Cargo gripper structure of transfer robot and using method of cargo gripper structure
By designing highly adaptable main gripping and anti-detachment components, and combining the collaborative effects of recognition sensors and multiple electric cylinders, the problem of poor flexibility of existing handling robot gripper structures when dealing with goods of different shapes, sizes, materials and surface conditions has been solved, achieving stable and flexible goods gripping and handling.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- HUBEI ENG INST
- Filing Date
- 2026-04-17
- Publication Date
- 2026-05-15
AI Technical Summary
Existing gripper structures for handling robots require frequent gripper replacements when gripping goods of different shapes, sizes, materials, and surface conditions, resulting in poor efficiency and flexibility.
A cargo gripper structure was designed, comprising a main gripping component, a secondary clamping structure, and an anti-detachment component. By identifying the type of cargo through a recognition sensor, and combining the synergistic effect of a main electric cylinder, a longitudinal electric cylinder, a transverse electric cylinder, and a micro suction pump, it achieves multi-angle clamping and adsorption, adapting to different cargo surfaces.
It improves the stability and flexibility of cargo handling, reduces the risk of cargo damage, enhances the fixation effect on uneven or irregular cargo, and improves the accuracy and safety of handling.
Smart Images
Figure CN122034028A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of robot gripper technology, specifically to a cargo gripper structure for a handling robot and its usage method. Background Technology
[0002] With the rapid development of modern logistics warehousing, intelligent manufacturing, e-commerce sorting, and other industries, automated handling systems have become key technological equipment for improving operational efficiency and reducing labor costs. As the core execution unit of automated handling systems, the performance of the end effector—the cargo gripper—of the handling robot directly determines the handling efficiency, operational reliability, and applicability of the entire system. A search revealed an industrial warehouse heavy-duty handling robot and its usage method, authorized by announcement number CN116969105B. This robot uses the combined action of ball screws and lifting hydraulic cylinders to move goods along four paths, enabling the robot to automatically remove goods from shelves, turn them, and place them on a handling vehicle for transport. This eliminates the need for additional forklifts for loading and unloading operations, saving warehouse operating space and labor costs for enterprise handling, and increasing enterprise efficiency. However, the existing gripper structures of handling robots require frequent gripper replacements when gripping goods of different shapes, sizes, materials, and surface conditions, resulting in poor efficiency and flexibility. To address this, we propose a new gripper structure for handling robots and its usage method. Summary of the Invention
[0003] This invention proposes a cargo gripper structure for a handling robot and its usage method, which solves the problem mentioned in the background art that existing handling robot gripper structures require frequent gripper replacements when gripping goods of different shapes, sizes, materials and surface conditions, resulting in poor efficiency and flexibility.
[0004] The technical solution of the present invention is as follows: A cargo gripper structure for a handling robot includes a robot part and a gripper part. The robot includes a rotatable rotating base. A gripping structure is connected to the outer surface of the rotating base. A first fixed rod is fixedly connected to the outer surface of the rotating base. One end of the first fixed rod is fixedly connected to the gripping structure. A main gripping assembly is connected between the gripping structure and the rotating base. A secondary clamping structure is connected to the outer surface of the gripping structure. The main gripping assembly includes a main electric cylinder with one end fixedly connected to the outer surface of the rotating base. An arc-shaped plate is fixedly connected to the output end of the main electric cylinder. An arc-shaped groove is formed on the outer surface of the arc-shaped plate. A rotating frame is rotatably connected to the surface of the gripping structure. A clamping frame is rotatably connected to one end of the rotating frame. A shaft is fixedly connected to one end of the rotating frame at the arc-shaped groove. The shaft passes through the opening of the arc-shaped groove. The opening and clamping of the clamping frame are adjusted by the extension and retraction of the main electric cylinder. An anti-detachment component is connected to the inner surface of the clamping frame.
[0005] As a further technical solution of the present invention, the robot includes a fixed base, a rotating platform rotatably connected to the surface of the fixed base, a rotating arm rotatably connected to the outer surface of the rotating platform, and two sets of rotating arms, with the rotation surfaces of the two sets of rotating arms overlapping. The rotating base and the rotating arm, the rotating arm and the rotating platform and the fixed base are all rotatably connected by servo motors. The surface of the grasping structure is fixedly connected to an identification sensor, which is used to identify the type of object to be grasped.
