稳定，其中真空吸盘403随着抓手304的调节工作同样可以进行调整，从而方便本发明的使用，利用调节机构2对抓手304调节过程中，真空吸盘403同样完成调节工作，然后与抓手304配合共同完成对产品的抓取工作，然后在四轴机械臂、六轴机械臂或八轴机械臂的作用下，完成对产品的移动。
具体的，两个移动板402上均开设有通孔，双螺纹丝杆202的直径小于通孔的直径。
本实施例中，确保双螺纹丝杆202不与移动板402接触，这样移动板402移动过程中不受影响。
本发明的工作原理及使用流程：通过连接板1将本发明安装在四轴机械臂、六轴机械臂或八轴机械臂上，其中四轴机械臂、六轴机械臂或八轴机械臂均为现有技术，在对货物抓取前，需要对抓手304的间距进行调整，其中伺服电机201带动驱动齿轮204转动，驱动齿轮204带动与其相啮合的传动齿轮205转动，从而双螺纹丝杆202转动，由于双螺纹丝杆202上设置有两段方向相反的螺纹，从而两组螺纹块206和滑块207在双螺纹丝杆202和滑杆203上进行方向相反的移动，然后对两个抓手304的间距进行调整，同时带动两个移动板402在两个滑杆203上滑行，既同时对真空吸盘403的位置进行调整，利用调节机构2对抓手304和真空吸盘403的位置调整好后，将真空吸盘403与产品接触将其吸附后，启动两个动 力装置307带动两个旋转轴303转动，然后两个旋转轴303带动四个抓手304转动，通过四个抓手304将产品进行夹持，从而完成对货物的抓取工作。
最后应说明的是：以上所述仅为本发明的优选实施例而已，并不用于限制本发明，尽管参照前述实施例对本发明进行了详细的说明，对于本领域的技术人员来说，其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (7)

  1. 一种用于抓取工作的工业机器人，其特征在于：包括：
    连接板(1)；
    调节机构(2)，所述调节机构(2)固定在连接板(1)上；
    抓取机构(3)，所述抓取机构(3)设置在调节机构(2)上；
    吸附机构(4)，所述吸附机构(4)设置在调节机构(2)和抓取机构(3)上。
  2. 根据权利要求1所述的一种用于抓取工作的工业机器人，其特征在于：所述调节机构(2)包括伺服电机(201)、双螺纹丝杆(202)和两个滑杆(203)，所述伺服电机(201)固定在连接板(1)的顶部，所述双螺纹丝杆(202)的两端通过轴承座固定在连接板(1)的底部，两个所述滑杆(203)以双螺纹丝杆(202)为对称轴固定在连接板(1)底部的两侧，所述伺服电机(201)的输出轴固定安装有驱动齿轮(204)，所述双螺纹丝杆(202)上固定安装有传动齿轮(205)，所述驱动齿轮(204)与传动齿轮(205)相啮合，所述双螺纹丝杆(202)上螺纹连接有两个螺纹块(206)，每个所述滑杆(203)上均滑动连接有两个滑块(207)，每个所述螺纹块(206)和两个滑杆(203)其中一个滑块(207)为一组。
  3. 根据权利要求2所述的一种用于抓取工作的工业机器人，其特征在于：所述双螺纹丝杆(202)上设置有两段方向相反的螺纹。
  4. 根据权利要求1所述的一种用于抓取工作的工业机器人，其特征在于：所述抓取机构(3)包括两个U型板(301)，每个所述U型板(301)的顶部均与相对应螺纹块(206)和两个滑块(207)的底部固定连接，每个所述U型板(301)的两端均固定安装有支撑块(302)，每两个所述支撑块(302)之间均通过轴承转动连接有旋转轴(303)，每个所述旋转轴(303)上均固定安装有两个抓手(304)，每个所述U型板(301)的底部均固定安装有两个L型 连接杆(305)，每两个所述L型连接杆(305)的顶部均固定安装有支板(306)，两个所述支板(306)的顶部均固定安装有动力装置(307)，两个所述旋转轴(303)上均固定安装有铰接座(308)，每个所述动力装置(307)的输出轴分别通过销轴与相对应的铰接座(308)铰接。
  5. 根据权利要求4所述的一种用于抓取工作的工业机器人，其特征在于：所述动力装置(307)为气缸推杆。
  6. 根据权利要求1所述的一种用于抓取工作的工业机器人，其特征在于：所述吸附机构(4)包括四个支杆(401)和两个移动板(402)，四个所述支杆(401)两个为一组，两组所述支杆(401)分别固定在相对应U型板(301)的底部，两个所述移动板(402)均与两个滑杆(203)滑动连接，每组所述支杆(401)远离各自对应U型板(301)的一端均与相对应移动板(402)固定连接，每个所述移动板(402)的底部均固定安装有真空吸盘(403)。
  7. 根据权利要求1所述的一种用于抓取工作的工业机器人，其特征在于：两个所述移动板(402)上均开设有通孔，所述双螺纹丝杆(202)的直径小于通孔的直径。
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