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CN-121973264-A - Industrial robot snatchs safety control device

CN121973264ACN 121973264 ACN121973264 ACN 121973264ACN-121973264-A

Abstract

The invention provides an industrial robot grabbing safety control device, which relates to the technical field of industrial robots and comprises a conveying table, wherein an identification component is arranged at the inlet end of the conveying table, a collecting frame is arranged at one side of the conveying table, a rotating mechanical arm is arranged between the conveying table and the collecting frame, clamping mechanical arms are arranged at two sides of the top of the rotating mechanical arm, the identification component comprises an identification unit, after an object needing to be taken out is identified through the identification component, a first electric push rod drives an interception plate to penetrate out of the interception platform to intercept the object, meanwhile, along with the movement of the interception plate, a movable plate moves along a vertical groove, a push rod drives a push frame to move along a guide plate, so that the push plate is far away from the top of a sending-out plate, the object carried by the clamping mechanical arm conveniently falls on the sending-out plate, after the interception plate is retracted, the two groups of clamping mechanical arms move upwards, the push plate and the push frame move along with the elasticity of a fourth spring along the sending-out plate, and the object falling on the sending-out plate is pushed into the collecting frame.

Inventors

  • HE RUI
  • Xing Yuezhang

Assignees

  • 安徽锐翔动力技术有限公司

Dates

Publication Date
20260505
Application Date
20260403

Claims (10)

