Clamp and method for handling stacked objects
By designing a fixture for manipulating stacked objects, automated manipulation is achieved by using the coordinated movement of the upper and lower arms to solve the problem of low efficiency in sorting and transfer of stacked objects in the retail industry, improving operational efficiency and reducing health risks.
Patent Information
- Application Number
- CN202280099475.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2022-09-19
- Publication Date
- 2025-04-04
AI Technical Summary
In the retail industry, stacked containers are inefficient, time-consuming and labor-intensive when sorting and transferring in warehouses, and can pose a threat to worker’s health in low temperature environments.
A clamp for manipulating stacked objects, including frames, brackets and actuators, is provided, and through the coordinated movement of the upper and lower arms, it is possible to flexibly grasp and release objects in the stack to achieve automated manipulation.
It improves the degree of automated manipulation of stacked objects, reduces the time and labor intensity of manual operations, improves operating efficiency, and reduces the health risks to workers in low-temperature environments.
Smart Images
Figure CN119768345A_ABST
Abstract
Description
Technical Field
[0001] Embodiments of the present disclosure relate generally to the field of industrial robots, and more particularly to grippers and methods for manipulating stacked objects. Background Art
[0002] In the retail industry, such as supermarket chains, convenience stores and other shopping and production sites, goods from different orders are usually sorted, packaged and distributed in warehouses. The goods are first placed in different containers, such as totes, and then sorted and delivered. Typically, the number of containers is very large because there are a large number of orders. Totes need to be frequently sorted according to the orders and put into and taken out of the warehouse.
[0003] These manipulation processes for large quantities of containers are usually time-consuming and labor-intensive. In order to save space and standardize management, the containers in the warehouse will be stacked, which increases the difficulty of sorting and transferring these containers. In some cases, the warehouse is in a relatively low temperature environment, such as 0 to 4 degrees Celsius, which may cause health problems for workers. Conventionally, the manipulation of large quantities of containers is performed manually, which is not only time-consuming but also labor-intensive. These processes have low efficiency and high costs, and are also subject to safety risks. There is an increasing need to automate the manipulation of stacked objects. Summary of the invention
[0004] Example embodiments of the present disclosure provide a jig and a method for manipulating stacked objects, which can improve the degree of automation in manipulating the stacked objects.
[0005] In a first aspect of the present disclosure, a clamp for manipulating stacked objects is provided. The clamp includes: a frame; a first bracket, which is arranged on the frame and includes a first upper arm; a second bracket, which is arranged on the frame in parallel with the first bracket at a position different from the first bracket in a first direction and includes a second upper arm; and a first actuator, which is attached to the frame and is configured to synchronously move the first bracket and the second bracket between a first position and a second position in the first direction, in which the first upper arm and the second upper arm are close to each other to clamp the first object from two opposite sides of the first object, and in which the first upper arm and the second upper arm are away from each other to release the first object. With this arrangement, objects in a stack can be flexibly picked up and released by moving the first upper arm and the second upper arm.
[0006] In some embodiments, the first bracket and the second bracket may each include a lifting mechanism configured to lift the corresponding upper arm in a second direction perpendicular to the first direction. Through this arrangement, any object in the stack can be flexibly selected and further manipulated by the lifting mechanism.
[0007] In some embodiments, the lifting mechanism may include: a first linear guide rail extending in the second direction; a driving device including a motor and a screw rod connected to the motor; and a follower block configured to be linearly driven by the screw rod to move along the first linear guide rail, the upper arm being carried by the follower block. With this arrangement, the lifting mechanism can be easily implemented.
[0008] In some embodiments, the first bracket and the second bracket may each include a first guide arm and a first pneumatic actuator disposed on the first guide arm, the first pneumatic actuator being configured to move the corresponding upper arm between a retracted position and an extended position in a third direction perpendicular to the first direction and the second direction. With this arrangement, objects in a stack can be flexibly manipulated by retracting and / or extending the pair of upper arms.
[0009] In some embodiments, the first guide arm may include a second linear guide rail extending in the third direction, and the corresponding upper arm includes a rod extending in the third direction and is configured to move along the second linear guide rail. Through this arrangement, the movement of the pair of upper arms can be reliably guided.
[0010] In some embodiments, the first bracket and the second bracket may each include a first support plate extending in the second direction and configured to support the lifting mechanism; and the frame includes a pair of third linear guides extending in the first direction and spaced apart from each other in the second direction, the first support plate being configured to move along the pair of third linear guides. With this arrangement, the fixture can be made compact with reduced weight and space occupancy.
[0011] In some embodiments, the first actuator may include a second pneumatic actuator including two output members, which are respectively connected to the first bracket and the second bracket through universal joints to synchronously drive the first bracket and the second bracket through the second pneumatic actuator. Through this arrangement, the compactness of the clamp can be further improved.
