Robotic Gripper and Robot

Abstract

The present invention provides a robot fixture and a robot, wherein the robot fixture comprises two clamping arms with adjustable spacing, in a first direction, a clamping space is formed between the two clamping arms, and the clamping arms have a matching inner side facing the clamping space; the fixture further comprises a first clamping structure and a second clamping structure relatively arranged on the matching inner side, in a third direction, a first clamping position is formed between the first clamping structure and the second clamping structure, and the spacing between the first clamping structure and the second clamping structure is adjustable; the fixture further comprises a third clamping structure and a fourth clamping structure relatively arranged on the matching inner side, in a second direction, a second clamping position is formed between the third clamping structure and the fourth clamping structure, and the spacing between the third clamping structure and the fourth clamping structure is adjustable. The robot comprises a fixture. The fixture provided by the present invention is suitable for stably grasping material boxes of various sizes and performing dumping, flipping and stacking operations.

Description

Technical Field

[0001] The present invention relates to the technical field of automation equipment, and in particular to a clamp of an industrial robot and a robot. Background Art

[0002] There is a robot for grabbing, dumping, flipping and stacking material boxes, which has a multi-axis robotic arm and a clamp connected to the end of the multi-axis robotic arm. The clamp includes two clamping arms arranged opposite to each other, and a clamping space is formed between the two clamping arms. A limiting structure group is provided on the clamping arm facing one side of the clamping space to limit the material box from other directions. The distance between the two clamping arms can be changed by cylinder control, thereby realizing the grabbing and releasing of the material box.

[0003] The existing clamp is only suitable for grasping and limiting material boxes of a single size. Since the robot needs to dump and flip the material box, when the size of the material box increases, the clamping arm cannot limit the material box and causes the material box to fall off; when the size of the material box decreases, the material box is not completely limited and becomes loose, and the problem of the material box falling off also exists. Summary of the invention

[0004] A first object of the present invention is to provide a robot gripper with improved adaptability.

[0005] A second object of the present invention is to provide a robot with improved adaptability.

[0006] The robot clamp provided by the first purpose of the present invention includes a fixed seat and two clamping arms relatively arranged on the fixed seat, in the first direction, a clamping space is formed between the two clamping arms, and the distance between the two clamping arms is adjustable; in the second direction, the opposite ends of the clamping space are connected to the outside of the clamp; the clamping arm has a matching inner side facing the clamping space, the second direction is perpendicular to the first direction, the clamp also includes a first clamping structure and a second clamping structure relatively arranged on the matching inner side, in the third direction, a first clamping position is formed between the first clamping structure and the second clamping structure, the distance between the first clamping structure and the second clamping structure is adjustable, the third direction is perpendicular to the first direction and the second direction, the clamp also includes a third clamping structure and a fourth clamping structure relatively arranged on the matching inner side, in the second direction, a second clamping position is formed between the third clamping structure and the fourth clamping structure, and the distance between the third clamping structure and the fourth clamping structure is adjustable.

[0007] As can be seen from the above scheme, the clamp moves downward from the top of the material box, and the two clamping arms move from the material box in the clamping space in the first direction until the preset clamping force is reached, and then the cylinder drives the first clamping structure and / or the second clamping structure to move to clamp the material box from the third direction until the preset clamping force is reached, and finally the cylinder drives the third clamping structure and / or the fourth clamping structure to clamp the material box from the second direction until the preset clamping force is reached, at which time the freedom of the material box in all directions is restricted. The clamp provided by the present invention is suitable for stably grasping and dumping, flipping and stacking material boxes of various sizes.

[0008] A further solution is that the third clamping structure has a third clamping surface facing the fourth clamping structure, and the third clamping structure also includes an inwardly extending arm portion extending from the third clamping surface along the second direction toward the fourth clamping structure, and a first gap is formed between the inwardly extending arm portion and the mating inner side in the first direction.

[0009] As can be seen from the above, when the third clamping structure is close to the fourth clamping structure, the inner extension arm gradually extends from the upper opening of the material box into the material box, and when the third clamping structure and the fourth clamping structure restrict the material box from the second direction, the side wall of the material box is restricted between the inner extension arm and the clamping arm. When the robot dumps or flips the material box, the blocking of the inner extension arm can well prevent the material box from elastically deforming and loosening, further improving the stability of the clamping.