  1. 1. An industrial robot gripping safety control device, characterized by comprising: the conveying device comprises a conveying table (1), wherein an identification component (2) is arranged at the inlet end of the conveying table (1), a collecting frame (5) is arranged on one side of the conveying table (1), a rotating mechanical arm (3) is arranged between the conveying table (1) and the collecting frame (5), and clamping mechanical arms (4) are arranged on two sides of the top of the rotating mechanical arm (3); the identification assembly (2) comprises an identification unit (21), the identification unit (21) is slidably arranged on the outer walls of the two sides of the inlet end of the conveying table (1), and an identification end (22) is arranged on the top surface of the identification unit (21); The rotary mechanical arm (3) comprises a fixed seat (31), the fixed seat (31) is fixed between the conveying table (1) and the collecting frame (5), a rotary shaft (33) is rotatably arranged at the top of the fixed seat (31), and a top plate (34) is fixed at the top of the rotary shaft (33); The clamping mechanical arm (4) comprises a fixed plate (43), a fixed frame (41) is fixed at the bottom of one side of the fixed plate (43), a movable frame (42) is slidably mounted at the bottom of the other side of the fixed plate (43), two vertical rods (44) are symmetrically slidably mounted at the bottoms of the fixed frame (41) and the movable frame (42), a baffle (45) is fixed at the bottoms of the fixed frame (41) and the movable frame (42), and two side plates (411) are symmetrically slidably mounted at the inner side of the baffle (45); the top of the collecting frame (5) is fixed with a delivery plate (51), and a push plate (52) is arranged on the outer side of the delivery plate (51).
  2. 2. An industrial robot gripping safety control device according to claim 1, characterized in that the identification assembly (2) further comprises: The automatic identification device comprises a sliding rail (23), a third electric push rod (25) and clamping plates (26), wherein the sliding rail (23) is fixed on the outer walls of the two sides of the inlet end of the conveying table (1), the two sides of the identification unit (21) slide along the sliding rail (23), the third electric push rod (25) is fixed on the outer walls of the two sides of the identification assembly (2), and the extension end of the third electric push rod (25) penetrates through the identification unit (21) to be fixed with the clamping plates (26); The surface of the sliding rail (23) is fixedly provided with a second electric push rod (24), and the extension end of the second electric push rod (24) is fixedly connected with two sides of the identification unit (21).
  3. 3. An industrial robot gripping safety control device according to claim 1, characterized in that the rotating robot arm (3) further comprises: the device comprises a driving motor (32), a connecting plate (35) and an inserting frame (37), wherein the driving motor (32) is fixed at the top of a fixed seat (31), the output end of the driving motor (32) is fixedly connected with the bottom of a rotating shaft (33), the connecting plate (35) is arranged at the top of a top plate (34), the inserting frame (37) is fixed at the bottoms of two ends of the connecting plate (35), and the inserting frame (37) slides out of the top plate (34) to be fixedly connected with two fixed plates (43); The bottom of the top plate (34) is fixed with a fourth electric push rod (36) at two sides of the rotating shaft (33), and the extension end of the fourth electric push rod (36) is fixedly connected with the connecting plate (35).
  4. 4. The industrial robot gripping safety control device according to claim 1, wherein the gripping robot arm (4) further comprises: The two-way screw rod (432) and the first cutting (46) are rotatably arranged in the fixed frame (41) and the movable frame (42), the tops of the vertical rods (44) are in threaded connection with the surface of the two-way screw rod (432), the first cutting (46) is fixed at the tops of the vertical rods (44) at two sides of the fixed frame (41) towards the direction of the movable frame (42), and the two vertical rods (44) of the movable frame (42) are in sliding connection with the vertical rods (44); wherein, the motor for driving the bidirectional screw rod (432) to rotate is arranged at the outer sides of the fixed frame (41) and the movable frame (42).
  5. 5. The industrial robot grabbing safety control device according to claim 4, wherein the tops of two vertical rods (44) of the movable frame (42) are slidably inserted with second cutting bars (414), two ends of the second cutting bars (414) are fixedly connected with the movable frame (42), a first screw (413) is rotatably arranged at the bottom of one end of the fixed frame (41), and one end of the second cutting bars (414) is in threaded sleeve connection with the surface of the first screw (413); The bottom of the fixed frame (41) is provided with a motor for driving the first screw rod (413) to rotate, the bottom of the other end of the fixed frame (41) is fixed with a sliding rod, and the other end of the second cutting (414) is sleeved on the sliding rod in a sliding manner.
  6. 6. The industrial robot grasping safety control device according to claim 5, wherein a moving groove (410) is formed in the inner side of the baffle plate (45), a side plate (411) slides along the moving groove (410), a plurality of return springs (412) are fixed between the side plate (411) and the moving groove (410) at equal intervals, a limiting plate (433) is arranged at the bottom of the middle of the fixing plate (43), a pressing plate (434) is arranged at the bottom of the limiting plate (433), a plug rod (422) is fixed at the top of the pressing plate (434), and the plug rod (422) slides through the limiting plate (433) and the fixing plate (43); wherein, limiting plate (433) both sides are connected with bull stick (435) through pivot symmetry rotation, and the other end of bull stick (435) is connected through pivot and the rotation of corresponding fixed frame (41) and removal frame (42) both ends.
  7. 7. The industrial robot grabbing safety control device according to claim 6, wherein a first moving gap (417) is formed in the middle of the fixing plate (43), a second screw rod (418) is rotatably installed in the first moving gap (417), a screw block (419) is sleeved on the surface of the second screw rod (418), the screw block (419) is fixedly connected with the moving frame (42), a second moving gap (420) is formed in the fixing plate (43) corresponding to the position where the inserting rod (422) penetrates out, a sliding block (421) is slidably connected in the second moving gap (420), and the inserting rod (422) slidably penetrates out of the sliding block (421); Wherein, one end of the fixed plate (43) is provided with a motor for driving the second screw rod (418) to rotate.
  8. 8. The industrial robot grasping safety control device according to claim 7, wherein a transverse plate (426) is arranged on one side of the fixing plate (43) far from the inserting rod (422) and penetrating out, the transverse plate (426) is in extrusion contact with the movable frame (42) and a vertical rod (44) on one side of the fixed frame (41), a fixing block (427) is fixed at one end of the transverse plate (426), a sliding groove (430) is formed in the surface of the transverse plate (426), a movable block (431) is slidably connected in the sliding groove (430), a containing frame (428) is fixed on the outer side of a baffle (45) of the fixed frame (41) and the movable frame (42), and the fixing block (427) and the movable block (431) are slidably inserted in the containing frame (428); Wherein, accomodate the inside of frame (428) and be fixed with third spring (429), and third spring (429) and fixed block (427) and movable block (431) fixed connection, the top sliding connection of diaphragm (426) has longboard (425), and the other end of longboard (425) is connected with connecting rod (424) through the pivot rotation, the other end of connecting rod (424) is connected through the pivot rotation of the top of pivot and inserted bar (422), second spring (423) have been cup jointed on the surface of inserted bar (422) worn out slider (421), and the both ends and inserted bar (422) top and slider (421) fixed connection of second spring (423).
  9. 9. The industrial robot grabbing safety control device according to claim 8, wherein the two sides of the conveying table (1) corresponding to the clamping mechanical arm (4) are fixedly provided with placement frames (13), the positions of the conveying table (1) corresponding to the placement frames (13) are provided with hollowed-out notches (14), the tops of the two sides of the placement frames (13) are provided with slots (18), the tops of the slots (18) are slidably inserted with sliding frames (48), five groups of right angle frames (47) are slidably installed on the surface of the sliding frames (48) at equal intervals, and the sliding frames (48) are positioned between the two groups of right angle frames (47) and are sleeved with first springs (49); The bottom of the right-angle frame (47) at two ends of the sliding frame (48) is provided with a clamping groove (416), and the bottom of the vertical rod (44) is fixedly provided with an inserting block (415).
  10. 10. The industrial robot grabbing safety control device according to claim 9, wherein an interception platform (11) is fixed at the middle position of the conveying table (1), an interception plate (12) is penetrated out of the top of the interception platform (11) in a sliding manner, a vertical groove (15) is formed in one side, close to the collecting frame (5), of the conveying table (1), a movable plate (16) is connected in the vertical groove (15) in a sliding manner, a first electric push rod (17) is fixed at the bottom of the fixed seat (31) corresponding to the movable plate (16), and the extension end of the first electric push rod (17) is fixedly connected with the movable plate (16); One end of the movable plate (16) is fixedly connected with the bottom of the interception plate (12), the other end of the movable plate (16) is rotationally connected with a pull rod (56), the back of the push plate (52) is fixedly provided with a pushing frame (53), the other end of the pull rod (56) is rotationally connected with the outer end of the pushing frame (53) through a rotating shaft, two guide plates (54) are fixed at the bottom of the collection frame (5) corresponding to the position of the pushing frame (53), the pushing frame (53) slides along the guide plates (54), and a fourth spring (55) is fixed between the pushing frame (53) and the collection frame (5).