[0006] As a further technical solution of the present invention, the secondary clamping structure includes an arc-shaped groove formed on the outer surface of the gripping structure. A sliding block is slidably connected to the inner side of the gripping structure corresponding to the arc-shaped groove. A longitudinal electric cylinder is fixedly connected to the outer surface of the sliding block. A positioning frame is sleeved on the outer surface of the longitudinal electric cylinder. A second fixing rod is fixedly connected between the positioning frame and the sliding block. An arc-shaped electric slide rail is fixedly connected to the outer surface of the gripping structure. An electric slider is slidably connected to the outer surface of the arc-shaped electric slide rail. A connecting frame is fixedly connected between the electric slider and the sliding block. An auxiliary component is connected to the output end of the longitudinal electric cylinder. The auxiliary component is used to grip and release the object in coordination with the extension and retraction of the longitudinal electric cylinder.
[0007] As a further technical solution of the present invention, the auxiliary component includes a transverse electric cylinder fixedly connected to the output end of the longitudinal electric cylinder. A fixing plate is fixedly connected to the output end of the transverse electric cylinder. A micro suction pump is fixedly connected to one end of the root of the transverse electric cylinder. An inner tube is fixedly connected to the outer surface of the micro suction pump. An outer tube is connected between the inner tube and the fixing plate. A suction cup is fixedly connected to the outer surface of the fixing plate. An elastic tube is connected between the suction cup and the micro suction pump.
[0008] As a further technical solution of the present invention, the anti-detachment component includes a recessed groove formed on the inner surface of the gripper, a fixing post fixedly connected to the inner side of the gripper, a hollow post sleeved on the outer surface of the fixing post, an anti-detachment disc fixedly connected to one end of the hollow post, and a pushing spring connected between one end of the hollow post and the inner side of the gripper.
[0009] As a further technical solution of the present invention, the rotation angle of the rotating frame is adjusted by rotating the arc plate, the clamping frame is reset by a torsion spring, the number of arc plates is several groups and they are distributed in a ring array, and the rotating frame and the clamping frame are rotated and clamped and released by sliding the shaft inside the arc groove.
[0010] As a further technical solution of the present invention, the sliding block slides back and forth along the length direction of the arc groove, the longitudinal electric cylinder is a multi-stage telescopic electric cylinder, the positioning frame and the second fixing rod are used to maintain the stability of the longitudinal electric cylinder and the auxiliary components thereon, the electric slider slides back and forth along the length direction of the arc electric slide rail, and the connecting frame is used to connect the electric slider and the sliding block. The movement of the electric slider enables the sliding block and the various components thereon to move accordingly.
[0011] As a further technical solution of the present invention, the outer shell of the transverse electric cylinder is fixedly connected to the output end of the longitudinal electric cylinder, the fixing plate is fixedly connected to the transverse electric cylinder by bolts, the micro suction pump is fixedly connected to the end of the transverse electric cylinder away from the output, the inner tube is fixedly connected to the micro suction pump by bolts, the fixing plate is fixedly connected to the outer tube by bolts, the inner diameter of the outer tube matches the outer diameter of the inner tube, the outer tube and the inner tube are externally slidably connected, one end of the elastic tube is fixedly connected to the suction cup, and the other end of the elastic tube is fixedly connected to the suction end of the micro suction pump.
[0012] As a further technical solution of the present invention, the diameter of the fixed column is equal to the inner diameter of the hollow column, the hollow column slides along the length of the fixed column, the elastic ends of the push spring are fixedly connected to the clamping frame and the hollow column respectively, and the anti-detachment disc has an arc-shaped structure.
