Robot gripper

By designing a robot hand gripping with clamping cylinders, tooth plates and positioning mechanisms, the problem that the existing technology is difficult to be applied to large-sized cartons is solved, and the stable clamping and fixing of cartons of different sizes is achieved, which improves the convenience of use .

CN222328219UActive Publication Date: 2025-01-10GUANGDONG KAIBOLI INTELLIGENT EQUIP CO LTD
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Patent Information

Application Number
CN202421080874.8
Authority / Receiving Office
CN · China
Patent Type
Utility models(China)
Current Assignee / Owner
Filing Date
2024-05-17
Publication Date
2025-01-10
Estimated Expiration
2034-05-17

AI Technical Summary

Technical Problem

Existing robots are difficult to use for larger cartons, which leads to cumbersome use and cannot be effectively clamped, which cannot meet the fixing needs of large-sized cartons.

Method used

A robot hand grip including clamping card sheet metal, fixing clamping plate, clamping cylinder, tooth plate, moving slider and positioning mechanism is designed. By clamping cylinder, the tooth plate and gear are driven to rotate, the sliding slider and clamping are moved The clamping plate moves, combined with the cooperation of large and small cylinders, realizes clamping and bottoming of cartons, and adapts to the fixation of cartons of different sizes.

Benefits of technology

It realizes stable clamping of larger and smaller cartons, improves the applicability and convenience of robotic hand grip, and can be used for cartons with a maximum size of 1180mm×540mm×1165mm and a minimum size of 780mm×380mm×400mm.

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Abstract

The utility model discloses a robot gripper which comprises a clamping plate metal plate, a fixed clamping plate and a first clamping plate. The top of the clamping plate metal plate is connected with a clamping air cylinder, and the output end of the clamping air cylinder is connected with a toothed plate. The top of the fixed clamping plate is arranged at the bottom of the clamping plate metal plate, and one side of the toothed plate is connected with a movable sliding block. According to the carton clamping device, the toothed plate, the movable sliding block and the first clamping plate are driven by the clamping air cylinder to move, so that the inner side of the first clamping plate moves to the side edge of a carton, the carton can be clamped and fixed, and then the small carton can be clamped; and then, a second clamping plate is pushed to rotate through a large air cylinder, a small air cylinder is started to push a bottom holding claw to rotate on the surface of a second hinge, then the vertical angle of the bottom holding claw is made to be the same as that of the second clamping plate, the bottom of the carton can be held through the inner side of the L-shaped bottom holding claw, and therefore the large carton can be clamped and fixed.
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Description

Technical Field

[0001] The utility model relates to the technical field of robot hand grasping, in particular to a robot hand grasping. Background Art

[0002] Generally, the method of fixing the carton by the robot gripper depends on the size, weight, shape of the carton and the design of the robot gripper. This gripper has an adjustable jaw that can automatically adjust the gripping force according to the size of the carton. The main function of the robot gripper is to grasp, move and fix cartons or similar objects. In general, the role of the robot gripper is to perform the tasks of grasping, moving and fixing objects in the automation system to improve production efficiency, reduce labor costs, and ensure safe and stable operation.

[0003] Existing robot grippers can clamp and fix cartons by controlling the clamping plates to move. However, since the sizes of most cartons fixed by robot grippers are fixed, if a larger box needs to be fixed, the traditional robot grippers cannot be used, so robot grippers of other sizes or other fixing plates need to be used in combination with the robot grippers, which makes the use of the robot grippers more complicated and makes it impossible for the robot grippers to be suitable for larger cartons. In view of this, we introduce a robot gripper. Utility Model Content

[0004] The purpose of the utility model is to provide a robot gripper to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a robot gripper, comprising: a clamping card sheet metal, a fixed clamping plate and a first clamping clamping plate;

[0006] The top of the clamping card plate sheet metal is connected with a clamping cylinder, the output end of the clamping cylinder is connected with a tooth plate, and the output end of the clamping cylinder is connected to the surface of the tooth plate through a hinge seat, so that the output end of the clamping cylinder can drive the tooth plate to rotate when it is extended or retracted, and the other end of the clamping cylinder is hinged to the clamping card plate sheet metal;

[0007] The top of the fixed clamping plate is arranged at the bottom of the clamping plate sheet metal, the clamping plate sheet metal and the fixed clamping plate are connected by bolts, and a movable slider is connected to one side of the tooth plate;

[0008] The first clamping plate is arranged on one side of the movable slider, the movable slider and the first clamping plate are connected by bolts, the bottom surface of the first clamping plate is connected with a first hinge, and the bottom of the first hinge is connected with a second clamping plate;

[0009] The surface of the second clamping plate is provided with a positioning mechanism, and the bottom claw is driven to move by a small cylinder of the positioning mechanism, so that the bottom claw rotates at the bottom of the second clamping plate.

