A gripper and a handling robot thereof

Abstract

The present application relates to the technical field of carrying robot, and discloses a gripper, which comprises a frame assembly and a movable assembly, the frame assembly comprises a top plate, two connecting pieces are vertically installed on one side of the top plate, the movable assembly comprises a side plate, the side plate is connected with one end of a clamping plate through a pin rod, the other end of the clamping plate is connected with the side plate through a limiting piece, the movable assembly is provided with two groups, the clamping plates in the two groups of movable assemblies are oppositely distributed, the side plate is limitingly installed on the connecting piece, after installation, the side plate is achieved along the connecting piece, when the connecting piece and the side plate relatively slide, the limiting piece moves along the arc-shaped channel of the connecting piece, the top plate and the side plate are connected through a hydraulic telescopic rod, and the side plate reciprocatingly moves along the connecting piece through lengthening or shortening of the hydraulic telescopic rod.The present application is provided with two groups of movable assemblies, the clamping plates in the two groups of movable assemblies are oppositely distributed, and when working, the synchronous inward movement of the two clamping plates can realize the quick clamping of goods.

Description

Technical Field

[0001] This invention relates to the field of handling robot technology, specifically to a gripper and its handling robot. Background Technology

[0002] Material handling robots are a high-tech innovation in the field of modern automatic control. They can be equipped with different end effectors to complete the handling of workpieces of various shapes and states, greatly reducing labor costs.

[0003] Handling robots using claw-shaped grippers can only grasp rod-shaped parts and small objects during the gripping process. For large rectangular goods, the claw structure cannot achieve rapid gripping. In addition, the existing handling grippers have a small contact area with the goods, resulting in high pressure at the force points during gripping, which can easily cause damage to the surface of the goods. Summary of the Invention

[0004] The purpose of this invention is to provide a gripper to solve the problems mentioned in the background art.

[0005] To solve the above-mentioned technical problems, the present invention is achieved through the following technical solution:

[0006] This invention relates to a clamp, the clamping structure comprising:

[0007] The frame assembly includes a top plate, on one side of which two connectors are vertically mounted;

[0008] The movable component includes a side plate, one end of which is connected to a clamping plate via a pin, and the other end of which is connected to a limiting member. The movable component is provided in two sets, with the clamping plates in the two sets of movable components being distributed opposite to each other. During operation, the goods are clamped by the movement of the two clamping plates.

[0009] The upper limit of the connector is equipped with a side plate. After installation, the side plate slides along the connector. When the connector and the side plate slide relative to each other, the limiting member moves along the arc-shaped channel of the connector. The clamping plate connected to the limiting member rotates around the pin. When the clamping plate rotates inward, the goods are clamped. The top plate and the side plate are connected by a hydraulic telescopic rod. The extension or shortening of the hydraulic telescopic rod drives the side plate to reciprocate along the connector.

[0010] Furthermore, the connector includes a connecting surface, which is mounted on the top plate by bolts. Several mounting holes are provided on both the connecting surface and one side of the top plate. The connecting surface fits against the side of the top plate, and the mounting holes are distributed accordingly. The connecting surface and the top plate are fixedly connected by bolts passing through the corresponding mounting holes.

[0011] Furthermore, one side of the connecting surface is provided with a first vertical plate and a second vertical plate that are parallel to each other, and a groove is formed between the first vertical plate and the second vertical plate. The second vertical plate is located outside the first vertical plate, and a guide plate is installed on the outer surface of the second vertical plate. The guide plate and the second vertical plate are provided with corresponding rectangular grooves, and the first vertical plate and the second vertical plate are each provided with a number of round holes.

[0012] Furthermore, the side plate includes a second plate body, and a first plate body is provided on both sides of the second plate body. The second plate body is provided with a waist-shaped hole and a through groove. The two first plates body are provided with mounting holes. The slot is engaged with the outside of the second plate body. At the same time, the connecting bolt passes through the round hole and the waist-shaped hole, and the end of the limiting member passes through the rectangular groove and the through groove.

[0013] Furthermore, the clamping plate includes a back plate, a deep groove is formed on one side of the back plate, a cover plate is fitted into the opening of the deep groove, a plurality of stepped groove holes are formed on the side of the cover plate, a protruding ring is provided on the inner side of the stepped groove hole, a rubber sheet and a ring are installed in the stepped groove hole, and a through hole communicating with the deep groove is formed at the bottom end of the back plate.