[0010] A further solution is that, in the first direction, the first interval is greater than a width of the fourth clamping structure.

[0011] As can be seen from the above, this arrangement can ensure that the first interval is greater than the wall thickness of the frame portion of the material box, ensuring that the inner extension arm can smoothly enter the material box.

[0012] A further solution is that the fourth clamping structure has a fourth clamping portion extending toward the third clamping structure, and a second interval is provided between the fourth clamping portion and the mating inner side in the first direction.

[0013] As can be seen from the above, since the upper periphery of the material box has a convex frame and the bottom of the frame has a concave molding recess, when the material box is supported on the fourth clamping structure, the fourth clamping part can extend into the molding recess at the bottom of the frame, thereby improving the anti-loosening effect.

[0014] A further solution is that the extending end of the inner extending arm portion has a guiding inclined surface, and the guiding inclined surface faces the inner side and the fourth clamping structure.

[0015] As can be seen from the above, the setting of the guiding slope makes it easier for the inner extension arm to extend into the material box, thereby avoiding hard contact and damaging the material box or the clamp.

[0016] A further solution is that the first clamping position and the second clamping position are arranged sequentially in the second direction.

[0017] As can be seen from the above, the third clamping structure and the fourth clamping structure vertically clamp the convex frame on the upper part of the material box and provide an upward force to the material box. This arrangement moves the center of gravity of the material box downward, and the gripping effect is more stable. Since the elastic deformation capacity of the lower part of the outer peripheral wall of the material box is weaker than that of the upper part, the first clamping structure and the second clamping structure clamp the lower part of the material box in the horizontal direction to avoid unstable gripping caused by the elastic deformation of the material box. In addition, the vertical clamping position and the horizontal clamping position are respectively located at the upper and lower parts of the material box, and the supporting force provided to the material box when tipping and turning over the material box is more uniform, and the tipping and turning actions are more stable.

[0018] A further solution is that the third clamping structure extends in the third direction into a long shape.

[0019] As can be seen from the above, this arrangement can increase the matching area between the third clamping surface, the inner extension arm and the material box, thereby improving the limiting effect.

[0020] A further solution is that the second clamping structure and / or the fourth clamping structure is fixed on the matching inner side.

[0021] As can be seen from the above, the second clamping structure and the fourth clamping structure are fixed, and the first clamping structure and the third clamping structure are driven to move by the cylinder. This setting can reduce the manufacturing cost of the clamp, and the movement process of the material box from the free state to the restricted state is more controllable.

[0022] A further solution is that the clamping arm is provided with an elongated mounting groove extending along the third direction; and the fourth clamping structure is fixed to the elongated mounting groove by bolts.

[0023] As can be seen from the above, since the fourth clamping structure is used to support the material box, this arrangement makes the position of the fourth clamping structure in the third direction adjustable. The position of the fourth clamping structure can be adjusted to make the position of the fourth clamping structure closer to the center of the material box to be grasped and transported, thereby providing stable support for the material box.

[0024] A further solution is that the fixture further includes a camera device connected to the fixing seat, and the camera device is oriented in a third direction.

[0025] As can be seen from the above, before grabbing the material box, image data can be obtained through the camera device. The system analyzes the image data and determines the size and position data of the material box. Then the system adjusts the opening position of the clamping arm and each clamping structure according to the size and position data, thereby ensuring the success rate of the clamp in grabbing the material box.

[0026] The robot provided by the second object of the present invention includes a clamp, and the clamp adopts the above-mentioned clamp.

[0027] A further solution is that the robot includes a mechanical arm, and the clamp is installed on the mechanical arm along a third direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a structural diagram of a first perspective embodiment of a robot clamp of the present invention.

[0029] Figure 2 This is a structural diagram of some components from a first perspective in an embodiment of a robot clamp of the present invention.

[0030] Figure 3 This is a structural diagram of some components from a second perspective in an embodiment of a robot clamp of the present invention.