[0010] Preferably, the positioning mechanism includes a first positioning seat connected to the surface of the second clamping plate, the first positioning seat and the second clamping plate are connected by bolts, one end of the small cylinder is hinged to the surface of the first positioning seat, one end of the small cylinder is connected to the first positioning seat by a first pin shaft, the surface of the bottom claw is connected to the second positioning seat, the second positioning seat and the bottom claw are connected by bolts, the surface of the second positioning seat is hinged to the output end of the small cylinder, the output end of the small cylinder is connected to the second positioning seat by a second pin shaft, the bottom of the second clamping plate is connected to the second hinge, the surface of the second hinge is connected to the first clamping plate and the second clamping plate respectively by bolts, the bottom of the second hinge is connected to the bottom claw, and the surface of the second hinge is connected to the bottom claw and the second clamping plate respectively by bolts.

[0011] Preferably, the surface of the first clamping plate is connected to a first fixed seat, a large cylinder is hinged inside the first fixed seat, one end of the large cylinder is connected to the first fixed seat via a third pin shaft, the surface of the second clamping plate is connected to a second fixed seat, the output end of the large cylinder is hinged inside the second fixed seat, and the output end of the large cylinder is connected to the second fixed seat via a fourth pin shaft.

[0012] Preferably, a gear is connected to the bottom of the toothed plate inside the clamping card sheet metal.

[0013] Preferably, a carton is connected between the fixed clamping plate and the first clamping clamping plate, and the specifications of the carton are: maximum: 1180mm×540mm×1165mm, minimum: 780mm×380mm×400mm.

[0014] Preferably, the bottom of the clamping card sheet metal is connected to a slider guide rail for slidingly connecting the moving slider. When the moving slider is driven, the moving slider will move inside the slider guide rail, thereby limiting the movement of the moving slider.

[0015] Compared with the prior art, the utility model has the following beneficial effects: the utility model drives the tooth plate and the gear to rotate by the clamping cylinder, and then drives the tooth plate, the moving slider and the first clamping plate to move by the clamping cylinder, so that the inner side of the first clamping plate moves to the side of the carton, and the carton can be clamped and fixed, and the large cylinder is started to retract, and the output end of the large cylinder is rotated inside the second fixed seat, thereby driving the second clamping plate to rotate on the surface of the first hinge, and one end of the large cylinder will also change inside the first fixed seat, so that the second clamping plate is retracted, and then the small cylinder is started to retract, and the output end of the small cylinder is rotated inside the second positioning seat, thereby driving the bottom claw to rotate on the surface of the second hinge, and one end of the small cylinder will also change inside the first positioning seat, so that the bottom claw is retracted, and then the smaller carton can be clamped;

[0016] The toothed plate and the gear are driven to rotate by the clamping cylinder, and then the toothed plate, the moving slider and the first clamping plate are driven to move by the clamping cylinder, so that the inner side of the first clamping plate is moved to the side of the carton, and the carton can be clamped and fixed. The output end of the large cylinder is rotated inside the second fixed seat, so that the large cylinder will push the second clamping plate to rotate on the surface of the first hinge, and the vertical angle of the second clamping plate is the same as that of the first clamping plate. Then, the small cylinder is started, and the output end of the small cylinder is rotated inside the second positioning seat, so that the small cylinder will push the bottom claw to rotate on the surface of the second hinge, and the vertical angle of the bottom claw is the same as that of the second clamping plate. Since the shape of the bottom claw is L-shaped, the inner side of the L-shaped bottom claw will bottom with the bottom of the carton, so that larger cartons can be clamped and fixed, which is convenient for use. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0018] Figure 2 This is a schematic diagram of the structure of the utility model in a clamping state of a large box;

[0019] Figure 3 It is a schematic diagram of the structure of the utility model from the side;

[0020] Figure 4 This is a structural schematic diagram of the small box clamping state of the utility model;

[0021] Figure 5 It is a schematic diagram of the structure of the utility model from a top view.

