Clamping device and mechanical arm with same

Abstract

The utility model discloses a clamping device and a mechanical arm with the clamping device, the clamping device comprises an assembly body, a fixed clamping jaw and two movable clamping jaws, the fixed clamping jaw is fixedly arranged on the assembly body, the abutting end of the fixed clamping jaw is arranged to protrude out of the clamping side of the assembly body, and the two movable clamping jaws are arranged on the clamping side of the assembly body. Each movable clamping jaw is movably arranged on the assembly body, the clamping end of each movable clamping jaw is arranged to protrude out of the clamping side of the assembly body, the clamping device and the fixed clamping jaw are located between the two movable clamping jaws when viewed from the top view, and the clamping device is located between the two movable clamping jaws when viewed from the side view. The two movable clamping jaws and the fixed clamping jaw are arranged in an inverted triangle mode.

Description

Technical Field

[0001] The utility model relates to a clamping device, in particular to a clamping device and a mechanical arm with the clamping device. Background Art

[0002] A robotic arm is a mechanical electronic device that simulates the functions of a human arm, a human wrist, and a human hand. It has a wide range of uses in the production process. A clamping device is provided at the end of the robotic arm to clamp materials, which is one of the basic applications of the robotic arm. Some existing clamping devices have two clamps, which clamp materials on opposite sides of the material. For example, a clamping device for a high-temperature steelmaking robotic arm is disclosed in the Chinese invention patent application with publication number CN107718025A, which has two mechanical clamps for clamping steel. For another example, a robotic arm clamping device is disclosed in the Chinese utility model patent with authorization announcement number CN212706840U, which includes two clamping arms, each of which is provided with a clamping finger for clamping a workpiece. Some other existing clamping devices have multiple clamps. For example, a transmission robotic arm is disclosed in the Chinese invention patent application with publication number CN116100595A, which includes multiple clamps, which are arranged on a transition plate through a pulley device to clamp objects in different directions of the peripheral wall of the object. The existing clamping devices are unable to clamp the handle position of the object to be clamped with a handle. Utility Model Content

[0003] One object of the utility model is to provide a clamping device and a robotic arm with the clamping device, wherein the clamping device is suitable for clamping the handle position of an object to be clamped with a handle, so that the robotic arm with the clamping device can transfer and / or flip the object to be clamped by clamping the handle with the clamping device.

[0004] One object of the utility model is to provide a clamping device and a mechanical arm with the clamping device, wherein the clamping device provides a fixed clamping jaw and two movable clamping jaws, and by reasonably arranging the positions of the fixed clamping jaw and the two movable clamping jaws, the fixed clamping jaw can be pressed against the outer side of the handle of the object to be clamped and the two movable clamping jaws can clamp the handle on opposite sides of the handle, so that the fixed clamping jaw and the two movable clamping jaws can reliably clamp the handle of the object to be clamped.

[0005] An object of the present utility model is to provide a clamping device and a robotic arm with a clamping device, wherein the abutting end of the fixed jaw can extend into the positioning groove of the handle of the object to be clamped, so as to restrict at least two free ends of the handle. The clamping end of each movable jaw contacts each side portion of the handle and supports the top of the handle respectively, so as to restrict the other two free ends of the handle. In this way, the fixed jaw and the two movable jaws cooperate with each other to restrict the six free ends of the handle, so as to reliably clamp the handle of the object to be clamped.

[0006] To achieve at least one of the above objects, the technical solution adopted by the present invention is to provide a clamping device, which includes:

[0007] An assembly body, which has a clamping side;

[0008] A fixed jaw, which is fixedly arranged on the assembly body, and the abutting end of the fixed jaw is arranged to protrude from the clamping side of the assembly body; and

[0009] Two movable jaws, which are respectively movably arranged on the assembly body, and the clamping end of each movable jaw is arranged to protrude from the clamping side of the assembly body. When looking at the clamping device from a top view, the fixed jaw is located between the two movable jaws. When looking at the clamping device from a side view, the two movable jaws and the fixed jaw are arranged in an inverted triangle.

[0010] According to an embodiment of the present utility model, the two movable jaws are configured to be able to move towards each other and away from each other.