[0031] Figure 4 This is a structural diagram of the first state of the clamp embodiment of the robot of the present invention.

[0032] Figure 5 This is a structural diagram of the second state of the clamp embodiment of the robot of the present invention.

[0033] Figure 6 It is a partial schematic diagram of the second state of the clamp embodiment of the robot of the present invention.

[0034] Figure 7 It is a structural diagram of the third state of the clamp embodiment of the robot of the present invention.

[0035] Figure 8 It is a partial schematic diagram of the fourth state of the clamp embodiment of the robot of the present invention. DETAILED DESCRIPTION

[0036] See also Figure 1 , Figure 1 This is a structural diagram of the first perspective of the clamp embodiment of the robot of the present invention. The robot provided by the present invention includes a mechanical arm and a clamp, the mechanical arm is a six-axis mechanical arm, the clamp is the clamp provided by the present invention, and the clamp is installed on the end of the mechanical arm with the z-axis direction as the rotation axis. Since the clamp is used to limit the material box in three directions that are perpendicular to each other, a unified three-dimensional coordinate system is established in each of the drawings, with the x-axis direction, the y-axis direction and the z-axis direction representing the first direction, the second direction and the third direction respectively. When carrying a material box, the positive direction of the y-axis is the vertical upward direction.

[0037] The fixture has a connection seat 10 for fixed connection with the end of the robot arm, a fixed seat 11 is fixedly connected to the connection seat 10, an x-axis linear cylinder 111 arranged along the x-axis direction is fixedly installed on the fixed seat 11, and two linear moving blocks 112 that can move along the x-axis direction are provided on the x-axis linear cylinder 111, and a clamping arm 12 is fixedly installed on each linear moving block 112, and the clamping arm 12 is in the shape of a plate, and a clamping space 100 for clamping a material box is formed between the two clamping arms 12, and in the y-axis direction, the opposite ends of the clamping space 100 are connected to the outside of the fixture. Under the drive of the x-axis linear cylinder 111, the two linear moving blocks 112 move to change the spacing between the two clamping arms 12. Between the two linear moving blocks 112, a camera device 4 is also installed on the x-axis linear cylinder 111. The camera device 4 includes a camera 41 facing the negative direction of the y-axis and two light sources 42 located on both sides of the camera 41.

[0038] Combination Figure 1 , Figure 2 and Figure 3 , Figure 2 This is a structural diagram of some components in the first perspective of the robot fixture embodiment of the present invention. Figure 3 1 is a structural diagram of some components in the clamp embodiment of the robot of the present invention from a second perspective. Each clamping arm 12 has a matching inner side 120 facing the clamping space 100, and a first clamping structure 21, a second clamping structure 22, a third clamping structure 31 and a fourth clamping structure 32 are installed on the matching inner side 120. Only the clamping arm 12 on one side and the four clamping structures thereon are described below.

[0039] First, in the z-axis direction, on the matching inner side 120 of the clamping arm 12, a first clamping structure 21 is fixedly installed at one end close to the x-axis linear cylinder 111. The first clamping structure 21 is composed of a z-axis linear cylinder 210 arranged along the z-axis direction and a first clamping member 211 installed at the end of the piston rod of the z-axis linear cylinder 210. The first clamping member 211 faces the positive direction of the z-axis. Under the drive of the z-axis linear cylinder 210, the first clamping member 211 can move along the z-axis direction. On the matching inner side 120 of the clamping arm 12, a second clamping structure 22 is fixed at one end away from the x-axis linear cylinder 111. The second clamping structure 22 is a baffle plate bent and extended from the clamping arm 12. The first clamping member 211 and the second clamping structure 22 are arranged opposite to each other, and a first clamping position 200 is formed between the first clamping member 211 and the second clamping structure 22.