[0013] This invention also includes a method of using a cargo gripper structure of a handling robot, the method of use including a normal gripping mode and an enhanced gripping mode, as detailed below: Normal gripping: In this mode, the object is easily gripped when identified by the sensor. By adjusting the rotation of the rotating arm and rotating seat of the rotating table, the area of the gripping structure is aligned with the object to be moved. Then, the main electric cylinder begins to retract, causing the arc plate to move along with the main electric cylinder. During this process, the arc plate allows the shaft on the rotating frame to rotate and move inside it. At this time, the rotating frame will rotate, and the object can be directly gripped by the clamping frame. At the same time, the anti-drop disc will contact the object first to prevent it from falling off. Enhanced gripping: In this mode, the recognition sensor identifies an object that is difficult to grip. First, the electric slider drives the connecting frame, the longitudinal electric cylinder, and the components attached to both to align the auxiliary components with the actual position of the object to be gripped. This facilitates multi-angle clamping of several sets of auxiliary components. Then, the longitudinal electric cylinder extends to align the auxiliary components with the side of the object. Next, the lateral electric cylinder extends to align the suction cup with the surface of the object. The lateral electric cylinder extension allows the suction cup to fit tightly against the object. At the same time, the outer and inner tubes extend, and the elastic tube is stretched. Then, the micro suction pump operates to create negative pressure on the suction cup, thereby clamping the object tightly and preventing it from falling off, thus maintaining stable gripping and handling of the object.
[0014] The working principle and beneficial effects of this invention are as follows: In this invention, the main gripping component and the anti-detachment component work together. During use, the main electric cylinder extends and retracts to perform the release and gripping actions, easily clamping objects. The anti-detachment disc further enhances the gripping effect, effectively preventing loosening when objects are not firmly clamped. Furthermore, sensors monitor various information about the goods in real time, and the controller uses this information to formulate the optimal gripping plan and adjust the gripping action in real time, ensuring stable gripping and handling of the goods. This intelligent control method improves the accuracy and safety of handling and reduces the risk of damage to goods. In addition, the auxiliary gripping component enhances the fixation and clamping effect on goods, especially for goods with uneven surfaces or irregular shapes. The combined use of the extension and retraction adjustment and adsorption of the secondary clamping structure makes the goods more stable during gripping, less prone to shaking and falling, improving the stability and reliability of handling. Attached Figure Description
[0015] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.
[0016] Figure 1 This is a schematic diagram of the handling robot of the present invention together with the cargo gripper; Figure 2 For the present invention Figure 1 A schematic diagram of the local structure from another perspective; Figure 3 This is a partial structural diagram of the gripper structure of the present invention; Figure 4 This is a partial structural diagram of the main gripping component of the present invention; Figure 5 This is a partial structural diagram of the anti-detachment component of the present invention. Figure 6 This is a partial structural diagram of the secondary clamping structure of the present invention; Figure 7 For the present invention Figure 6 A partial structural diagram; Figure 8 For the present invention Figure 7 A schematic diagram of a partial structure cut out from another perspective.
[0017] In the diagram: 1. Rotating seat; 2. Gripping structure; 3. Fixed seat; 4. Rotating table; 5. Rotating arm; 6. Fixed rod No. 1; 7. Main gripping assembly; 71. Main electric cylinder; 72. Arc-shaped plate; 73. Arc-shaped slide groove; 74. Rotating frame; 75. Gripping frame; 8. Secondary clamping structure; 81. Arc-shaped groove; 82. Sliding block; 83. Longitudinal electric cylinder; 84. Positioning frame; 85. Fixed rod No. 2; 86. Arc-shaped electric slide rail; 87. Electric slider; 88. Connecting frame; 89. Auxiliary assembly; 891. Lateral electric cylinder; 892. Fixed plate; 893. Miniature suction pump; 894. Inner tube; 895. Outer tube; 896. Suction cup; 897. Elastic tube; 9. Anti-detachment assembly; 91. Recessed groove; 92. Fixed column; 93. Hollow column; 94. Anti-detachment disc; 95. Pushing spring. Detailed Implementation
[0018] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. 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 of ordinary skill in the art without creative effort are within the scope of protection of the present invention.
[0019] Example 1, such as Figures 1-5 As shown, this embodiment proposes a cargo gripper structure for a handling robot, including a robot part and a gripper part. The robot includes a rotatable rotating base 1, with a gripping structure 2 connected to the outer surface of the rotating base 1. A first fixed rod 6 is fixedly connected to the outer surface of the rotating base 1, and the gripping structure 2 is fixedly connected to one end of the first fixed rod 6. A main gripping assembly 7 is connected between the gripping structure 2 and the rotating base 1, and a secondary clamping structure 8 is connected to the outer surface of the gripping structure 2. The robot includes a fixed base 3, with a rotating platform 4 rotatably connected to the surface of the fixed base 3. Rotating arms 5 are rotatably connected to the outer surface of the rotating platform 4. There are two sets of rotating arms 5, and the rotation surfaces of the two sets of rotating arms 5 coincide. The rotating base 1 and the rotating arms 5, the rotating arms 5 and the rotating platform 4 and the fixed base 3 are all rotatably connected through servo motors. An identification sensor is fixedly connected to the surface of the gripping structure 2, and the identification sensor is used to identify the type of object being gripped.