[0011] According to an embodiment of the present utility model, the two movable jaws are configured to move synchronously and with the same amplitude.

[0012] According to an embodiment of the present utility model, the assembly body includes a frame body and a driving unit arranged on the frame body. The assembly end of the fixed jaw is fixedly assembled below the frame body, and the driven end of each movable jaw is respectively drivably connected to the driving unit.

[0013] According to an embodiment of the present utility model, the assembly body further includes a guiding cover, the guiding cover is installed on the driving unit, and each end portion of the guiding cover respectively has at least one horizontally extending sliding groove, and each driven end of each movable jaw respectively has at least one sliding block, wherein the sliding blocks of each movable jaw are respectively slidably held in each sliding groove of the guiding cover.

[0014] According to an embodiment of the present utility model, each end portion of the guiding cover respectively has two of the sliding grooves, the two sliding grooves are arranged parallel to each other in the height direction, each driven end of each movable jaw respectively has two of the sliders, and each slider of one of the movable jaws is respectively slidably held in each of the sliding grooves at one end of the guiding cover, and each slider of the other movable jaw is respectively slidably held in each of the sliding grooves at the other end of the guiding cover.

[0015] According to an embodiment of the present utility model, the driving unit is a pneumatic driving unit or an electric driving unit.

[0016] In another aspect of the present utility model, the present utility model further provides a robotic arm with a clamping device for clamping an object to be clamped, wherein the object to be clamped includes a container body and a handle extending downward from a top edge on one side of the container body, and the robotic arm with the clamping device includes an arm body and a clamping device, and the clamping device further includes:

[0017] An assembly body having a clamping side;

[0018] A fixed jaw fixedly arranged on the assembly body, and an abutting end of the fixed jaw is arranged to protrude from the clamping side of the assembly body; and

[0019] Two movable jaws respectively movably arranged on the assembly body, and a clamping end of each movable jaw is arranged to protrude from the clamping side of the assembly body. When looking at the clamping device from a top view perspective, the fixed jaw is located between the two movable jaws. When looking at the clamping device from a side view perspective, the two movable jaws and the fixed jaw are arranged in an inverted triangle. The clamping device is mounted on the arm body, and the abutting end of the fixed jaw can abut against the outer side of the handle, and the clamping end of each movable jaw can respectively clamp the handle on opposite sides of the handle.

[0020] According to an embodiment of the present utility model, the outer side of the handle has a positioning groove, and the abutting end of the fixed jaw abuts against the outer side of the handle in a manner of extending into the positioning groove of the handle.

[0021] According to an embodiment of the present utility model, the width dimension of the abutting end of the fixed jaw matches the width dimension of the positioning groove of the handle, and an inner side of the clamping end of each movable jaw respectively has an arc surface matching the shape of opposite sides of the handle. Description of the Drawings

[0022] Figure 1It is a three-dimensional schematic diagram of a robotic arm with a clamping device according to a preferred embodiment of the present utility model.

[0023] Figure 2 It is a three-dimensional schematic diagram of a perspective of a clamping device of the robotic arm with the clamping device according to the above-mentioned preferred embodiment of the present utility model.

[0024] Figure 3 It is a three-dimensional schematic diagram of another perspective of the clamping device of the robotic arm with the clamping device according to the above-mentioned preferred embodiment of the present utility model.

[0025] Figure 4 It is a top view schematic diagram of the clamping device of the robotic arm with the clamping device according to the above-mentioned preferred embodiment of the present utility model.

[0026] Figure 5 It is a side view schematic diagram of the clamping device of the robotic arm with the clamping device according to the above-mentioned preferred embodiment of the present utility model.

[0027] Figure 6 It is an exploded schematic diagram of a perspective of the clamping device of the robotic arm with the clamping device according to the above-mentioned preferred embodiment of the present utility model.

[0028] Figure 7 It is an exploded schematic diagram of another perspective of the clamping device of the robotic arm with the clamping device according to the above-mentioned preferred embodiment of the present utility model.

[0029] Figure 8 It is a three-dimensional schematic diagram of the state where the robotic arm with the clamping device clamps an object to be clamped according to the above-mentioned preferred embodiment of the present utility model.

