Robot abduction type carrying clamping finger mechanism for box body
By designing a robot outreachable finger clamp mechanism with oblique surface and rounded corners, the problem of inaccurate contact and damage of the robotic finger clamp with the turnover box is solved, and stable handling operations are achieved and design difficulty and cost are reduced. Effect.
Patent Information
- Application Number
- CN202421838585.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-31
- Publication Date
- 2025-02-07
- Estimated Expiration
- 2034-07-31
AI Technical Summary
The existing robotic fingers are prone to inaccurate contact or damage to the box when they come into contact with the turnover box, and lack the power feedback self-adjustment function, which makes the design difficult and cost high.
A robotic outreach type finger clamping mechanism for the box is designed, using an L-shaped integrated fixed vertical plate and horizontal plate. The surface of the horizontal plate has an oblique cutting surface and an outer rounded corner to ensure that the finger clamping is matched with the handle hole of the turnover box. Accurate and avoid cutting edges and corners.
By refining the shape design of the finger clamping, the alignment accuracy between the robot and the turnover box handle hole is improved, the contact damage between the finger clamping and the turnover box is avoided, and stable handling and placement operation is achieved.
Smart Images
Figure CN222430767U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the field of mechanical arm transportation, in particular to a robot outward-extended transportation finger clamping mechanism for a box. Background Art
[0002] Roller lines and turnover boxes are a common combination in automated production lines. A manipulator is often set up next to the production line to grab the turnover box as needed. The turnover box is generally a rectangular structure made of plastic material with a handle hole on the box, so a special fixed clamp finger needs to be designed to be installed on the general manipulator so that the manipulator can carry out targeted handling of the turnover box.
[0003] For structural strength considerations, the gripper fingers are generally made of hard materials. To reduce design difficulty and cost considerations, the gripper fingers of the manipulator generally do not have a force feedback self-adjustment function. Therefore, the design of the specific shape of the gripper fingers is more important. If the design is not good, it may cause the gripper fingers to contact with the turnover box inaccurately or damage the box. Utility Model Content
[0004] The problem to be solved by the utility model is to provide a robot outward-type handling gripper mechanism for a box body, which refines the shape design of the gripper finger, facilitates the alignment of the gripper finger with the handle hole of the turnover box, and prevents the corners of the gripper finger from cutting the turnover box. The gripper finger mechanism is suitable for use on a robot manipulator, and can pick up, place and circulate the turnover box on the automated assembly line as required.
[0005] In order to solve the above problems, the utility model provides a robot outward-type handling and clamping mechanism for a box. In order to achieve the above purpose, the technical solution adopted by the utility model to solve its technical problems is:
[0006] A robot outward-extending type handling gripper mechanism for a box, comprising: a power member, which provides linear reciprocating motion at both ends; grippers, which are assembled with the two ends of the power member, and the grippers include a vertical plate and a horizontal plate fixed in an L-shape, and the horizontal plates of the grippers located at both ends of the power member extend in opposite directions, and the surfaces of the horizontal plates have beveled surfaces and rounded corners; each horizontal plate has a pair of mirror-symmetrical beveled surfaces, and the beveled surfaces gradually narrow the width of the horizontal plate along the extension direction of the horizontal plate; the top surface and the side surface of the horizontal plate are transitioned through the rounded corners, and the rounded corners gradually thin the thickness of the horizontal plate from the center of the horizontal plate to both sides.
[0007] The beneficial effects of adopting the above technical solution are: the shape design of the clamping fingers is refined. First, the vertical plate in the L-shaped integrated structure is easy to fix, and the horizontal plate is easy to pass through and hook the handle hole of the turnover box. Secondly, the beveled surface narrows the end width of the clamping fingers, reducing the difficulty of aligning the manipulator with the handle hole of the turnover box, and can guide the clamping fingers into the handle hole even if it is slightly offset. Thirdly, the outer fillet rounds the edges of both sides of the top surface of the clamping fingers, so that when the clamping fingers lift the turnover box, there is no phenomenon that the edges of the clamping fingers cut the turnover box. Finally, the opening and closing movement of the clamping fingers facing or away from each other also facilitates the picking up and placing of turnover boxes.
[0008] As a further improvement of the utility model, the beveled surface and the rounded corner have a mutual interface.
[0009] As a further improvement of the utility model, the width direction of the clamping fingers is from the center of the horizontal plate to both sides. In the width direction of the clamping fingers, the width value occupied by the bevel surface on the clamping fingers is greater than the width value occupied by the outer round corner on the clamping fingers.