[0022] In the figure: 1. Carton; 2. Fixed plate; 3. Gear; 4. Tooth plate; 5. First clamping plate; 6. Moving slider; 7. Slider guide; 8. First fixed seat; 9. Large cylinder; 10. Second fixed seat; 11. Second clamping plate; 12. First positioning seat; 13. Small cylinder; 14. Bottom claw; 15. Second hinge; 16. First hinge; 17. Second positioning seat; 18. Clamping plate sheet metal; 19. Clamping cylinder. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0024] See also Figure 1-5 The utility model provides a technical solution: a robot gripper, comprising: a clamping card plate sheet metal 18, the top of the clamping card plate sheet metal 18 is connected to a clamping cylinder 19, and the output end of the clamping cylinder 19 is connected to a tooth plate 4;

[0025] A fixed clamping plate 2, the top of which is arranged at the bottom of the clamping card plate sheet metal 18, and a movable slider 6 is connected to one side of the tooth plate 4;

[0026] A first clamping plate 5, wherein the first clamping plate 5 is disposed on one side of the movable slider 6, a first hinge 16 is connected to the bottom surface of the first clamping plate 5, and a second clamping plate 11 is connected to the bottom of the first hinge 16;

[0027] A positioning mechanism is disposed on the surface of the second clamping plate 11 , and a small cylinder 13 of the positioning mechanism drives the bottom claw 14 to move, so that the bottom claw 14 rotates at the bottom of the second clamping plate 11 .

[0028] The positioning mechanism includes a first positioning seat 12 connected to the surface of a second clamping plate 11, one end of the small cylinder 13 is hinged on the surface of the first positioning seat 12, the surface of the bottom claw 14 is connected to a second positioning seat 17, the surface of the second positioning seat 17 is hinged to the output end of the small cylinder 13, the bottom of the second clamping plate 11 is connected to a second hinge 15, and the bottom of the second hinge 15 is connected to the bottom claw 14.

[0029] The surface of the first clamping plate 5 is connected to the first fixed seat 8, and the interior of the first fixed seat 8 is hinged with a large cylinder 9, and one end of the large cylinder 9 is connected to the first fixed seat 8 through a third pin shaft. The surface of the second clamping plate 11 is connected to the second fixed seat 10, and the output end of the large cylinder 9 is hinged to the interior of the second fixed seat 10, and the output end of the large cylinder 9 is connected to the second fixed seat 10 through a fourth pin shaft.

[0030] The interior of the clamping plate sheet metal 18 is located at the bottom of the toothed plate 4 and is connected to the gear 3 .

[0031] A carton 1 is connected between the fixed clamping plate 2 and the first clamping clamping plate 5, and the specifications of the carton 1 are: maximum: 1180mm×540mm×1165mm, minimum: 780mm×380mm×400mm.

[0032] The bottom of the clamping card sheet metal 18 is connected with a slider guide rail 7 for slidingly connecting the moving slider 6. When the moving slider 6 is driven, the moving slider 6 will move inside the slider guide rail 7, thereby limiting the movement of the moving slider 6.

[0033] Specifically, when in use, in the first embodiment: place the clamping card plate sheet metal 18 on the top of the carton 1, let the inner side of the fixed clamp plate 2 contact the side of the carton 1, then start the clamping cylinder 19, let the clamping cylinder 19 drive the tooth plate 4 and the gear 3 to rotate, then let the clamping cylinder 19 drive the tooth plate 4, the moving slider 6 and the first clamping clamp plate 5 to move, so that the inner side of the first clamping clamp plate 5 moves to the side of the carton 1, so that the carton 1 can be clamped and fixed, and the second clamping clamp plate 11 needs to be retracted, start the large cylinder 9 to retract, and let the output end of the large cylinder 9 be in the second The interior of the fixed seat 10 rotates, thereby driving the second clamping plate 11 to rotate on the surface of the first hinge 16, and one end of the large cylinder 9 will also change inside the first fixed seat 8, so that the second clamping plate 11 is retracted, and then the small cylinder 13 is started to retract, so that the output end of the small cylinder 13 rotates inside the second positioning seat 17, thereby driving the bottom claw 14 to rotate on the surface of the second hinge 15, and one end of the small cylinder 13 will also change inside the first positioning seat 12, so that the bottom claw 14 is retracted, and then the smaller carton 1 can be clamped (such as Figure 4 As shown in the state, the second clamping plate 11 and the bottom claw 14 can be retracted);