[0030] Figure 9 It is a top view schematic diagram of the process where the clamping device of the robotic arm with the clamping device clamps the handle of the object to be clamped according to the above-mentioned preferred embodiment of the present utility model.

[0031] Figure 10 It is a three-dimensional schematic diagram of the process where the clamping device of the robotic arm with the clamping device clamps the handle of the object to be clamped according to the above-mentioned preferred embodiment of the present utility model.

[0032] Figure 11 It is a top view schematic diagram when the clamping device of the robotic arm with the clamping device clamps the handle of the object to be clamped according to the above-mentioned preferred embodiment of the present utility model.

[0033] Figure 12 It is a three-dimensional schematic diagram when the clamping device of the robotic arm with the clamping device clamps the handle of the object to be clamped according to the above-mentioned preferred embodiment of the present utility model.

[0034] Figure 13 It is a perspective three - dimensional schematic diagram of the positional relationship between the three jaws of the gripping device of the robotic arm with a gripping device according to the above - mentioned preferred embodiment of the present utility model and the handle of the object to be gripped.

[0035] Figure 14 It is a perspective three - dimensional schematic diagram of the positional relationship between the three jaws of the gripping device of the robotic arm with a gripping device according to the above - mentioned preferred embodiment of the present utility model and the handle of the object to be gripped from another perspective.

[0036] Figure 15 It is a three - dimensional schematic diagram of the object to be gripped. Detailed implementation manners

[0037] Before detailing any embodiment of the present utility model, it should be understood that in its application, the present utility model is not limited to the construction and arrangement details of the components described in the following description or illustrated in the following drawings. The present utility model is capable of having other embodiments and of being practiced or carried out in various ways. Additionally, it should be understood that the wording and terminology used herein are for the purpose of description and should not be regarded as restrictive. As used herein, the terms "comprising", "comprises" or "having" and their variants are intended to cover the items listed hereinafter and their equivalents as well as additional items. Unless otherwise specified or limited, the terms "mounted", "connected", "supported" and "coupled" and their variants are used broadly and cover both direct and indirect mounting, connection, support and coupling. Further, "connected" and "coupled" are not limited to physical or mechanical connection or coupling.

[0038] And, on the one hand, in the disclosure of the present utility model, the orientation or positional relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the above - mentioned terms should not be construed as a limitation to the present utility model; on the other hand, the term "one" should be understood as "at least one" or "one or more". That is, in one embodiment, the number of an element can be one, while in other embodiments, the number of the element can be multiple. The term "one" should not be construed as a limitation on the quantity.

[0039] Refer to the attached Figures 1 to 15, a robotic arm with a clamping device according to a preferred embodiment of the present utility model will be disclosed and described hereinafter, wherein the robotic arm with the clamping device includes a clamping device 100 and an arm body 200, the clamping device 100 is disposed on the arm body 200, the clamping device 100 is used for clamping an object to be clamped 300, and the arm body 200 is used for changing the posture of the clamping device 100, thereby changing the posture of the object to be clamped 300 clamped by the clamping device 100. For example, after the clamping device 100 clamps the object to be clamped 300, the robotic arm with the clamping device can achieve the transfer and / or flipping of the object to be clamped 300.

[0040] Attached Figure 15 shows the specific structure of the object to be clamped 300, wherein the object to be clamped 300 includes a container body 310 and a handle 320 extending downward from a top edge on one side of the container body 310, and the clamping device 100 is arranged to clamp the handle 320. In other words, the clamping device 100 of the robotic arm with the clamping device of the present utility model is adapted to clamp the handle 320 of the object to be clamped 300 with the handle 320, so that the robotic arm with the clamping device can achieve the transfer and / or flipping of the object to be clamped 300 by clamping the handle 320 with the clamping device 100.

[0041] Preferably, the handle 320 of the object to be clamped 300 includes a horizontally extending section 321 and a vertically extending section 322, the horizontally extending section 321 is arranged to extend integrally outward from a top edge on one side of the container body 310, and the vertically extending section 322 is arranged to extend integrally downward from an end of the horizontally extending section 321 away from the container body 310.