[0012] In some embodiments, the clamp may further include: a third bracket arranged on the frame in parallel with the first bracket at a different position from the first bracket in the second direction, and including a first lower arm; a fourth bracket arranged on the frame in parallel with the third bracket at a different position from the third bracket in the first direction, and including a second lower arm; and a second actuator attached to the frame and configured to synchronously move the third bracket and the fourth bracket between a third position and a fourth position in the second direction, in which the first lower arm and the second lower arm are close to each other to clamp the second object from two opposite sides of the second object, and in which the first lower arm and the second lower arm are away from each other to release the second object. With this arrangement, any object in the stack can be flexibly manipulated by the cooperation of the pair of upper arms and the pair of lower arms.
[0013] In some embodiments, the third bracket and the fourth bracket may each include a second guide arm and a third pneumatic actuator disposed on the second guide arm, the third pneumatic actuator being configured to drive the corresponding lower arm between a retracted position and an extended position in a third direction; and the second guide arm includes a fourth linear guide extending in the third direction, and the corresponding lower arm includes a rod extending in the third direction and is configured to move along the fourth linear guide. With this arrangement, objects in the stack can be flexibly manipulated by retracting and / or extending the pair of upper arms.
[0014] In some embodiments, the third bracket and the fourth bracket each may include a second support plate extending in the second direction, and the third bracket and the fourth bracket are configured to move in the first direction by sliding engagement between the second support plate and the frame. With this arrangement, the fixture can be made compact with reduced weight and space occupancy.
[0015] In some embodiments, the second actuator may include a fourth pneumatic actuator including two output members, which are respectively connected to the third bracket and the fourth bracket through universal joints to synchronously move the third bracket and the fourth bracket through the fourth pneumatic actuator. Through this arrangement, the compactness of the clamp can be further improved.
[0016] In some embodiments, the frame may include a pair of third linear guides extending in the first direction and spaced apart from each other in the second direction, and the first bracket, the second bracket, the third bracket, and the fourth bracket are configured to move along the pair of third linear guides. Through this arrangement, the compactness of the clamp can be further improved with sufficient structural strength.
[0017] In a second aspect of the present disclosure, a robot is provided, comprising a robot arm; and a clamp for manipulating stacked objects according to any one of the first aspects, the clamp being attached to the robot arm.
[0018] In a third aspect of the present disclosure, a method for manipulating stacked objects is provided. The method comprises: grasping a first object in the stacked objects from two opposite sides by moving a first upper arm of a first bracket and a second upper arm of a second bracket close to each other in a first direction; grasping a second object located below the first object from two opposite sides by moving a first lower arm of a third bracket and a second lower arm of a fourth bracket close to each other in the first direction; and separating the first object from the second object.
[0019] In some embodiments, separating the first object from the second object may include: lifting the first object in a second direction perpendicular to the first direction by a lifting mechanism to form a gap between the first object and the second object in the second direction; and moving one of the first object and the second object by extending or retracting the first upper arm and the second upper arm in a third direction perpendicular to the first direction and the second direction or extending or retracting the first lower arm and the second lower arm. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] The above and other purposes, features and advantages of the exemplary embodiments disclosed herein will become more easily understood through the following detailed description with reference to the accompanying drawings. In the accompanying drawings, several exemplary embodiments disclosed herein will be shown by way of example and in a non-limiting manner, in which:
[0021] Figure 1 is a schematic diagram of a robot for manipulating stacked objects according to an example embodiment of the present disclosure;
[0022] Figure 2 is a schematic perspective view of a clamp for manipulating stacked objects according to an example embodiment of the present disclosure;
[0023] Figure 3 is a schematic plan view of a clamp for manipulating stacked objects according to an example embodiment of the present disclosure, as viewed from the back side of the clamp;
[0024] Figure 4 yes Figure 2 A close-up view of the gripper used to manipulate stacked objects;
[0025] Figure 5 yes Figure 2 Close-up views of the gripper used to manipulate stacked objects, as seen from different perspectives;
[0026] Figure 6is a top view of a clamp for manipulating stacked objects according to an example embodiment of the present disclosure;
[0027] Figure 7 is a flow chart of a method for manipulating stacked objects according to an example embodiment of the present disclosure;
[0028] Figure 8 is a schematic diagram of a clamp for manipulating stacked objects according to an example embodiment of the present disclosure, showing a state in which two objects are gripped by an upper arm and a lower arm, respectively.
[0029] Fig. 9 is a schematic diagram of a clamp for manipulating stacked objects according to an example embodiment of the present disclosure, showing a state where one object is separated from the rest of the stacked objects; and
[0030] Fig.10 yes Fig. 9 Schematic side view of a gripper used to manipulate stacked objects.