[0020] The main gripping assembly 7 includes a main electric cylinder 71 fixedly connected to the outer surface of the rotating base 1 at one end. An arc-shaped plate 72 is fixedly connected to the output end of the main electric cylinder 71. An arc-shaped groove 73 is formed on the outer surface of the arc-shaped plate 72. A rotating frame 74 is rotatably connected to the surface of the gripping structure 2. A clamping frame 75 is rotatably connected to one end of the rotating frame 74. A shaft is fixedly connected to one end of the rotating frame 74 at the arc-shaped groove 73. The shaft passes through the opening of the arc-shaped groove 73. The opening and clamping of the clamping frame 75 are adjusted by the extension and retraction of the main electric cylinder 71. An anti-detachment assembly 9 is connected to the inner surface of the clamping frame 75. The rotation angle of the rotating frame 74 is adjusted by the rotation of the arc-shaped plate 72. The clamping frame 75 is reset by a torsion spring. The number of arc-shaped plates 72 is several and they are arranged in a ring array. The rotating frame 74 and the clamping frame 75 are rotated, clamped and released by sliding the shaft inside the arc-shaped groove 73.
[0021] The anti-detachment component 9 includes a recessed groove 91 formed on the inner surface of the gripper 75. A fixing post 92 is fixedly connected to the inner side of the gripper 75. A hollow post 93 is sleeved on the outer surface of the fixing post 92. An anti-detachment disc 94 is fixedly connected to one end of the hollow post 93. A pushing spring 95 is connected between one end of the hollow post 93 and the inner side of the gripper 75. The diameter of the fixing post 92 is equal to the inner diameter of the hollow post 93. The hollow post 93 slides along the length of the fixing post 92. The elastic ends of the pushing spring 95 are fixedly connected to the gripper 75 and the hollow post 93, respectively. The anti-detachment disc 94 has an arc-shaped structure.
[0022] In this embodiment, when the recognition sensor identifies that the object is easy to grasp, the robot operates automatically. The rotating platform 4 rotates on the fixed base 3 via a servo motor to a suitable angle. Simultaneously, the two sets of rotating arms 5 rotate synchronously. The rotating base 1 rotates at one end of the rotating arm 5, aligning the position of the grasping structure 2 with the position of the object to be grasped. Then, the recognition sensor identifies the type of object to be grasped. When the object is easy to grasp, the main grasping component 7 and the anti-detachment component 9 cooperate to grasp it. At this time, the main electric cylinder 71 begins to retract, causing the arc plate 72 to follow the main electric cylinder 71. During the movement, the arc-shaped plate 72 allows the shaft on the rotating frame 74 to rotate and move inside it. At this time, the rotating frame 74 will rotate, and the item can be directly clamped by the clamping frame 75. During the clamping process, the anti-slip disc 94 can contact the item first. When clamping it, the hollow column 93 will move a distance towards the fixed column 92. By pushing the hollow column 93 and the anti-slip disc 94 together with the pushing spring 95, the friction between the anti-slip disc 94 and the item can be effectively increased, thereby effectively preventing the item from falling off during the gripping process.
[0023] Example 2, as Figures 6-8As shown, based on Embodiment 1, a secondary clamping structure 8 is proposed, including an arc-shaped groove 81 formed on the outer surface of the gripping structure 2. A sliding block 82 is slidably connected to the inner side of the gripping structure 2 corresponding to the arc-shaped groove 81. A longitudinal electric cylinder 83 is fixedly connected to the outer surface of the sliding block 82. A positioning frame 84 is sleeved on the outer surface of the longitudinal electric cylinder 83. A second fixing rod 85 is fixedly connected between the positioning frame 84 and the sliding block 82. An arc-shaped electric slide rail 86 is fixedly connected to the outer surface of the gripping structure 2. An electric slider 87 is slidably connected to the outer surface of the arc-shaped electric slide rail 86. A connecting frame 88 is fixedly connected between the electric slider 87 and the sliding block 82. An auxiliary component 89 is connected to the output end of the longitudinal electric cylinder 83. The auxiliary component 89 is used to grip and release the object in coordination with the extension and retraction of the longitudinal electric cylinder 83.