[0014] Furthermore, a connecting seat is provided on the other side of the clamping plate, and the limiting member includes an extension rod, on which a movable seat is sleeved, and the end of the extension rod passes through a rectangular groove and a through groove to connect with the connecting seat;

[0015] The extension rod is provided with a sliding groove, the movable seat is equipped with a double-ended bolt, the double-ended bolt passes through the sliding groove, a pressure block is sleeved on the double-ended bolt, and the pressure block is pressed against the surface of the extension rod by a nut;

[0016] Rollers are installed on both sides of the movable seat, and the rollers move along the arc-shaped channel of the guide plate.

[0017] Furthermore, the air intake component includes a valve body installed on the inner side of the second vertical plate, and the air outlet end of the valve body has two connecting pipes at both ends, with plugs connected to the ends of the connecting pipes;

[0018] The plug is installed inside the through hole.

[0019] Furthermore, the valve body includes a housing, the housing has a channel, and the air inlet pipe and the connecting pipe on the housing are connected through the housing;

[0020] The housing contains a movable column and a spring, and the spring pushes the end of the movable column out of the housing.

[0021] The movable column is squeezed inward to allow the connecting pipe to connect with the outside through the connecting groove, while blocking the air intake pipe from the connecting pipe.

[0022] Furthermore, a handling robot includes a gripper and a vehicle body structure, characterized in that: the top of the vehicle body structure is provided with a slide rail structure, and a hydraulic lifting column is installed on the slide rail, the telescopic end of the hydraulic lifting column being connected to the top plate of the gripper structure.

[0023] Furthermore, the clamping structures are vertically distributed.

[0024] The present invention has the following beneficial effects:

[0025] (1) The present invention has two sets of movable components. The clamping plates in the two sets of movable components are distributed opposite to each other. When working, the goods are quickly clamped by the synchronous inward movement of the two clamping plates. In addition, the clamping area is large and the pressure on the clamping surface is small when clamping by the clamping plates.

[0026] (2) When the clamping plate moves inward, the two clamping plates change from an "eight" shape to an inverted "eight" shape. During the resetting process, the two clamping plates change from an inverted "eight" shape to an "eight" shape. When they are in an "eight" shape, they are easy to clamp onto the outside of the goods and also easy to unload the goods from between the two clamping plates.

[0027] (3) The present invention uses a hydraulic telescopic rod to push two clamping plates closer together to clamp the goods. At the same time, the clamped goods, under their own weight and friction, drive the two clamping plates to slide downward until the upper end of the round hole and the waist-shaped hole are aligned. By utilizing the weight of the goods, the thrust requirement of the hydraulic telescopic rod is reduced, which can reduce the output of the power source.

[0028] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0029] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a schematic diagram of the clamping structure of the present invention;

[0031] Figure 2 This is a partial unfolded schematic diagram of the clamping structure of the present invention;

[0032] Figure 3 This is a schematic diagram of the active components of the present invention;

[0033] Figure 4 For the present invention Figure 3A cross-sectional diagram;

[0034] Figure 5 This is a schematic diagram of the installation of the connector and limiting member of the present invention;

[0035] Figure 6 This is a schematic diagram of the connector of the present invention;

[0036] Figure 7 This is a schematic diagram of the side plate of the present invention;

[0037] Figure 8 This is a schematic diagram of the unfolded clamping plate of the present invention;

[0038] Figure 9 This is a schematic diagram of the air intake component of the present invention;

[0039] Figure 10 This is a cross-sectional view of the valve body of the present invention;

[0040] Figure 11 This is a schematic diagram of the limiting component of the present invention;

[0041] Figure 12 This is a schematic diagram of the clamping structure installation of the present invention;

[0042] Figure 13 This is a schematic diagram of the overall invention;

[0043] The attached diagram lists the components represented by each number as follows:

[0044] In the diagram: 1. Clamping structure; 11. Top plate; 12. Connector; 121. Connecting surface; 122. First vertical plate; 123. Second vertical plate; 124. Slot; 125. Guide plate; 126. Rectangular slot; 127. Round hole; 13. Side plate; 131. First plate; 132. Second plate; 133. Waist-shaped hole; 134. Through slot; 135. Mounting hole; 14. Hydraulic telescopic rod; 15. Clamping plate; 151. Back plate; 152. Connecting seat; 153. Cover plate; 154. Stepped groove 1. Hole; 155. Raised ring; 156. Rubber sheet; 157. Ring body; 158. Through hole; 16. Pin rod; 17. Air intake component; 171. Valve body; 1711. Housing; 1712. Moving column; 1713. Connecting groove; 1714. Spring; 1715. Channel; 172. Connecting pipe; 173. Plug; 18. Limiting component; 181. Extension rod; 182. Moving seat; 183. Roller; 184. Pressure block; 185. Double-ended bolt; 2. Hydraulic lifting column; 3. Vehicle body structure. Detailed Implementation

[0045] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Example

[0046] Please see Figures 1-8 and Figure 11 As shown, the present invention is a clamp, and the clamping structure 1 includes:

[0047] The frame assembly includes a top plate 11, with two connectors 12 vertically mounted on one side of the top plate 11.