[0031] Throughout the drawings, the same or similar reference numbers are used to designate the same or similar elements. DETAILED DESCRIPTION
[0032] The principles of the present disclosure will now be described with reference to several example embodiments shown in the accompanying drawings. Although example embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the description of the embodiments is only to facilitate those skilled in the art to better understand and thereby implement the present disclosure, rather than to limit the scope of the present disclosure in any way.
[0033] The terms "comprising" or "including" and variations thereof shall be considered open terms meaning "including but not limited to". Unless the context clearly indicates otherwise, the term "or" shall be considered "and / or". The term "based on" shall be considered "based at least in part on". The term "operable with" refers to a function, action, motion or state that can be achieved through operation caused by a user or an external mechanism. The terms "one embodiment" and "embodiment" shall be considered "at least one embodiment". The term "another embodiment" shall be considered "at least one other embodiment". The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may be included below. Unless the context clearly indicates otherwise, the definitions of terms are consistent throughout the specification.
[0034] In the retail industry, containers such as totes are widely used to hold merchandise. These containers come in different forms and are often standardized and / or customized for shipment. The containers often have a specific shape suitable for delivery and shipment (e.g., a rectangular shape) and have a top opening through which items can be placed into the container. The containers can be placed one above the other so that multiple containers can be stacked to save space. The containers can also be provided with side ribs so that the container can be easily grasped, picked up, or transferred by gripping the side ribs.
[0035] Goods for different orders are usually placed in different containers in a warehouse. The containers are stacked in the warehouse, and before shipment, they should be properly manipulated, for example, sorted and transferred, etc. In some application scenarios, the stacked containers are placed on arc-shaped or long shelves, for example. However, when objects (e.g., containers) are stacked, it is not easy for the robot arm of a robot to select an object in the stack and move the selected object out of the stack. In addition, there are a large number of containers in the warehouse. It is necessary to sort the containers with higher efficiency and put them into and take them out of the warehouse to meet industrial requirements. According to the present disclosure, a clamp for manipulating stacked objects is proposed, which is suitable for manipulating objects in a flexible and efficient manner.
[0036] The above-mentioned features and advantages of the example embodiments disclosed herein will become more readily understood through the following detailed description with reference to the accompanying drawings.
[0037] Figure 1 is a schematic diagram of a robot for manipulating stacked objects 300 according to an example embodiment of the present disclosure. Figure 1 As shown, the robot includes a robot arm 200 and a gripper 100 fixed to the robot arm 200 for manipulating stacked objects 300 .
[0038] The fixture 100 is attached to the robot arm 200 and can be moved by the robot arm 200 in the working area of the robot. In some application scenarios, an object 300 (e.g., a container) is placed on an arc shelf or an elongated shelf (not shown). The container can be filled with items (e.g., goods) according to an order. The robot arm 200 can move back and forth in the working area of the robot to properly manipulate the object 300. The fixture 100 for manipulating stacked objects 300 is configured to pick up one or more objects 300 in the stack and move the selected object 300 from one place to another. The fixture 100 may include one or more pairs of arms 112, 122, 132, 142, which are configured to grasp the object 300 from two opposite sides of the object 300 and release it. It should be understood that the object 300 can be a container or any other object.
[0039] Figures 2 to 6FIG. 1 shows a detailed configuration of a jig 100 for manipulating stacked objects according to an exemplary embodiment of the present disclosure. Figures 2 to 6 The detailed structure of the fixture and its variations are shown.
[0040] like Figures 2 to 6 As shown, the jig 100 for manipulating stacked objects includes a frame 160, a first bracket 110, and a second bracket 120. The frame 160 is configured to support associated functional components of the jig. The jig 100 can be fixed to the robot arm 200 by the frame. In some embodiments, as shown in FIG. Figure 3 As shown, the frame 160 may include a flange, and the mounting hole for receiving the robot arm is provided on the flange. The robot arm can be fixed to the flange by a fixing device (such as a bolt and nut, a screw, etc.). The frame 160 can take various forms. In the example shown, the frame is configured as a rigid support. In some embodiments, a cover 161 can also be provided on the frame 160 to protect components (e.g., a drive device for moving the first bracket 110 and the second bracket 120).
[0041] The first bracket 110 is movably arranged on the frame 160 and may include a first upper arm 112 arranged on the first bracket 110. The first upper arm 112 is configured to move in the first direction P1. Likewise, the second bracket 120 is movably arranged on the frame 160 and includes a second upper arm 122 arranged on the second bracket 120. The second upper arm 122 is configured to move in the first direction P1. By moving the first upper arm 112 and the second upper arm 122 to a gripping position, the pair of upper arms 112, 122 may grip the object from the side to the opposite side of the object 300. By moving the first upper arm 112 and the second upper arm 122 away from each other from the gripping position, the pair of upper arms 112, 122 may release the object 300.