[0024] Auxiliary component 89 includes a transverse electric cylinder 891 fixedly connected to the output end of the longitudinal electric cylinder 83. A fixing plate 892 is fixedly connected to the output end of the transverse electric cylinder 891. A miniature suction pump 893 is fixedly connected to one end of the transverse electric cylinder 891. An inner tube 894 is fixedly connected to the outer surface of the miniature suction pump 893. An outer tube 895 connects the inner tube 894 and the fixing plate 892. A suction cup 896 is fixedly connected to the outer surface of the fixing plate 892. An elastic tube 897 connects the suction cup 896 and the miniature suction pump 893. The outer shell of the transverse electric cylinder 891 is connected to the output end of the longitudinal electric cylinder 83. The fixed connection is as follows: the fixed plate 892 is fixedly connected to the horizontal electric cylinder 891 by bolts; the micro suction pump 893 is fixedly connected to the end of the horizontal electric cylinder 891 away from the output; the inner tube 894 is fixedly connected to the micro suction pump 893 by bolts; the fixed plate 892 is fixedly connected to the outer tube 895 by bolts; the inner diameter of the outer tube 895 matches the outer diameter of the inner tube 894; the outer tube 895 and the inner tube 894 are externally slidably connected; one end of the elastic tube 897 is fixedly connected to the suction cup 896; and the other end of the elastic tube 897 is fixedly connected to the suction end of the micro suction pump 893.
[0025] In this embodiment, when the recognition sensor detects that the object is difficult to grasp, the longitudinal electric cylinder 83 extends to align the auxiliary component 89 with the side of the object. Then, the transverse electric cylinder 891 extends to align the suction cup 896 with the surface of the object. This transverse extension of the electric cylinder 891 ensures a tight fit between the suction cup 896 and the object. Simultaneously, the outer tube 895 and inner tube 894 extend, and the elastic tube 897 is stretched. The micro-suction pump 893 then operates, creating negative pressure on the suction cup 896 to clamp the object, thus preventing... This prevents items from falling off and maintains stable gripping and handling. During this process, the electric slider 87 slides back and forth on the surface of the arc-shaped electric slide rail 86. The connecting frame 88 drives the sliding block 82, along with the longitudinal electric cylinder 83, positioning frame 84, and auxiliary components 89, to rotate and adjust synchronously. This allows for clamping and handling of items at different locations, effectively improving the applicability of the equipment and enhancing the handling effect. The rotatable and adjustable nature of the single auxiliary component 89, combined with the suction cup 896's ability to adsorb objects, ensures that items are clamped and adsorbed more effectively.
[0026] This invention also includes a method of using a cargo gripper structure of a handling robot, the method of use including a normal gripping mode and an enhanced gripping mode, as detailed below: Normal gripping: In this mode, the recognition sensor identifies that the object is easy to grip. By rotating the rotating arm 5 and rotating seat 1 of the rotating table 4, the area of the gripping structure 2 is aligned with the object to be moved. Then, the main electric cylinder 71 begins to retract, driving the arc plate 72 to move together with the main electric cylinder 71. During this process, the arc plate 72 allows the shaft on the rotating frame 74 to rotate and move inside it. At this time, the rotating frame 74 will rotate, and the object can be directly gripped by the clamping frame 75. At the same time, the anti-drop disc 94 will contact the object first to prevent it from falling off. Enhanced gripping: In this mode, when the sensor identifies an object that is difficult to grip, the electric slider 87 first drives the connecting frame 88, the longitudinal electric cylinder 83, and the components attached to both, so that the auxiliary component 89 corresponds to the actual position of the object to be gripped. This facilitates multi-angle clamping of several sets of auxiliary components 89. Then, the longitudinal electric cylinder 83 extends to align the auxiliary component 89 with the side of the object. Next, the transverse electric cylinder 891 extends to align the suction cup 896 with the surface of the object. The extension of the transverse electric cylinder 891 allows the suction cup 896 to fit tightly against the object. At the same time, the outer tube 895 and the inner tube 894 extend, and the elastic tube 897 is stretched. Then, the micro suction pump 893 operates, which creates negative pressure on the suction cup 896, thereby clamping the object and preventing it from falling off, thus maintaining stable gripping and handling of the object.