Description

Industrial robot snatchs safety control device Technical Field The disclosure relates to the technical field of industrial robots, in particular to an industrial robot grabbing safety control device. Background Industrial robots are mechanical devices that perform handling, assembly, welding, spraying, inspection, etc. of objects in an industrial production environment by means of automatic control, re-programmable means. Such robots generally have programmability, automatic control and multiple degree of freedom motion capabilities, and can perform specific industrial tasks under preset programs or external control system instructions, thereby replacing or assisting in manually completing operations with high repeatability and high precision requirements. Industrial robots are an important component of industrial automation equipment, whose performance is typically measured in terms of repetitive positioning accuracy, load capacity, speed, and workspace. Industrial robots are generally composed of a body mechanical structure, a joint driving and transmission mechanism, a control system, a sensor, an end effector and the like, and the design and the manufacture of the industrial robot need to comprehensively consider indexes such as movement space, load capacity, repeated positioning accuracy and the like. In the prior art, an industrial robot grabbing control system usually controls a robot to grab by simply relying on vision or a fixed program, but in application scenes such as logistics sorting, the grabbing mode may cause grabbing failure or unstable due to large differences in shape and hardness of objects to be sorted, and particularly, the objects are easy to drop in the transferring process. Disclosure of Invention The present disclosure aims to solve, at least to some extent, one of the technical problems in the related art. To this end, an object of the present disclosure is to provide an industrial robot gripping safety control device. The industrial robot grabbing safety control device comprises a conveying table, an identification component is arranged at the inlet end of the conveying table, a collecting frame is arranged on one side of the conveying table, a rotating mechanical arm is arranged between the conveying table and the collecting frame, clamping mechanical arms are installed on two sides of the top of the rotating mechanical arm, the identification component comprises an identification unit which is slidably installed on outer walls of two sides of the inlet end of the conveying table, an identification end is arranged on the top surface of the identification unit, the rotating mechanical arm comprises a fixing seat which is fixed between the conveying table and the collecting frame, a rotating shaft is rotatably installed at the top of the fixing seat, a top plate is fixed at the top of the rotating shaft, the clamping mechanical arm comprises a fixing plate, a fixing frame is fixed at the bottom of one side of the fixing plate, a moving frame is slidably installed at the bottom of the other side of the fixing plate, two vertical rods are symmetrically slidably installed at the bottom of the fixing frame and the moving frame, two side plates are symmetrically slidably installed at the inner sides of the baffle, a sending plate is fixedly provided at the top of the collecting frame, and a pushing plate is arranged at the outer side of the sending plate. Optionally, the identification assembly further comprises a sliding rail, a third electric push rod and a clamping plate, wherein the sliding rail is fixed on the outer walls of the two sides of the inlet end of the conveying table, the two sides of the identification unit slide along the sliding rail, the third electric push rod is fixed on the outer walls of the two sides of the identification assembly, the extension end of the third electric push rod penetrates through the identification unit to be fixed with the clamping plate, the second electric push rod is fixed on the surface of the sliding rail, and the extension end of the second electric push rod is fixedly connected with the two sides of the identification unit. Optionally, the rotating mechanical arm further comprises a driving motor, a connecting plate and an inserting frame, wherein the driving motor is fixed at the top of the fixing seat, the output end of the driving motor is fixedly connected with the bottom of the rotating shaft, the connecting plate is arranged at the top of the top plate, the inserting frames are fixed at the bottoms of the two ends of the connecting plate, the inserting frames slide out of the top plate to be fixedly connected with the two fixing plates, a fourth electric push rod is fixed at the bottom of the top plate at the two sides of the rotating shaft, and the extension end of the fourth electric push rod is fixedly connected with the connecting plate. Optionally, the clamping mechanical arm further comprises a bidirectional screw rod and