[0042] The first carriage 110 and the second carriage 120 can be driven by various devices. In some embodiments, the first carriage 110 and the second carriage 120 are independently driven by different actuators. For example, for each carriage, an actuator for driving the carriage is provided. In some embodiments, the first carriage 110 and the second carriage 120 are driven by a single actuator. The actuator can be a pneumatic actuator, or any other suitable form, such as an electric servo actuator.
[0043] In some embodiments, Figure 3As shown, a pneumatic actuator 180 is provided and attached to the frame 160. The pneumatic actuator 180 may include two output members 183, 185, which are respectively coupled to the first bracket 110 and the second bracket 120. The actuator 180 is configured to synchronously move the first bracket 110 and the second bracket 120 between a first position and a second position in a first direction. At the first position, the first upper arm 112 and the second upper arm 122 are close to each other to clamp the object 300 from two opposite sides of the object 300. At the second position, the first upper arm 112 and the second upper arm 122 are away from each other to release the object 300. With this arrangement, when the first bracket 110 and the second bracket 120 move synchronously, the object 300 can be easily grasped or released by the first upper arm 112 and the second upper arm 122.
[0044] In some embodiments, Figure 3 As shown, the two output members 183, 185 are respectively coupled to the first bracket 110 and the second bracket 120 via universal joints 184, 186. Through the universal joints, manufacturing and assembly tolerances can be tolerated to ensure that the first bracket 110 and the second bracket 120 are moved synchronously.
[0045] In some embodiments, the upper arms 112, 122 may be further designed to be movable in a second direction P2 perpendicular to the first direction P1. This may increase the flexibility of the clamp for manipulating stacked objects. Figure 2 , Figure 4 , Figure 5 and Figure 6 As shown, the first bracket 110 and the second bracket 120 may each include a lifting mechanism 150. The lifting mechanism 150 is configured to lift and lower the corresponding upper arms 112, 122 in a second direction P2 perpendicular to the first direction P1. Through the lifting mechanism 150, in addition to the movement along the first direction P1, the upper arms 112, 122 can also move in the second direction P2. Because the upper arms 112, 122 can move in the second direction P2, the clamp 100 can manipulate any object 300, such as grasping objects in a stack and selectively moving a selected object in the second direction P2.
[0046] The lifting mechanism 150 can take various forms, such as a pulley arrangement, a screw arrangement, etc. In some embodiments, Figure 4As shown, the lifting mechanism 150 may include a first linear guide rail 155, a drive device and a follower block 158. The linear guide rail 155 may extend in the second direction P2 (i.e., the vertical direction in the example shown). In the example shown, a pair of guide rails 155 are provided. The drive device may include a motor 152 and a screw 154 coupled to the motor 152. The follower block 158 is linearly driven by the screw 154 to move along the linear guide rail 155. The upper arms 112 and 122 are also carried by the follower block 158. With this arrangement, the movement of the upper arms 112 and 122 in the first direction does not interfere with the movement of the upper arms 112 and 122 in the second direction. It should be understood that the screw device is merely illustrative, and the lifting mechanism 150 may take any other suitable form as long as the upper arms 112 and 122 can move in the second direction.
[0047] In some embodiments, Figures 2 to 5 As shown, the first bracket 110 and the second bracket 120 may each include a support plate 117, 127 extending in the second direction P2. Through the plate structure, technical advantages can be achieved. Functional components of the first bracket 110 and the second bracket 120 (such as the lifting mechanism 150 and the upper arms 112, 122) can be supported on the support plates 117, 127. Moreover, through the plate structure, the first bracket 110 and the second bracket 120 can be reliably and robustly supported on the frame 160, because this plate configuration enables two or more guide rails to be arranged to guide the movement of the first bracket 110 and the second bracket 120. Moreover, considering the fact that the fixture moves back and forth by the robot arm, the plate structure can contribute to weight balance and space efficiency.
[0048] In some embodiments, Figure 2 , Figure 4 and Figure 5 As shown, the frame 160 may include a linear guide 165 extending in the first direction P1. The first bracket 110 and the second bracket 120 may include sliding shoes 113, 123 for cooperating with the linear guide 165. In the example shown, the first bracket 110 and the second bracket 120 share the linear guide 165. This is advantageous because the shared linear guide can reduce the weight of the fixture and increase the compactness of the fixtures. In some embodiments, as shown in FIG. Figure 4 and Figure 5 As shown, a pair of linear guide rails 165 are provided. In this way, the carriages 110 and 120 can be reliably moved on the frame.