[0042] Preferably, the handle 320 of the object to be clamped 300 has a positioning groove 323, the positioning groove 323 is at least formed on the outer side of the vertically extending section 322 of the handle 320, and the positioning groove 323 does not extend to the end of the vertically extending section 322 of the handle 320. In the attached Figure 15 shown specific example of the object to be clamped 300, the positioning groove 323 of the handle 320 extends from the top edge of the container body 310 through the horizontally extending section 321 of the handle 320 towards the end of the vertically extending section 322.

[0043] Now turn to the attached Figures 2 to 7 , and in combination with the attached Figures 9 to 14, the clamping device 100 includes an assembly body 10, a fixed clamping jaw 20, and two movable clamping jaws 30. The assembly body 10 has an installation side 11 and a clamping side 12 corresponding to the installation side 11, wherein the installation side 11 of the assembly body 10 can be installed on the arm body 200. The fixed clamping jaw 20 has an assembly end 21 and a abutting end 22 corresponding to the assembly end 21, wherein the assembly end 21 of the fixed clamping jaw 20 is fixedly arranged on the assembly body 10, and the abutting end 22 of the fixed clamping jaw 20 is arranged to protrude from the clamping side 12 of the assembly body 10. Each of the movable clamping jaws 30 has a driven end 31 and a clamping end 32 corresponding to the driven end 31. The driven end 31 of each of the movable clamping jaws 30 is movably arranged on the assembly body 10, and the clamping end 32 of each of the movable clamping jaws 30 is arranged to protrude from the clamping side 12 of the assembly body 10. Thus, the assembly body 10 is used to assemble the fixed clamping jaw 20 and the two movable clamping jaws 30 into a whole, and the assembly body 10 allows the two movable clamping jaws 30 to move, so as to allow the fixed clamping jaw 20 and the two movable clamping jaws 30 to cooperate with each other to clamp the handle 320 of the object to be clamped 300.

[0044] In order to be able to reliably clamp the handle 320 of the object to be clamped 300, the positional relationship between the fixed clamping jaw 20 and the two movable clamping jaws 30 of the clamping device 100 is configured as follows: looking at the clamping device 100 from a top view perspective, the fixed clamping jaw 20 is located between the two movable clamping jaws 30; looking at the clamping device 100 from a side view perspective, the two movable clamping jaws 30 and the fixed clamping jaw 20 are arranged in an inverted triangle. With such an arrangement, the fixed clamping jaw 20 can abut against the outer side of the handle 320 of the object to be clamped 300. At the same time, the two movable clamping jaws 30 can clamp the handle 320 on the opposite sides of the handle 320. Thus, the fixed clamping jaw 20 and the two movable clamping jaws 30 can reliably clamp the handle 320 of the object to be clamped 300, so as to allow the robotic arm with the clamping device to transfer and / or flip the object to be clamped 300 by clamping the handle 320 through the clamping device 100.

[0045] Preferably, the two movable jaws 30 of the gripping device 100 are configured to move towards and away from each other. Specifically, when the gripping device 100 needs to grip the handle 320 of the object to be gripped 300, after the abutting end 22 of the fixed jaw 20 abuts against the outer side of the handle 320 of the object to be gripped 300, the two movable jaws 30 are driven to move towards each other to reduce the distance between the two movable jaws 30 so that the gripping ends 32 of the two movable jaws 30 can grip the handle 320 on the opposite sides of the handle 320. Refer to the attached Figures 9 to 12 , at this time, the fixed jaw 20 and the two movable jaws 30 cooperate with each other to reliably grip the handle 320 of the object to be gripped 300, so as to allow the robotic arm with the gripping device to transfer and / or flip the object to be gripped 300 by gripping the handle 320 through the gripping device 100. Correspondingly, when the gripping device 100 needs to release the handle 320 of the object to be gripped 300, the two movable jaws 30 are driven to move away from each other to increase the distance between the two movable jaws 30 so that the gripping ends 32 of the two movable jaws 30 are away from the opposite sides of the handle 320. After the gripping ends 32 of the two movable jaws 30 are away from the opposite sides of the handle 320, the abutting end 22 of the fixed jaw 20 can be away from the outer side of the handle 320. At this time, the fixed jaw 20 and the two movable jaws 30 release the handle 320 of the object to be gripped 300.