[0040] Between the first clamping structure 21 and the second clamping structure 22, the third clamping structure 31 and the fourth clamping structure 32 are sequentially arranged on the mating inner side 120 along the negative direction of the y-axis. The third clamping structure 31 is composed of a linear cylinder 310 in the y-axis direction and a third clamping member 311 connected to the end of the piston rod of the linear cylinder 310 in the y-axis direction. The clamping arm 12 is provided with an elongated mounting groove 121 extending along the z-axis direction; the fourth clamping structure 32 is fixed to the elongated mounting groove 121 by bolts. A second clamping position 300 is formed between the third clamping member 311 and the fourth clamping structure 32. When the clamp clamps and transports the material box, the positive direction of the y-axis is the vertical upward direction, and at this time, the second clamping position 300 is located directly above the first clamping position 200.

[0041] The third clamping member 311 has a third clamping surface 312 facing the fourth clamping structure 32, and the third clamping member 311 also includes an inner extension arm portion 313 extending from the third clamping surface 312 toward the fourth clamping structure 32 along the y-axis direction, and a first interval d1 is formed between the inner extension arm portion 313 and the matching inner side 120 in the x-axis direction. The inner extension arm portion 313 has a guiding inclined surface 315 at the end extending in the negative direction of the y-axis, and the guiding inclined surface 315 faces between the matching inner side 120 and the fourth clamping structure 32. The third clamping member 311 extends in the z-axis direction into an elongated shape, and a break 314 is provided on the inner extension arm portion 313 to reduce weight.

[0042] The fourth clamping structure 32 has a fourth clamping portion 321 extending toward the third clamping structure 31, and a second interval d2 is provided between the fourth clamping portion 321 and the mating inner side 120 in the x-axis direction. In the x-axis direction, the first interval d1 is greater than a width w of the fourth clamping structure 32, and the width w of the fourth clamping structure 32 refers to a dimension of the fourth clamping structure 32 extending from the mating inner side 120 in the x-axis direction.

[0043] See also Figure 4 and Figure 5 , Figure 4 is a structural diagram of a first state of a clamp embodiment of the robot of the present invention, Figure 5 This is a structural diagram of the second state of the clamp embodiment of the robot of the present invention. When the robot drives the mechanical arm to move the clamp to the top of the material box 9, the visual system obtains image data about the material box 9 through the camera device 4 and identifies the size of the material box 9, judges the position of the material box 9, and sends the judgment data to the control system of the robot, and the control system controls the movement of the mechanical arm and the opening and closing of the clamp. First, the mechanical arm descends to allow the two clamping arms 12 set opposite to each other to enter the clamping space 100. After the material box 9 reaches the accurate position, the linear cylinder 111 in the x-axis direction is started, and finally the clamping arm 12 clamps the material box 9 from both sides of the material box 9 with a preset clamping force.

[0044] Combination Figure 6 , Figure 6 The figure is a partial schematic diagram of the second state of the clamp embodiment of the robot of the present invention. The material box 9 has a peripheral wall 91, and the periphery of the peripheral wall 91 has a frame 92 protruding outward, and the bottom of the frame 92 has a molding recess 920. At this time, the molding recess 920 is located directly above the fourth clamping part 321; at this time, the inner extension arm part 313 of the third clamping member 311 is in a retracted state and does not extend into the material space 900 of the material box 9.

[0045] Combination Figure 7 , Figure 7 The third state of the clamp embodiment of the robot of the present invention is shown in FIG. The linear cylinder 210 in the z-axis direction is activated, and the first clamping member 211 moves in the positive direction of the z-axis and abuts against the material box 9. Finally, the first clamping member 211 and the second clamping structure 22 restrict the material box 9 from opposite sides in the z-axis direction with a preset clamping force.

[0046] Combination Figure 8 , Figure 8 This is a partial schematic diagram of the fourth state of the clamp embodiment of the robot of the present invention. Finally, the y-axis linear cylinder 310 is started, the third clamping member 311 moves along the negative direction of the y-axis, the inner extension arm 313 extends into the material space 900, the third clamping surface 312 abuts against the upper end surface of the peripheral wall 91, and the fourth clamping portion 321 enters the molding recess 920. The third clamping member 311 and the fourth clamping portion 321 limit the material box 9 from opposite sides in the y-axis direction with a preset clamping force. At the same time, the inner extension arm 313 and the clamping arm 12 limit the peripheral wall 91 of the material box 9 from opposite sides in the x-axis direction.