[0010] As a further improvement of the present invention, the extension length of the horizontal plate is smaller than the vertical length of the vertical plate.
[0011] The beneficial effect of adopting the above technical solution is that the vertical plate allows the gripper finger to have sufficient assembly area with the robot arm.
[0012] As a further improvement of the utility model, the vertical plate is provided with a plurality of countersunk holes, and the countersunk holes can be used for bolt assembly.
[0013] The beneficial effect of adopting the above technical solution is that the countersunk hole can embed the end of the bolt to avoid interference between the end of the bolt and the turnover box.
[0014] As a further improvement of the present utility model, the number of the clamping fingers is four, two clamping fingers are connected to the same end of the power member, and the extension directions of the horizontal plates of the clamping fingers at the same end of the power member are parallel to each other.
[0015] The beneficial effect of adopting the above technical solution is that it can adapt to turnover boxes with four handle holes, or turnover boxes with two large handle holes, and the overall force is symmetrically applied.
[0016] As a further improvement of the utility model, the power member is a linear cylinder, each end of the linear cylinder includes two output rods and two guide rods, the output rods output linear power, the two output rods are arranged diagonally to each other, and the two guide rods are also arranged diagonally to each other.
[0017] The beneficial effect of adopting the above technical solution is that the dual output rods and dual guide rods of the linear cylinder can output stable linear motion to realize the opening and closing of the clamping fingers, and also have strong bending resistance to overcome the gravity of the turnover box.
[0018] As a further improvement of the utility model, the cylinder body of the linear cylinder is fixed with a top plate, side plates are fixed on both sides of the top plate, the side plates are jointly fixed with a bottom plate, the bottom plate is fixed with a linear guide rail, a slider is movably assembled on the linear guide rail, the slider is assembled with the clamping fingers, and the number of sliders is equal to the number of clamping fingers.
[0019] The beneficial effect of adopting the above technical solution is that the top plate, side plates and bottom plate form an open frame, which provides an installation position for the linear guide rail and is also convenient for docking and assembly with a robot manipulator.
[0020] As a further improvement of the utility model, the output rod and the guide rod at the same end of the linear cylinder are fixed with a slider mounting plate, the slider and the clamping fingers are fixed by the clamping finger mounting plate, and each clamping finger mounting plate is fixed to two clamping fingers and two sliders.
[0021] The beneficial effect of adopting the above technical solution is that the slider mounting plate and the finger mounting plate act as a transition connection, and play the role of transmitting force and changing the force application width.
[0022] As a further improvement of the present invention, the inner corners of the slider mounting plate and the finger mounting plate are each provided with ribs.
[0023] The beneficial effect of adopting the above technical solution is that the rib plate plays a role in reducing the deformation of the slider mounting plate and the clamp finger mounting plate. BRIEF DESCRIPTION OF THE DRAWINGS
[0024] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
[0025] Figure 1 It is a bottom view of an embodiment of the utility model;
[0026] Figure 2 It is an AA cross-sectional view of an embodiment of the utility model;
[0027] Figure 3 It is a BB cross-sectional view of an embodiment of the utility model;
[0028] Figure 4 It is a CC cross-sectional view of an embodiment of the utility model;
[0029] Figure 5 It is a three-dimensional diagram of an embodiment of the utility model;
[0030] Figure 6It is a partial enlarged view of position D of an implementation mode of the utility model;
[0031] Figure 7 It is a stereogram of an implementation manner of the utility model.
[0032] 1-flange; 2-top plate; 3-side plate; 4-bottom plate; 5-linear guide rail; 6-slider; 7-slider mounting plate; 8-finger mounting plate; 9-finger; 91-vertical plate; 911-countersunk hole; 92-horizontal plate; 921-bevel surface; 922-outer fillet; 10-linear cylinder; 101-output rod; 102-guide rod. DETAILED DESCRIPTION
[0033] The following is a further detailed description of the present invention in conjunction with specific embodiments:
[0034] In order to achieve the purpose of the utility model, a robot outward-type handling gripper mechanism for a box body includes: a power piece, both ends of which provide linear reciprocating motion; a gripper finger 9, which is assembled with both ends of the power piece, such as Figure 6 As shown, the clamping finger 9 includes a vertical plate 91 and a horizontal plate 92 which are fixed integrally in an L shape. The horizontal plates 92 of the clamping fingers 9 located at both ends of the power member extend in opposite directions. The surface of the horizontal plate 92 has a bevel surface 921 and an outer rounded corner 922; each horizontal plate 92 has a pair of mirror-symmetrical bevel surfaces 921, and along the extension direction of the horizontal plate 92, the bevel surfaces 921 make the width of the horizontal plate 92 gradually narrow; the top surface and the side surface of the horizontal plate 92 are transitioned through the outer rounded corner 922, and from the center of the horizontal plate 92 to the two sides, the outer rounded corner 922 makes the thickness of the horizontal plate 92 gradually thin.