[0027] Through the combined action of the main gripping component 7 and the anti-detachment component 9, the main electric cylinder 71 can extend and retract during use to complete the actions of loosening and gripping, making it easy to clamp objects. The anti-detachment disc 94 can better grip objects and effectively prevent loosening when objects are not firmly clamped.
[0028] In summary, the specific operating principle of this invention is as follows: During normal gripping mode, when the recognition sensor indicates that the object is easy to grip, the robot automatically operates. The rotating platform 4 rotates on the fixed base 3 via a servo motor to an appropriate angle. Simultaneously, the two sets of rotating arms 5 rotate synchronously. The rotating base 1 rotates at one end of the rotating arm 5, aligning the position of the gripping structure 2 with the position of the object to be gripped. Then, the recognition sensor identifies the type of object to be gripped. When the object is easy to grip, the main gripping component 7 and the anti-detachment component 9 work together to grip it. At this time, the main electric cylinder 71 begins to retract, causing the arc-shaped plate 72 to follow the main... The electric cylinder 71 moves together. During this process, the arc-shaped plate 72 allows the shaft on the rotating frame 74 to rotate and move inside it. At this time, the rotating frame 74 will rotate, and the item can be directly clamped by the clamping frame 75. During the clamping process, the anti-slip disc 94 can contact the item first. When clamping it, the hollow column 93 will move a distance towards the fixed column 92. The push spring 95 pushes the hollow column 93 together with the anti-slip disc 94, which can effectively increase the friction between the anti-slip disc 94 and the item, thereby effectively preventing the item from falling off during the gripping process. In enhanced gripping mode, when the recognition sensor indicates that the object is difficult to grip, the longitudinal electric cylinder 83 extends to align the auxiliary component 89 with the side of the object. Then, the lateral electric cylinder 891 extends to align the suction cup 896 with the object's surface. This lateral extension of the electric cylinder 891 ensures a tight fit between the suction cup 896 and the object. Simultaneously, the outer tube 895 and inner tube 894 extend, and the elastic tube 897 is stretched. The micro-suction pump 893 then operates, creating negative pressure on the suction cup 896 to clamp the object firmly and prevent it from slipping off. This ensures stable gripping and handling of items. During this process, the electric slider 87 slides back and forth on the surface of the arc-shaped electric slide rail 86. The connecting frame 88 drives the sliding block 82, along with the longitudinal electric cylinder 83, positioning frame 84, and auxiliary components 89, to rotate and adjust synchronously. This allows for clamping and handling of items at different locations, effectively improving the applicability of the equipment and enhancing the handling effect. The rotatable and adjustable nature of the single auxiliary component 89, combined with the suction cup 896's ability to adsorb objects, allows for better clamping and adsorption of items, resulting in better clamping and handling effects.
[0029] It should be noted that in the above scenario, during normal gripping, gripping is performed only by the main gripping component 7 and the anti-detachment component 9. However, in the enhanced gripping mode, gripping can be performed directly by the secondary clamping structure 8, or by the main gripping component 7, the anti-detachment component 9, and the secondary clamping structure 8 working together to grip the item. This results in a better gripping effect and effectively improves the stability of the gripped item and the handling effect.
[0030] It should be noted that the gripping application of this invention is automatically controlled by a controller. The specific gripping scheme is set according to the different attributes of different items, and the algorithm is continuously improved to match the effective gripping of more items. Various information about the goods is monitored in real time by identification sensors, and the controller formulates the optimal gripping scheme based on this information and adjusts the gripping action in real time to ensure stable gripping and handling of the goods. This intelligent control method improves the accuracy and safety of handling and reduces the risk of damage to goods. Furthermore, the auxiliary gripping components enhance the fixation and clamping effect on the goods, especially for goods with uneven surfaces or irregular shapes. The combined use of the telescopic adjustment and adsorption of the secondary clamping structure makes the goods more stable during gripping, less prone to shaking and falling, and improves the stability and reliability of handling.