[0046] Preferably, in other examples of the robotic arm with the gripping device of the present invention, the two movable jaws 30 of the gripping device 100 are configured to move synchronously and with the same amplitude to facilitate control so that the gripping device 100 can stably grip the handle 320 of the object to be gripped 300.

[0047] Continue to refer to the attached Figures 9 to 14, when the clamping device 100 needs to clamp the handle 320 of the object 300 to be clamped, the abutting end 22 of the fixed jaw 20 can extend to the positioning groove 323 of the handle 320 of the object 300 to be clamped, so as to realize the restriction of at least two degrees of freedom of the handle 320. The inner sides of the clamping ends 32 of each movable jaw 30 respectively contact each side of the handle 320, and the top sides of the clamping ends 32 respectively support the lateral extension section 321 (i.e., the top of the handle 320) of the handle 320, so as to realize the restriction of the other two degrees of freedom of the handle 320. In this way, the fixed jaw 20 and the two movable jaws 30 cooperate with each other to realize the restriction of six degrees of freedom of the handle 320, so as to reliably clamp the handle 320 of the object 300 to be clamped. Moreover, the clamping device 100 restricts the six degrees of freedom of the handle 320 of the object 300 to be clamped by the cooperation of the fixed jaw 20 and the two movable jaws 30. During the process of the robotic arm with the clamping device transferring and / or flipping the clamped object, the clamping device 100 can prevent the object 300 to be clamped from shaking or even falling off.

[0048] Preferably, the width dimension of the abutting end 22 of the fixed jaw 20 matches the width dimension of the positioning groove 323 of the handle 320. The inner sides of the clamping ends 32 of each movable jaw 30 respectively have arc surfaces matching the opposite sides of the handle 320, so that the clamping device 100 can reliably and stably clamp the handle 320 of the object 300 to be clamped.

[0049] Continue to refer to the appendix Figures 2 to 7 , the assembly 10 includes a frame body 13 and a driving unit 14 arranged on the frame body 13. The assembling end 21 of the fixed jaw 20 is fixedly assembled under the frame body 13. The driven ends 31 of each movable jaw 30 are respectively drivably connected to the driving unit 14. In this way, the assembly 10 makes the height position of the fixed jaw 20 lower than the height positions of the two movable jaws 30. Thus, when looking at the clamping device 100 from a side view angle, the two movable jaws 30 and the fixed jaw 20 are arranged in an inverted triangle.

[0050] It is worth mentioning that the specific way of fixedly assembling the assembling end 21 of the fixed jaw 20 under the frame body 13 is not limited in the robotic arm with the clamping device of the present invention. For example, in this specific example of the robotic arm with the clamping device of the present invention, the assembling end 21 of the fixed jaw 20 is assembled under the frame body 13 by screws, so that the position of the fixed jaw 20 relative to the frame body 13 remains unchanged.

[0051] It is worth mentioning that the specific way in which the drive unit 14 is arranged on the frame 13 is not limited in the robotic arm with a clamping device of the present invention. For example, in this specific example of the robotic arm with a clamping device of the present invention, the drive unit 14 is assembled to the frame 13 by screws, that is, the position of the drive unit 14 relative to the frame 13 remains unchanged. In this way, the positions of the two movable jaws 30 that are drivably connected to the drive unit 14 are variable relative to the frame 13. In some embodiments of the robotic arm with a clamping device of the present invention, the drive unit 14 may be a pneumatic drive unit. In some other embodiments of the robotic arm with a clamping device of the present invention, the drive unit 14 may be an electric drive unit.