[0035] The beneficial effects of adopting the above technical solution are: the shape design of the clamping fingers is refined. First, the vertical plate in the L-shaped integrated structure is easy to fix, and the horizontal plate is easy to pass through and hook the handle hole of the turnover box. Secondly, the beveled surface narrows the end width of the clamping fingers, reducing the difficulty of aligning the manipulator with the handle hole of the turnover box, and can guide the clamping fingers into the handle hole even if it is slightly offset. Thirdly, the outer fillet rounds the edges of both sides of the top surface of the clamping fingers, so that when the clamping fingers lift the turnover box, there is no phenomenon that the edges of the clamping fingers cut the turnover box. Finally, the opening and closing movement of the clamping fingers facing or away from each other also facilitates the picking up and placing of turnover boxes.
[0036] like Figure 6 As shown, in some other embodiments of the present invention, the beveled surface 921 and the rounded corner 922 are mutually bounded.
[0037] In some other embodiments of the utility model, the width direction of the clamping finger 9 is from the center of the horizontal plate 92 to both sides. In the width direction of the clamping finger 9, the width value occupied by the bevel surface 921 on the clamping finger 9 is greater than the width value occupied by the outer fillet 922 on the clamping finger 9.
[0038] In some other embodiments of the present invention, the extension length of the horizontal plate 92 is smaller than the vertical length of the vertical plate 91 .
[0039] The beneficial effect of adopting the above technical solution is that the vertical plate allows the gripper finger to have sufficient assembly area with the robot arm.
[0040] In some other embodiments of the present invention, the vertical plate 91 is provided with a plurality of countersunk holes 911 , and the countersunk holes 911 can be used for bolt assembly.
[0041] like Figure 6 As shown, a vertical plate 91 is provided with two countersunk holes 911 .
[0042] The beneficial effect of adopting the above technical solution is that the countersunk hole can embed the end of the bolt to avoid interference between the end of the bolt and the turnover box.
[0043] In some other embodiments of the present invention, the number of the clamping fingers 9 is four, two clamping fingers 9 are connected to the same end of the power member, and the extension directions of the horizontal plates 92 of the clamping fingers 9 at the same end of the power member are parallel to each other.
[0044] The beneficial effect of adopting the above technical solution is that it can adapt to turnover boxes with four handle holes, or turnover boxes with two large handle holes, and the overall force is symmetrically applied.
[0045] In other embodiments of the present invention, the power member is a linear cylinder 10, each end of the linear cylinder 10 includes two output rods 101 and two guide rods 102, and the output rod 101 outputs linear power. Figure 4 As shown, the two output rods 101 are arranged diagonally to each other, and the two guide rods 102 are also arranged diagonally to each other.
[0046] The beneficial effect of adopting the above technical solution is that the dual output rods and dual guide rods of the linear cylinder can output stable linear motion to realize the opening and closing of the clamping fingers, and also have strong bending resistance to overcome the gravity of the turnover box.
[0047] like Figure 5 As shown, in other embodiments of the utility model, the cylinder body of the linear cylinder 10 is fixed with a top plate 2, side plates 3 are fixed on both sides of the top plate 2, the side plates 3 are jointly fixed with a bottom plate 4, the bottom plate 4 is fixed with a linear guide rail 5, a slider 6 is movably mounted on the linear guide rail 5, the slider 6 is assembled with the clamping fingers 9, and the number of the sliders 6 is equal to the number of the clamping fingers 9.
[0048] A flange 1 is fixed at the centroid of the top plate 2. There are two linear guide rails 5, which are arranged parallel to each other.
[0049] The beneficial effect of adopting the above technical solution is that the top plate, side plates and bottom plate form an open frame, which provides an installation position for the linear guide rail and is also convenient for docking and assembly with a robot manipulator.
[0050] In other embodiments of the utility model, the output rod 101 and the guide rod 102 at the same end of the linear cylinder 10 are commonly fixed with a slider mounting plate 7, the slider 6 and the clamping fingers 9 are fixed by the clamping finger mounting plate 8, and each clamping finger mounting plate 8 is fixed to two clamping fingers 9 and two sliders 6.