[0048] The movable component includes a side plate 13. One end of the side plate 13 is connected to the clamping plate 15 by a pin 16, and the other end of the side plate 13 is connected to the clamping plate 15 by a limiting member 18. The movable component is provided in two sets, and the clamping plates 15 are distributed opposite to each other in the two sets of movable components. During operation, the goods are clamped by the movement of the two clamping plates 15.

[0049] The upper limit of the connector 12 is equipped with a side plate 13. After installation, the side plate 13 slides along the connector 12. When the connector 12 and the side plate 13 slide relative to each other, the limiting member 18 moves along the arc-shaped channel of the connector 12. The clamping plate 15 connected to the limiting member 18 rotates around the pin 16. When the clamping plate 15 rotates inward, the goods are clamped. The top plate 11 and the side plate 13 are connected by a hydraulic telescopic rod 14. The extension or shortening of the hydraulic telescopic rod 14 drives the side plate 13 to reciprocate along the connector 12.

[0050] The connector 12 includes a connecting surface 121, which is mounted on the top plate 11 by bolts. Several mounting holes are provided on both the connecting surface 121 and one side of the top plate 11. The connecting surface 121 fits against the side of the top plate 11, and the mounting holes are distributed accordingly. The connecting surface 121 and the top plate 11 are fixedly connected by bolts passing through the corresponding mounting holes.

[0051] One side of the connecting surface 121 is provided with a first vertical plate 122 and a second vertical plate 123 that are parallel to each other. At the same time, a slot 124 is formed between the first vertical plate 122 and the second vertical plate 123. The second vertical plate 123 is located outside the first vertical plate 122. A guide plate 125 is installed on the outer surface of the second vertical plate 123. The guide plate 125 and the second vertical plate 123 are provided with corresponding rectangular slots 126. The first vertical plate 122 and the second vertical plate 123 are each provided with a number of round holes 127.

[0052] The slot 124 formed between the first vertical plate 122 and the second vertical plate 123 serves as a limiting structure.

[0053] The side plate 13 includes a second plate 132, and a first plate 131 is provided on both sides of the second plate 132. The second plate 132 is provided with a waist-shaped hole 133 and a through groove 134. The two first plates 131 are provided with mounting holes 135. The slot 124 is engaged with the outside of the second plate 132. At the same time, the connecting bolt passes through the round hole 127 and the waist-shaped hole 133. The end of the limiting member 18 passes through the rectangular groove 126 and the through groove 134.

[0054] The second plate 132 slides along the slot 124. The slot 124 limits the movement direction of the second plate 132 and the side plate 13 as a whole, ensuring the stability of the side plate 13 during movement. During the movement, the waist-shaped hole 133 is always distributed in correspondence with the round hole 127, and the through slot 134 is always distributed in correspondence with the rectangular slot 126. The length of the waist-shaped hole 133 limits the movement range of the side plate 13.

[0055] In addition, when the lower end of the round hole 127 is aligned with the lower end of the oblong hole 133, the through groove 134 is aligned with the upper end of the rectangular groove 126.

[0056] The clamping plate 15 includes a back plate 151. A deep groove is formed on one side of the back plate 151. A cover plate 153 is installed in the opening of the deep groove. A plurality of stepped slot holes 154 are formed on the side of the cover plate 153. A protruding ring 155 is provided on the inner side of the stepped slot hole 154. A rubber sheet 156 and a ring body 157 are installed in the stepped slot hole 154. A through hole 158 communicating with the deep groove is formed at the bottom end of the back plate 151.

[0057] A pin 16 is connected to the back plate 151, and the end of the pin 16 is installed in the mounting hole 135.

[0058] A connecting seat 152 is provided on the other side of the clamping plate 15. The limiting member 18 includes an extension rod 181, on which a movable seat 182 is sleeved. The end of the extension rod 181 passes through the rectangular groove 126 and the through groove 134 and is connected to the connecting seat 152.

[0059] The extension rod 181 is provided with a sliding groove, and the movable seat 182 is equipped with a double-ended bolt 185. The double-ended bolt 185 passes through the sliding groove, and a pressure block 184 is sleeved on the double-ended bolt 185. The pressure block 184 is pressed against the surface of the extension rod 181 by a nut.