[0049] In some embodiments, the pair of upper arms 112, 122 are designed to be movable in a third direction P3 perpendicular to the first direction P1 and the second direction P2. This can further increase the flexibility of the gripper for manipulating an object, which will be referred to later. Figures 8 to 10In some embodiments, Figure 2 , Figure 4 and Figure 6 As shown, the first bracket 110 and the second bracket 120 may each include a first guide arm 114, 124. The actuator 111, 121 may be disposed on the first guide arm 114, 124 for moving the upper arm 112, 122 in the third direction P3.
[0050] like Figure 6 As shown, the upper arms 112, 122 can therefore be configured to move between a retracted position, in which the upper arms 112, 122 are close to the frame 160, and an extended position, in which the upper arms 112, 122 are away from the frame 160. With this arrangement, an object can be selectively moved in the third direction P3.
[0051] In some embodiments, Figures 4 to 6 As shown, the actuators 111, 121 can be pneumatic actuators. It is advantageous due to its light weight and clean characteristics. In some embodiments, the pneumatic actuator can include a rodless cylinder. It should be understood that the actuator can be any other suitable form, such as an electric servo actuator.
[0052] In some embodiments, Figure 4 and Figure 5 As shown, the first guide arms 114, 124 may each include a second linear guide rail 115, 125 extending in the third direction P. Through the linear guide rails 115, 125, the movement of the upper arms 112, 122 can be well guided. Figure 6 As shown, the upper arms 112, 122 may be in the form of a rod extending in the third direction and configured to move along the second linear guide rails 115, 125. It should be understood that this is merely illustrative and that the upper arms 112, 122 may be in any other appropriate form. The upper arms 112, 122 may each further include a protrusion 1122, 1222 for engaging with an object. When the upper arms 112, 122 contact the object 300, the protrusions 1122, 1222 may engage with corresponding portions (e.g., recesses, slots, grooves, etc.) of the object 300, so that the object 300 may be securely held by the upper arms 112, 122. It should be understood that this is merely illustrative and that the upper arms 112, 122 may be in any other appropriate form as long as the upper arms may reliably and securely engage with the object.
[0053] In some embodiments, Figure 4 and Figure 6 As shown, in order to increase the structural strength, one or more support beams or reinforcing ribs 159 may be provided. Figure 4As shown, one or more support beams 159 are provided to connect the follower block 158 and the guide arms 114, 124. In this way, the strength of the upper arm can be increased while the compactness of the clamp can be maintained.
[0054] In some embodiments, Figures 1 to 6 As shown, the jig 100 may further include: a third bracket 130 including a first lower arm 132; and a fourth bracket 140 including a second lower arm 142. The third bracket 130 is arranged on the frame 160 in parallel with the first bracket 110 at a position different from the first bracket 110 in the second direction P2. The fourth bracket 140 is arranged on the frame 160 in parallel with the third bracket 130 at a position different from the third bracket 130 in the first direction P1. The third bracket 130 and the fourth bracket 140 are configured to move in the second direction P2. By means of the third bracket 130 and the fourth bracket 140, the lower arms 132, 142 can be moved between a third position, in which the first lower arm 132 and the second lower arm 142 are close to each other to clamp the second object 300 from two opposite sides of the second object 300, and a fourth position, in which the first lower arm 132 and the second lower arm 142 are away from each other to release the second object 300. With this arrangement, at least two different objects can be operated with the clamp 100.
[0055] The third bracket 130 and the fourth bracket 140 can be driven by various means. In some embodiments, the third bracket 130 and the fourth bracket 140 are independently driven by different actuators. For example, for each bracket, an actuator for driving the bracket is provided. In some embodiments, the third bracket 130 and the fourth bracket 140 are driven by a single actuator. The actuator can be a pneumatic actuator, or any other suitable form, such as an electric servo actuator. In some embodiments, as Figure 3 As shown, a pneumatic actuator 190 is provided and attached to the frame 160. The pneumatic actuator 190 may include two output members 193, 195, which are respectively coupled to the third bracket 130 and the fourth bracket 140. The actuator 190 is configured to synchronously move the third bracket 130 and the fourth bracket 140 in the first direction.
[0056] In some embodiments, Figure 3 As shown, the two output members 193, 195 are respectively coupled to the third bracket 130 and the fourth bracket 140 via universal joints 194, 196. Through the universal joints, manufacturing and assembly tolerances can be tolerated to ensure that the third bracket 130 and the fourth bracket 140 move synchronously.
[0057] In some embodiments, Figures 2 to 5As shown, the third bracket 130 and the fourth bracket 140 may each include a support plate 137, 147 extending in the second direction P2. The third bracket 130 and the fourth bracket 140 are configured to move in the first direction through sliding engagement between the support plates 137, 147 and the frame 160.
[0058] In some embodiments, Figure 2 , Figure 4 and Figure 5 As shown, the third bracket 130 and the fourth bracket 140 may include sliding shoes 133, 143. In the example shown, the third bracket 130 and the fourth bracket 140 use the same guide rail 165 as the first bracket 110 and the second bracket 120. This is advantageous because a shared linear guide rail can reduce the weight of the fixture and increase the compactness of the fixtures.