[0051] The beneficial effect of adopting the above technical solution is that the slider mounting plate and the finger mounting plate act as a transition connection, and play the role of transmitting force and changing the force application width.
[0052] like Figure 3 and Figure 7 As shown, in other embodiments of the present invention, the slider mounting plate 7 and the finger mounting plate 8 are each provided with ribs at their inner corners.
[0053] The width of the slider mounting plate 7 is smaller than the width of the clamp finger mounting plate 8 .
[0054] The beneficial effect of adopting the above technical solution is that the rib plate plays a role in reducing the deformation of the slider mounting plate and the clamp finger mounting plate.
[0055] The model of the linear cylinder 10 may be HFT25X60S.
[0056] From the perspective of the conventional placement of this organization, Figure 5 It is a diagonal perspective from top to bottom. Figure 7 It is a diagonal perspective from bottom to top.
[0057] The above embodiments are only for illustrating the technical concept and features of the utility model, and their purpose is to enable people familiar with this technology to understand the content of the utility model and implement it. They cannot be used to limit the protection scope of the utility model. All equivalent changes or modifications made according to the spirit of the utility model should be included in the protection scope of the utility model.
Claims
1. A robot outward-extending type handling and gripping mechanism for a box, characterized in that: include: The power part provides linear reciprocating motion at both ends; The clamping fingers are assembled with the two ends of the power member, and the clamping fingers include a vertical plate and a horizontal plate fixed integrally in an L shape, and the horizontal plates of the clamping fingers at the two ends of the power member extend in opposite directions, and the surfaces of the horizontal plates have beveled surfaces and rounded corners; Each horizontal plate has a pair of mirror-symmetrical beveled surfaces, and along the extension direction of the horizontal plate, the beveled surfaces gradually narrow the width of the horizontal plate; The top surface and the side surface of the horizontal plate are transitioned through an outer rounded corner, and the outer rounded corner makes the thickness of the horizontal plate gradually thinner from the center of the horizontal plate to both sides.
2. The robot outward-extending type handling and gripping mechanism for a box according to claim 1, characterized in that: The beveled surface and the outer rounded corner are mutually bounded.
3. The robot outward-extending type handling and gripping mechanism for a box according to claim 1, characterized in that: The direction from the center of the horizontal plate to both sides is the width direction of the clamping finger. In the width direction of the clamping finger, the width value occupied by the bevel surface on the clamping finger is greater than the width value occupied by the outer round corner on the clamping finger.
4. The robot outward-extending type handling and gripping mechanism for a box according to claim 1, characterized in that: The extension length of the horizontal plate is shorter than the vertical length of the vertical plate.
5. The robot outward-extending type handling and gripping mechanism for a box according to claim 1, characterized in that: The vertical plate is provided with a plurality of countersunk holes, and the countersunk holes can be used for bolt assembly.
6. The robot outward-extending type handling and gripping mechanism for a box according to claim 1, characterized in that: The number of the clamping fingers is four, and two clamping fingers are connected to the same end of the power member, and the extension directions of the horizontal plates of the clamping fingers at the same end of the power member are parallel to each other.
7. The robot outward-extending type handling and gripping mechanism for a box according to claim 6, characterized in that: The power member is a linear cylinder, each end of which includes two output rods and two guide rods. The output rods output linear power, the two output rods are arranged diagonally to each other, and the two guide rods are also arranged diagonally to each other.
8. The robot outward-extending type handling and gripping mechanism for a box according to claim 7, characterized in that: The cylinder body of the linear cylinder is fixed with a top plate, side plates are fixed on both sides of the top plate, the side plates are jointly fixed with a bottom plate, a linear guide is fixed to the bottom plate, a slider is movably mounted on the linear guide, the slider is assembled with clamping fingers, and the number of the sliders is equal to the number of the clamping fingers.
9. The robot outward-extending type handling and gripping mechanism for a box according to claim 8, characterized in that: The output rod and the guide rod at the same end of the linear cylinder are fixed with a slider mounting plate, the slider and the clamping fingers are fixed by the clamping finger mounting plate, and each clamping finger mounting plate is fixed with two clamping fingers and two sliders.
10. The robot outward-extending type handling and gripping mechanism for a box according to claim 9, characterized in that: The inner corners of the slider mounting plate and the clamp finger mounting plate are each provided with ribs.