[0031] It should be understood that in this application, all rotating, sliding, meshing, belt-driven and other moving parts are well lubricated and not prone to slippage or wear, and each part is provided with a corresponding protective shell. However, in the accompanying drawings of this application, the connection state of each moving part is not shown. It should also be understood that all parts in this application are made of metal or plastic materials with suitable strength in the relevant field to ensure that their structural rigidity meets the actual requirements.
[0032] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.
Claims
1. A cargo gripper structure for a handling robot, characterized in that, The robot includes a robot part and a gripper part. The robot includes a rotatable rotating base (1), and a gripping structure (2) is connected to the outer surface of the rotating base (1). A first fixed rod (6) is fixedly connected to the outer surface of the rotating base (1). One end of the first fixed rod (6) is fixedly connected to the gripping structure (2). A main gripping assembly (7) is connected between the gripping structure (2) and the rotating base (1). A secondary clamping structure (8) is connected to the outer surface of the gripping structure (2). The main gripping assembly (7) includes a main electric cylinder (71) with one end fixedly connected to the outer surface of the rotating seat (1). An arc plate (72) is fixedly connected to the output end of the main electric cylinder (71). An arc groove (73) is provided on the outer surface of the arc plate (72). A rotating frame (74) is rotatably connected to the surface of the gripping structure (2). A clamping frame (75) is rotatably connected to one end of the rotating frame (74). A shaft is fixedly connected to one end of the rotating frame (74) at the arc groove (73). The shaft passes through the opening of the arc groove (73). The opening and clamping of the clamping frame (75) are adjusted by the extension and retraction of the main electric cylinder (71). An anti-detachment assembly (9) is connected to the inner surface of the clamping frame (75).
2. The cargo gripper structure of the handling robot according to claim 1, characterized in that, The robot includes a fixed base (3), a rotating platform (4) is rotatably connected to the surface of the fixed base (3), and a rotating arm (5) is rotatably connected to the outer surface of the rotating platform (4). There are two sets of rotating arms (5), and the rotation surfaces of the two sets of rotating arms (5) coincide. The rotating base (1) and the rotating arm (5), the rotating arm (5) and the rotating platform (4) and the fixed base (3) are all rotatably connected by servo motors. The surface of the gripping structure (2) is fixedly connected with an identification sensor, which is used to identify the type of object to be gripped.
3. The cargo gripper structure of the handling robot according to claim 1, characterized in that, The secondary clamping structure (8) includes an arc-shaped groove (81) on the outer surface of the gripping structure (2). A sliding block (82) is slidably connected to the inner side of the gripping structure (2) corresponding to the arc-shaped groove (81). A longitudinal electric cylinder (83) is fixedly connected to the outer surface of the sliding block (82). A positioning frame (84) is sleeved on the outer surface of the longitudinal electric cylinder (83). A second fixing rod (85) is fixedly connected between the positioning frame (84) and the sliding block (82). An arc-shaped electric slide rail (86) is fixedly connected to the outer surface of the gripping structure (2). An electric slider (87) is slidably connected to the outer surface of the arc-shaped electric slide rail (86). A connecting frame (88) is fixedly connected between the electric slider (87) and the sliding block (82). An auxiliary component (89) is connected to the output end of the longitudinal electric cylinder (83). The auxiliary component (89) is used to grip and release the object in coordination with the extension and retraction of the longitudinal electric cylinder (83).
4. The cargo gripper structure of the handling robot according to claim 3, characterized in that, The auxiliary component (89) includes a transverse electric cylinder (891) fixedly connected to the output end of the longitudinal electric cylinder (83). A fixed plate (892) is fixedly connected to the output end of the transverse electric cylinder (891). A micro suction pump (893) is fixedly connected to one end of the root of the transverse electric cylinder (891). An inner tube (894) is fixedly connected to the outer surface of the micro suction pump (893). An outer tube (895) is connected between the inner tube (894) and the fixed plate (892). A suction cup (896) is fixedly connected to the outer surface of the fixed plate (892). An elastic tube (897) is connected between the suction cup (896) and the micro suction pump (893).