[0059] In some embodiments, the lower arms 122, 132 are designed to be movable in the third direction P3. This can further increase the flexibility of the clamp for manipulating an object. Figure 2 , Figure 4 and Figure 6 As shown, the third bracket 130 and the fourth bracket 140 may include guide arms 134, 144. The actuators 131, 141 may be arranged on the guide arms 134, 144 to move the lower arms 132, 142 in the third direction P3. The lower arms 132, 142 may therefore be configured to move between a retracted position and an extended position, in which the lower arms 132, 142 are close to the frame 160, and in which the lower arms 132, 142 are away from the frame 160. With this arrangement, the object 300 may be selectively moved in the third direction P3.
[0060] In some embodiments, Figures 4 to 6 As shown, the actuators 131, 141 may be pneumatic actuators disposed on the first guide arms 114, 124. The pneumatic actuators 131, 141 are configured to move the corresponding lower arms in the third direction P3. In some embodiments, the pneumatic actuators may include rodless cylinders.
[0061] In some embodiments, Figure 4 and Figure 5As shown, the guide arms 134, 144 may each include a linear guide 135, 145 extending in the third direction P. The linear guides 135, 145 can guide the movement of the lower arms 132, 142 well. In some examples, the lower arms 132, 142 may further include a protrusion for engaging with an object. When the lower arms 132, 142 contact the object 300, the protrusion may engage with a corresponding portion (e.g., a recess, a slot, a groove, etc.) of the object 300, so that the object 300 may be securely held by the lower arms 132, 142. It should be understood that this is merely illustrative, and the lower arm may be any other appropriate form as long as the upper arm can reliably and securely engage with the object.
[0062] In some embodiments, Figures 4 to 6 As shown, in order to increase the structural strength, one or more support beams or reinforcing ribs 139, 149 may be provided. Support beams 139, 149 are provided to strengthen the connection between plates 137, 147 and guide arms 134, 144. In this way, the strength of the upper arm may be increased while maintaining the compactness of the clamp.
[0063] Figure 7 FIG. 4 is a flow chart of a method 400 for manipulating a stacked object 300 according to an example embodiment of the present disclosure. Figure 7 As shown, also refer to Figures 1 to 6 At block 402, the first object in the stack of objects 300 is grasped from two opposite sides of the first object by moving the first upper arm 112 of the first bracket 110 and the second upper arm 122 of the second bracket 120 closer to each other in a first direction. For example, through one or more actuators, the first upper arm 112 of the first bracket 110 and the second upper arm 122 of the second bracket 120 are synchronously moved to approach each other so as to grasp the objects from two opposite sides of the first object 300.
[0064] At block 404, the second object located below the first object is grasped from two opposite sides by moving the first lower arm 132 of the third bracket 130 and the second lower arm 142 of the fourth bracket 140 closer to each other in a first direction. For example, through one or more actuators, the first lower arm 132 of the third bracket 130 and the second lower arm 142 of the fourth bracket 140 are synchronously moved closer to each other so as to grasp the object from two opposite sides of the first object.
[0065] At frame 406, the first object is separated from the second object. In some embodiments, the first object can be raised and lowered in a second direction perpendicular to the first direction, for example, by the lifting mechanism 150. In this way, the upper object can be moved relative to the lower object. The first object can be further separated from the second object by extending or retracting the first upper arm 112 and the second upper arm 122 or extending or retracting the first lower arm 132 and the second lower arm 142 in a third direction perpendicular to the first direction and the second direction. In this way, the upper object can be easily separated from the lower object by a certain distance along the third direction. In this case, objects in the stack can be selectively moved or sorted.
[0066] Figures 8 to 10 Different operating states of a clamp 100 for manipulating stacked objects according to an example embodiment of the present disclosure are shown. As described above, the stacked objects 300 can be placed on a platform (e.g., a shelf). The clamp 100 is configured to manipulate the stacked objects 300. According to the present disclosure, any object in the stacked objects 300 can be properly manipulated with high efficiency through the cooperation of the pair of upper arms and the pair of lower arms with the clamp 100 of the present disclosure.
[0067] Assuming that the object 302 at the bottom of the stacked objects 300 is to be sorted out, an exemplary operation process is as follows. Figure 7 As shown, the pair of upper arms 112, 122 and the pair of lower arms 132, 142 are in a retracted position. The pair of upper arms 112, 122 and the pair of lower arms 132, 142 are indicated to move to the gripping position shown. In this state, the object 304 in the stack (i.e., the fourth object from the top in the figure shown) is gripped by the pair of upper arms 112 and 122. The object 302 in the stack (i.e., the fifth object from the top in the figure shown) is gripped by the pair of lower arms 132, 142.