[0047] The clamp provided by the present invention can adjust the size of the clamping space or the size of the clamping position by adjusting the spacing between the clamping arms or the clamping structures. Therefore, the clamp provided by the present invention is suitable for stably grasping material boxes of various sizes.

[0048] In addition, the material box is a plastic box with a certain elastic deformation ability. When the material box is tipped or turned over, in order to prevent the surrounding wall from being deformed to a certain extent and disengaging from the clamping position and thus causing the material box to fall off, the clamp is provided with an inner extending arm portion that can extend into the material box and a fourth clamping portion that can extend into the molding recess, for the surrounding wall of the material box and the frame with a molding recess on the surrounding wall. This allows the robot to perform stable stacking, tipping and flipping of the material box.

[0049] In other embodiments, the second clamping structure and / or the fourth clamping structure include a linear cylinder arranged in opposite directions and a clamping member connected to the end of the linear cylinder.

[0050] In other embodiments, the first clamping position and the second clamping position are not arranged sequentially along the y-axis direction.

[0051] Finally, it should be emphasized that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various changes and modifications. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A robot clamp, comprising a fixed seat and two clamping arms arranged on the fixed seat opposite to each other, wherein in a first direction, a clamping space is formed between the two clamping arms, and the distance between the two clamping arms is adjustable; Features: In a second direction, opposite ends of the clamping space are connected to the outside of the clamp, and the second direction is perpendicular to the first direction; The clamping arm has a mating inner side facing the clamping space; The clamp further comprises a first clamping structure and a second clamping structure which are arranged on the inner side of the mating device relative to each other, wherein in a third direction, a first clamping position is formed between the first clamping structure and the second clamping structure, and a distance between the first clamping structure and the second clamping structure is adjustable, and the third direction is perpendicular to the first direction and the second direction; The clamp further comprises a third clamping structure and a fourth clamping structure which are arranged on the inner side of the mating device relative to each other, wherein in the second direction, a second clamping position is formed between the third clamping structure and the fourth clamping structure, and the distance between the third clamping structure and the fourth clamping structure is adjustable; The third clamping structure has a third clamping surface facing the fourth clamping structure, the third clamping structure also includes an inner extension arm extending from the third clamping surface along the second direction toward the fourth clamping structure, a first interval is formed between the inner extension arm and the matching inner side in the first direction, and the third clamping structure also includes a third clamping member; In the first direction, the first interval is greater than a width of the fourth clamping structure; The fourth clamping structure has a fourth clamping portion extending toward the third clamping structure, and a second interval is formed between the fourth clamping portion and the matching inner side in the first direction; The extending end of the inner extension arm portion has a guiding inclined surface, and the guiding inclined surface faces the matching inner side and the fourth clamping structure; The material box has a peripheral wall, the outer periphery of the peripheral wall has an outwardly protruding frame, the bottom of the frame has a molding recess, the inwardly extending arm portion extends into the material space of the material box, the third clamping surface abuts against the upper end surface of the peripheral wall, the fourth clamping portion enters the molding recess, the third clamping member and the fourth clamping portion limit the material box from opposite sides in the second direction with a preset clamping force, and at the same time, the inwardly extending arm portion and the clamping arm limit the peripheral wall of the material box from opposite sides in the first direction.

2. The clamp according to claim 1, characterized in that: The first clamping position and the second clamping position are arranged sequentially in the second direction.

3. The clamp according to claim 1, characterized in that: The third clamping structure extends in the third direction into an elongated shape.

4. The clamp according to claim 1, characterized in that: The second clamping structure and / or the fourth clamping structure are fixed on the mating inner side.

5. The clamp according to claim 1, characterized in that: The clamping arm is provided with an elongated mounting slot extending along the third direction; The fourth clamping structure is fixed to the elongated mounting groove by bolts.

6. The clamp according to claim 1, characterized in that: The clamp further comprises a camera device connected to the fixing seat, and the camera device is oriented in the second direction.

7. A robot including a fixture, characterized in that: The clamp is the clamp described in any one of claims 1 to 6.

8. The robot according to claim 7, characterized in that: The robot includes a mechanical arm, and the clamp is installed on the mechanical arm along the third direction.

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