5. The cargo gripper structure of the handling robot according to claim 1, characterized in that, The anti-detachment component (9) includes a recessed groove (91) formed on the inner surface of the clamping frame (75). A fixing post (92) is fixedly connected to the inner side of the clamping frame (75). A hollow post (93) is sleeved on the outer surface of the fixing post (92). An anti-detachment disc (94) is fixedly connected to one end of the hollow post (93). A pushing spring (95) is connected between one end of the hollow post (93) and the inner side of the clamping frame (75).
6. The cargo gripper structure of the handling robot according to claim 1, characterized in that, The rotation angle of the rotating frame (74) is adjusted by rotating the arc plate (72), and the clamping frame (75) is reset by a torsion spring. The number of arc plates (72) is several groups and they are arranged in a ring array. The rotating frame (74) and the clamping frame (75) are rotated, clamped and released by sliding the shaft inside the arc groove (73).
7. The cargo gripper structure of the handling robot according to claim 3, characterized in that, The sliding block (82) slides back and forth along the length of the arc groove (81). The longitudinal electric cylinder (83) is a multi-stage telescopic electric cylinder. The positioning frame (84) and the second fixing rod (85) are used to maintain the stability of the longitudinal electric cylinder (83) and the auxiliary components (89) thereon. The electric slider (87) slides back and forth along the length of the arc electric slide rail (86). The connecting frame (88) is used to connect the electric slider (87) and the sliding block (82). The movement of the electric slider (87) enables the sliding block (82) and its various components to move accordingly.
8. The cargo gripper structure of the handling robot according to claim 4, characterized in that, The outer shell of the transverse electric cylinder (891) is fixedly connected to the output end of the longitudinal electric cylinder (83). The fixing plate (892) is fixedly connected to the transverse electric cylinder (891) by bolts. The micro suction pump (893) is fixedly connected to the end of the transverse electric cylinder (891) away from the output. The inner tube (894) is fixedly connected to the micro suction pump (893) by bolts. The fixing plate (892) is fixedly connected to the outer tube (895) by bolts. The inner diameter of the outer tube (895) matches the outer diameter of the inner tube (894). The outer tube (895) and the inner tube (894) are externally slidably connected. One end of the elastic tube (897) is fixedly connected to the suction cup (896), and the other end of the elastic tube (897) is fixedly connected to the suction end of the micro suction pump (893).
9. The cargo gripper structure of the handling robot according to claim 5, characterized in that, The diameter of the fixed column (92) is equal to the inner diameter of the hollow column (93). The hollow column (93) slides along the length of the fixed column (92). The elastic ends of the push spring (95) are fixedly connected to the clamping frame (75) and the hollow column (93) respectively. The anti-detachment disc (94) has an arc-shaped structure.
10. A method of using a cargo gripper structure for a handling robot, comprising using the cargo gripper structure for a handling robot as described in any one of claims 1-9, characterized in that, The usage methods include normal crawling mode and enhanced crawling mode, as detailed below: Normal gripping: In this mode, the recognition sensor identifies that the object is easy to grip. By rotating the rotating table (4), rotating arm (5) and rotating seat (1), the area of gripping structure (2) is made to correspond to the item to be transported. Then, the main electric cylinder (71) starts to retract, driving the arc plate (72) to move together with the main electric cylinder (71). During this process, the arc plate (72) allows the shaft on the rotating frame (74) to rotate and move inside it. At this time, the rotating frame (74) will rotate, and the item can be directly gripped by the clamping frame (75). At the same time, the anti-drop disc (94) will contact the item first to prevent it from falling off. Enhanced gripping: In this mode, the recognition sensor identifies that the object is not easy to grip. First, the electric slider (87) drives the connecting frame (88), the longitudinal electric cylinder (83) and the components on both to make the auxiliary component (89) correspond to the actual position of the object to be gripped, so as to facilitate the multi-angle clamping of several sets of auxiliary components (89) in the future. Then, the longitudinal electric cylinder (83) extends to make the auxiliary component (89) correspond to the side position of the object. Then, the transverse electric cylinder (891) extends to make the suction cup (896) correspond to the surface of the object. By extending the transverse electric cylinder (891), the suction cup (896) can be tightly attached to the object. At the same time, the outer tube (895) and the inner tube (894) are extended, and the elastic tube (897) is stretched. Then, the micro suction pump (893) runs to make the suction cup (896) form a negative pressure, thereby clamping the object and preventing it from falling off, thus maintaining the stable gripping and handling of the object.