[0068] From this position, when the pair of upper arms 112, 122 moves upward or rises, the object 304 grasped by the pair of upper arms 112, 122 together with the upper three objects can move upward. The object 304 is separated from the object 302 and can therefore move relative to the object 302. From this state, the object 302 can be easily sorted out by extending the pair of lower arms 132, 142, as shown in FIG. Figure 8 and Fig. 9 shown.
[0069] Figure 8 and Fig. 9The state in which the object 304 is separated from the object 302 is shown. When the object 304 is separated from the object 302, the pair of lower arms 132, 142 moves to a release position (not shown) at which the pair of lower arms 132, 142 are away from each other. In this way, the object 304 together with its upper object can be released and left on the platform. At this time, the pair of lower arms 132, 142 keep holding the object 302, and the robot arm 200 can move the object 302 to any other location within the working area of the robot, such as to a cart or truck.
[0070] In the example shown, the pair of upper arms 112, 122 and the pair of lower arms 132, 142 are initially located in the retracted position. This is applicable to the situation where the stacked objects are placed on the platform close to the robot arm 200. It should be understood that the above manipulation process is only illustrative. In some embodiments (not shown), the pair of upper arms 112, 122 and the pair of lower arms 132, 142 can be located in the extended position, and the selected object can be separated from other objects by retracting the corresponding arms. This can be applicable to the situation where the stacked objects are placed on the platform close to the robot arm 200. Therefore, the clamp of the present application can manipulate multiple rows on the platform, such as two or more rows on the same horizontal plane.
[0071] In the example shown, only one object 302 is shown to be sorted out from the stack of objects 300. It should be understood that this is merely illustrative, and the gripper 100 can be configured to manipulate any number of objects in the stack of objects. For example, assuming that objects 302 and 304 in the stack of objects 300 are to be sorted out, the pair of upper arms 112, 122 can first grasp the object 306, and the pair of lower arms 132, 142 can grasp the object 302. Then, the pair of upper arms 112, 122 can lift the object 306 together with the upper objects thereof to separate from the objects 302 and 304. Then, the objects 302 and 304 can be sorted out by extending or retracting the arms. The remaining objects can be left on the platform.
[0072] In the example shown, objects in the stack of objects can be manipulated by the cooperation of the pair of upper arms and the pair of lower arms. It should be understood that the process shown above is only illustrative, and in many applications, the manipulation of objects in the stack of objects can be manipulated by only the pair of upper arms or the pair of lower arms. These operations also fall within the spirit of the present invention.
[0073] According to the clamp of the present disclosure, the clamp has high manipulation flexibility, and an object can be manipulated quickly and efficiently.
[0074] By the teachings provided herein in the above description and the related drawings, many modifications and other embodiments of the present disclosure given herein will be understood by those skilled in the art to which the present disclosure belongs. Therefore, it should be understood that the embodiments of the present disclosure are not limited to the specific embodiments of the present disclosure, and modifications and other embodiments are intended to fall within the scope of the present disclosure. In addition, although exemplary embodiments have been described in the context of some illustrative combinations of parts and / or functions in the above description and the related drawings, it should be appreciated that different combinations of parts and / or functions can be provided in alternative embodiments without departing from the scope of the present disclosure. In this regard, for example, it is expected that other combinations of parts and / or functions different from the above explicit descriptions will also fall within the scope of the present disclosure. Although specific terms are used herein, they are only used in a general and descriptive sense rather than in a restrictive sense.
Claims
1. A clamp (100) for manipulating stacked objects (300), comprising: Frame (160); A first bracket (110) disposed on the frame (160) and comprising a first upper arm (112); a second bracket (120), the second bracket being arranged on the frame (160) in parallel with the first bracket (110) at a position different from that of the first bracket (110) in a first direction, and the second bracket comprising a second upper arm (122); as well as A first actuator (180) is attached to the frame (160) and is configured to synchronously move the first bracket (110) and the second bracket (120) in the first direction between a first position and a second position, wherein at the first position, the first upper arm (112) and the second upper arm (122) are close to each other to clamp the first object (300) from two opposite sides of the first object (300), and at the second position, the first upper arm (112) and the second upper arm (122) are away from each other to release the first object (300).
2. The clamp (100) according to claim 1, wherein: The first bracket (110) and the second bracket (120) each include a lifting mechanism (150) configured to lift and lower the corresponding upper arm in a second direction perpendicular to the first direction.
3. The clamp (100) according to claim 2, wherein: The lifting mechanism (150) comprises: a first linear guide rail (155), the first linear guide rail extending in the second direction; a drive device, the drive device comprising a motor (152) and a screw (154) coupled to the motor (152); and A follower block (158) is configured to be linearly driven by the screw (154) to move along the first linear guide rail (155), and the upper arm is carried by the follower block (158).