[0060] Rollers 183 are installed on both sides of the movable seat 182, and the rollers 183 move along the arc-shaped channel of the guide plate 125.

[0061] When the side plate 13 slides outward under the push of the hydraulic telescopic rod 14, the through groove 134 pushes the extension rod 181 to move outward, and drives the clamping plate 15 installed on the side plate 13 to move synchronously. As the outer side of the arc-shaped channel gradually approaches the surface of the second vertical plate 123, when the roller 183 moves outward along the arc, the roller 183 pushes the connection end of the extension rod 181 and the clamping plate 15 to move towards the clamping plate 15, thereby realizing that the extension rod 181 pushes the clamping plate 15 to rotate inward, thereby clamping the rectangular item placed between the two clamping plates 15.

[0062] When the clamping plate 15 moves inward, the two clamping plates 15 change from an "eight" shape to an inverted "eight" shape. During the resetting process, the two clamping plates 15 change from an inverted "eight" shape to an "eight" shape. When in the "eight" shape, it is easy to clamp onto the outside of the goods, and it is also easy to unload the goods from between the two clamping plates 15. Example

[0063] like Figures 9-10 As shown, the difference from Embodiment 1 is that the air intake component 17 includes a valve body 171 installed on the inner side of the second vertical plate 123. The air outlet end of the valve body 171 has two connecting pipes 172 at both ends, and the end of the connecting pipe 172 is connected to a plug 173.

[0064] The plug 173 is installed inside the through hole 158.

[0065] The valve body 171 includes a housing 1711, a channel 1715 is provided inside the housing 1711, and an air inlet pipe and a connecting pipe 172 provided on the housing 1711 are connected through the housing 1711.

[0066] A movable column 1712 and a spring 1714 are installed inside the housing 1711. The spring 1714 pushes the end of the movable column 1712 out of the housing 1711.

[0067] The movable column 1712 is squeezed inward to make the connecting pipe 172 connected to the outside through the connecting groove 1713. At the same time, the air inlet pipe is blocked from the connecting pipe 172, and the air inlet pipe is connected to the high pressure pump outlet pipe. The high pressure gas is increased by the high pressure pump.

[0068] When the lower end of the clamping plate 15 rotates inward, the outer side of the clamping plate 15 does not compress the movable column 1712. Under the action of the spring 1714, the end of the movable column 1712 extends out, so that the air inlet pipe connected to both ends of the housing 1711 is connected to the connecting pipe 172, so that the pressurized gas enters the interior of the back plate 151.

[0069] High-pressure gas pushes the rubber sheet 156 to bulge inward, and the bulging rubber sheet 156 compresses the goods, increasing the squeezing pressure on the goods, increasing the friction on the goods, and improving the clamping effect.

[0070] After the clamping plate 15 retracts and resets, the movable column 1712 is pushed to compress the spring 1714, thereby pressing the movable column 1712 into the housing 1711, thus blocking the air intake pipe from the connecting pipe 172. At the same time, the connecting pipe 172 is connected to the outside through the connecting groove 1713, and the gas inside the clamping plate 15 is discharged through the connecting groove 1713, thus resetting the rubber sheet 156 and facilitating the unloading of goods. Example

[0071] like Figures 12-13 As shown, a handling robot includes a gripper and a vehicle structure 3. The vehicle structure 3 is characterized by having a slide rail structure on its top, with a hydraulic lifting column 2 mounted on the slide rail. The telescopic end of the hydraulic lifting column 2 is connected to the top plate 11 of the gripper structure 1. The slide rail structure is driven by a ball screw, which is mounted on the slide rail and distributed along the length of the slide rail. A slider is mounted on the slider and connected to the seat of the hydraulic lifting column 2.

[0072] During cargo handling, the cargo on the ground is clamped by the clamping structure 1, and the cargo is moved upward by the retraction of the hydraulic lifting column 2. Then, the clamping structure 1 and the hydraulic lifting column 2 are moved towards the inside of the vehicle body structure 3 by the slide rail structure, so as to move the cargo onto the vehicle body structure 3.

[0073] During unloading, the hydraulic telescopic rod 14 retracts, causing the bottom end of the clamping plate 15 to rotate outward, thereby unloading the goods.

[0074] The clamping structure 1 is vertically distributed.

[0075] In use, the clamping structure 1 is vertically distributed. The two clamping plates 15 are pushed closer to each other by the hydraulic telescopic rod 14 to clamp the goods. At the same time, the clamped goods, under the action of their own weight and friction, drive the two clamping plates 15 to slide downward until the upper end of the round hole 127 is aligned with the upper end of the waist-shaped hole 133.