[0034] Second embodiment: Place the clamping card sheet metal 18 on the top of the carton 1, let the inner side of the fixed clamp plate 2 contact the side of the carton 1, then start the clamping cylinder 19, let the clamping cylinder 19 drive the tooth plate 4 and the gear 3 to rotate, then let the clamping cylinder 19 drive the tooth plate 4, the moving slider 6 and the first clamping clamp plate 5 to move, so that the inner side of the first clamping clamp plate 5 moves to the side of the carton 1, and the carton 1 can be clamped and fixed, then start the large cylinder 9, let the output end of the large cylinder 9 rotate inside the second fixed seat 10, so that the large cylinder 9 will push the second clamping clamp plate 11 rotates on the surface of the first hinge 16, so that the vertical angle of the second clamping plate 11 is the same as that of the first clamping plate 5, and then the small cylinder 13 is started to rotate the output end of the small cylinder 13 inside the second positioning seat 17, so that the small cylinder 13 will push the bottom claw 14 to rotate on the surface of the second hinge 15, so that the vertical angle of the bottom claw 14 is the same as that of the second clamping plate 11, and because the shape of the bottom claw 14 is L-shaped, the inner side of the L-shaped bottom claw 14 will be bottomed with the bottom of the carton 1, so that the larger carton 1 can be clamped and fixed (such as Figure 2 As shown in the state, the second clamping plate 11 and the bottom claw 14 can be used), which makes it easy to use;

[0035] The specifications of carton 1 are: maximum: 1180mm×540mm×1165mm, minimum: 780mm×380mm×400mm.

[0036] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot gripper, characterized in that: include: A clamping card plate sheet metal (18), wherein the top of the clamping card plate sheet metal (18) is connected to a clamping cylinder (19), and the output end of the clamping cylinder (19) is connected to a toothed plate (4); A fixed clamping plate (2), the top of which is arranged at the bottom of the clamping card sheet metal (18), and one side of the tooth plate (4) is connected to a movable slider (6); A first clamping plate (5), the first clamping plate (5) being arranged on one side of the movable slider (6), the bottom surface of the first clamping plate (5) being connected to a first hinge (16), and the bottom of the first hinge (16) being connected to a second clamping plate (11); A positioning mechanism is provided on the surface of the second clamping plate (11), and a small cylinder (13) of the positioning mechanism drives the bottom claw (14) to move, so that the bottom claw (14) rotates at the bottom of the second clamping plate (11).

2. A robot gripper according to claim 1, characterized in that: The positioning mechanism comprises a first positioning seat (12) connected to the surface of a second clamping plate (11); one end of the small cylinder (13) is hinged to the surface of the first positioning seat (12); the surface of the bottom claw (14) is connected to a second positioning seat (17); the surface of the second positioning seat (17) is hinged to the output end of the small cylinder (13); the bottom of the second clamping plate (11) is connected to a second hinge (15); and the bottom of the second hinge (15) is connected to the bottom claw (14).

3. A robot gripper according to claim 1, characterized in that: The surface of the first clamping plate (5) is connected to a first fixing seat (8), a large cylinder (9) is hinged inside the first fixing seat (8), the surface of the second clamping plate (11) is connected to a second fixing seat (10), and the output end of the large cylinder (9) is hinged inside the second fixing seat (10).

4. A robot gripper according to claim 1, characterized in that: The interior of the clamping card sheet metal (18) is located at the bottom of the toothed plate (4) and is connected to a gear (3).

5. The robot gripper according to claim 1, characterized in that: A carton (1) is connected between the fixed clamping plate (2) and the first clamping clamping plate (5).

6. The robot gripper according to claim 1, characterized in that: The bottom of the clamping card sheet metal (18) is connected to a slider guide rail (7) for slidingly connecting the moving slider (6).