4. The clamp (100) according to claim 2, wherein: The first bracket (110) and the second bracket (120) each include a first guide arm (114, 124) and a first pneumatic actuator (111, 121) arranged on the first guide arm (114, 124), and the first pneumatic actuator (111, 121) is configured to move the corresponding upper arm between a retracted position and an extended position in a third direction perpendicular to the first direction and the second direction.
5. The clamp (100) according to claim 4, wherein: The first guide arm (114, 124) includes a second linear guide rail (115, 125) extending in the third direction, and the corresponding upper arm includes a rod extending in the third direction and is configured to move along the second linear guide rail (115, 125).
6. The clamp (100) according to claim 4, wherein: The first bracket (110) and the second bracket (120) each include a first support plate (117, 127), the first support plate extending in the second direction and configured to support the lifting mechanism (150); and The frame (160) includes a pair of third linear guides (165) extending in the first direction and spaced apart from each other in the second direction, and the first support plate (117, 127) is configured to move along the pair of third linear guides (165).
7. The clamp (100) according to any one of claims 1 to 6, wherein: The first actuator (180) includes a second pneumatic actuator, and the second pneumatic actuator includes two output components (183, 185). The two output components (183, 185) are respectively connected to the first bracket (110) and the second bracket (120) through universal joints (184, 186) to synchronously drive the first bracket (110) and the second bracket (120) through the second pneumatic actuator.
8. The clamp (100) according to any one of the preceding claims, further comprising: a third bracket (130) arranged on the frame (160) in parallel with the first bracket (110) at a position different from the first bracket (110) in the second direction and comprising a first lower arm (132); a fourth bracket (140) arranged on the frame (160) in parallel with the third bracket (130) at a position different from the third bracket (130) in the first direction and comprising a second lower arm (142); as well as A second actuator (190) is attached to the frame (160) and is configured to synchronously move the third bracket (130) and the fourth bracket (140) in the second direction between a third position and a fourth position, wherein the first lower arm (132) and the second lower arm (142) are close to each other to clamp the second object (300) from two opposite sides of the second object (300), and the first lower arm (132) and the second lower arm (142) are away from each other to release the second object (300).
9. The clamp (100) according to claim 8, wherein: The third bracket (130) and the fourth bracket (140) each include a second guide arm (134, 144) and a third pneumatic actuator (131, 141) arranged on the second guide arm (134, 144), the third pneumatic actuator (131, 141) being configured to drive the corresponding lower arm between a retracted position and an extended position in the third direction; and The second guide arm (134, 144) includes a fourth linear guide (135, 145) extending in the third direction, and the corresponding lower arm includes a rod extending in the third direction and is configured to move along the fourth linear guide (135, 145).
10. The clamp (100) according to claim 8 or 9, wherein: The third bracket (130) and the fourth bracket (140) each include a second support plate (137, 147) extending in the second direction, and the third bracket (130) and the fourth bracket (140) are configured to move in the first direction through sliding engagement between the second support plate and the frame (160).
11. The clamp (100) according to claim 8 or 9, wherein: The second actuator (190) includes a fourth pneumatic actuator (190), and the fourth pneumatic actuator includes two output components (193, 195), and the two output components are respectively connected to the third bracket (130) and the fourth bracket (140) through universal joints (194, 196) to synchronously move the third bracket (130) and the fourth bracket (140) through the fourth pneumatic actuator.
12. The clamp (100) according to any one of claims 8 to 11, wherein: The frame (160) includes a pair of third linear guides (165), which extend in the first direction and are spaced apart from each other in the second direction, and the first bracket (110), the second bracket (120), the third bracket (130) and the fourth bracket (140) are configured to move along the pair of third linear guides.
13. A robot comprising: A robotic arm (200); as well as A gripper (100) for manipulating stacked objects (300) according to any one of claims 1 to 12, the gripper (100) being attached to the robot arm.
14. A method for manipulating stacked objects, the method comprising: Grasping a first object in the stack of objects from two opposite sides thereof by moving a first upper arm (112) of a first bracket (110) and a second upper arm (122) of a second bracket (120) closer to each other in a first direction; Grasping the second object from two opposite sides of the second object located below the first object by moving the first lower arm (132) of the third bracket (130) and the second lower arm (142) of the fourth bracket (140) closer to each other in the first direction; as well as The first object is separated from the second object.
15. The method of claim 14, wherein: Separating the first object from the second object comprises: Lifting the first object in a second direction perpendicular to the first direction by means of a lifting mechanism (150) to form a gap between the first object and the second object in the second direction; and One of the first object and the second object is moved by extending or retracting the first upper arm (112) and the second upper arm (122) or extending or retracting the first lower arm (132) and the second lower arm (142) in a third direction perpendicular to the first direction and the second direction.