[0076] By utilizing the weight of the cargo itself, the thrust requirement of the hydraulic telescopic rod 14 is reduced, thereby reducing the output of the power source.

[0077] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A gripper characterized by, The clamping structure (1) comprises: A frame assembly comprising a top plate (11) vertically mounted with two connecting pieces (12) on one side; A movable assembly comprising a side plate (13) connected with one end of a clamping plate (15) through a pin rod (16), and the other end of the clamping plate (15) is connected with the side plate (13) through a limiting piece (18); The side plate (13) is limitingly installed on the connecting piece (12), and when the connecting piece (12) and the side plate (13) slide relative to each other, the limiting piece (18) moves along the arc-shaped channel of the connecting piece (12), and the top plate (11) and the side plate (13) are connected through a hydraulic telescopic rod (14); The connecting piece (12) comprises a connecting surface (121) which is installed on the top plate (11) through a bolt; One side of the connecting surface (121) is provided with a first vertical plate (122) and a second vertical plate (123) which are parallel to each other, and a clamping groove (124) is formed between the first vertical plate (122) and the second vertical plate (123), the second vertical plate (123) is located outside the first vertical plate (122), a guide plate (125) is installed on the outer side of the second vertical plate (123), and a corresponding rectangular groove (126) is formed in the guide plate (125) and the second vertical plate (123), and a plurality of circular holes (127) are formed in the first vertical plate (122) and the second vertical plate (123); The side plate (13) comprises a second plate body (132), the two sides of the second plate body (132) are provided with a first plate body (131), a waist-shaped hole (133) and a through groove (134) are formed in the second plate body (132), and a mounting hole (135) is formed in each of the two first plate bodies (131), the clamping groove (124) is clamped on the outer side of the second plate body (132), a connecting bolt passes through the circular hole (127) and the waist-shaped hole (133), and the end of the limiting piece (18) passes through the rectangular groove (126) and the through groove (134); The clamping plate (15) comprises a back plate (151), a deep groove is formed in one side of the back plate (151), and a cover plate (153) is installed on the opening of the deep groove; The back plate (151) is connected with the pin rod (16), and the end of the pin rod (16) is installed in the mounting hole (135); The other side of the clamping plate (15) is provided with a connecting seat (152), the limiting piece (18) comprises an extension rod (181), the extension rod (181) is sleeved with a moving seat (182), the end of the extension rod (181) is connected with the connecting seat (152) through the rectangular groove (126) and the through groove (134), wherein the extension rod (181) is provided with a sliding groove, the moving seat (182) is provided with a double-headed bolt (185), the double-headed bolt (185) penetrates through the sliding groove, the double-headed bolt (185) is sleeved with a pressing block (184), the pressing block (184) is pressed on the surface of the extension rod (181) through a nut, and the two sides of the moving seat (182) are provided with a plurality of rollers (183), which move along the arc-shaped channel of the guide plate (125).

2. A holder according to claim 1, characterized in that: A plurality of stepped groove holes (154) are formed in the side surface of the cover plate (153), the inner side of the stepped groove hole (154) is provided with a convex ring (155), and the stepped groove hole (154) is provided with a rubber sheet (156) and a ring body (157); The bottom end of the back plate (151) is provided with a through hole (158) in communication with the deep groove.

3. A holder according to claim 2, wherein: Further comprising an air inlet member (17), the air inlet member (17) comprises a valve body (171) mounted on the inner side surface of the second vertical plate (123), the valve body (171) is provided with two connecting pipes (172) at the two ends of the air outlet end, and the connecting pipes (172) are connected with plugs (173) at the ends; The plug (173) is installed in the through hole (158).

4. A holder according to claim 3, wherein: The valve body (171) comprises a shell (1711), the shell (1711) is provided with a channel (1715), and the air inlet pipeline on the shell (1711) is in communication with the connecting pipe (172) through the shell (1711); The shell (1711) is provided with a movable column (1712) and a spring (1714), the spring (1714) pushes the end of the movable column (1712) to extend out of the shell (1711); The movable column (1712) is pressed inward, so that the connecting pipe (172) is in communication with the outside through the communication groove (1713), and the air inlet pipeline and the connecting pipe (172) are blocked.

5. A handling robot comprising a gripper according to any one of claims 1 - 4 and a vehicle structure (3), characterized in that: The top of the vehicle body structure (3) is provided with a slide rail structure, and a hydraulic lifting column (2) is mounted on the slide rail in a matched mode, and the telescopic end of the hydraulic lifting column (2) is connected with the top plate (11) of the clamping structure (1).

6. A handling robot according to claim 5, characterized in that: The clamping structure (1) is vertically distributed.

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