[0052] Refer to the attached Figure 3 、 Figure 6 and Figure 7 ,the assembly 10 further includes a guiding cover 15. The guiding cover 15 is mounted on the drive unit 14, and each end portion of the guiding cover 15 respectively has at least one laterally extending sliding groove 151. Each driven end 31 of each movable jaw 30 respectively has at least one sliding block 311, and the sliding blocks 311 of each movable jaw 30 are respectively movably held in each sliding groove 151 of the guiding cover 15. That is to say, one function of the guiding cover 15 of the assembly 10 is to hide the connection position between the driven end 31 of the movable jaw 30 and the drive unit 14, so as to avoid the exposure of the connection position between the driven end 31 of the movable jaw 30 and the drive unit 14 and increase the aesthetics of the robotic arm with a clamping device. Another function of the guiding cover 15 of the assembly 10 is to guide the movement direction of the movable jaw 30 to limit the movement direction of the movable jaw 30 in the lateral direction. Another function of the guiding cover 15 of the assembly 10 is to prevent the clamping end 32 of the movable jaw 30 from tilting and deforming due to clamping heavy objects, so as to ensure the reliability and stability of the clamping device 100.

[0053] Preferably, refer to the attached Figure 6 and Figure 7, each end portion of the guiding cover 15 is respectively provided with two of the sliding grooves 151, the two sliding grooves 151 are arranged parallel to each other in the height direction, each driven end 31 of each movable jaw 30 is respectively provided with two of the sliding blocks 311, each sliding block 311 of one of the movable jaws 30 is respectively slidably held in each sliding groove 151 at one end of the guiding cover 15, and each sliding block 311 of the other movable jaw 30 is respectively slidably held in each sliding groove 151 at the other end of the guiding cover 15. In this way, the above three functions of the guiding cover 15 can be further enhanced to improve the reliability of the clamping device 100.

[0054] The above embodiments are only illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. Clamping device, characterized in that, Comprising: An assembly body having a clamping side; A fixed jaw fixedly provided on the assembly body, and the abutting end of the fixed jaw is provided to protrude from the clamping side of the assembly body; and Two movable jaws respectively movably provided on the assembly body, and the clamping end of each movable jaw is provided to protrude from the clamping side of the assembly body. When the gripping device is viewed from a top view perspective, the fixed jaw is located between the two movable jaws. When the gripping device is viewed from a side view perspective, the two movable jaws and the fixed jaw are arranged in an inverted triangle.

2. The gripping device according to claim 1, wherein the two movable jaws are configured to be capable of moving towards each other and moving away from each other.

3. The gripping device according to claim 1, wherein the two movable jaws are configured to move synchronously and with the same amplitude.

4. The gripping device according to any one of claims 1 to 3, wherein the assembly body includes a frame body and a driving unit provided on the frame body, the assembling end of the fixed jaw is fixedly assembled below the frame body, and the driven end of each movable jaw is respectively drivably connected to the driving unit.

5. The gripping device according to claim 4, wherein the assembly body further includes a guiding cover, the guiding cover is installed on the driving unit, and each end portion of the guiding cover respectively has at least one horizontally extending sliding groove, and the driven end of each movable jaw respectively has at least one sliding block, wherein the sliding block of each movable jaw is respectively slidably held in each sliding groove of the guiding cover.

6. The gripping device according to claim 5, wherein each end portion of the guiding cover respectively has two sliding grooves, the two sliding grooves are arranged parallel to each other in the height direction, the driven end of each movable jaw respectively has two sliding blocks, and the sliding blocks of one movable jaw are respectively slidably held in each sliding groove of one end portion of the guiding cover, and the sliding blocks of the other movable jaw are respectively slidably held in each sliding groove of the other end portion of the guiding cover.

7. The gripping device according to claim 4, wherein the driving unit is a pneumatic driving unit or an electric driving unit.

8. A robotic arm with a clamping device for clamping an object to be clamped, wherein the object to be clamped includes a container body and a handle extending downward from a top edge on one side of the container body, and is characterized in that, Comprising: An arm body; And The gripping device according to any one of claims 1 to 7, the gripping device is installed on the arm body, wherein the abutting end of the fixed jaw can abut against the outer side of the handle, and the clamping end of each movable jaw can respectively clamp the handle on opposite sides of the handle.

9. The robotic arm with a gripping device according to claim 8, wherein the outer side of the handle has a positioning groove, and the abutting end of the fixed jaw abuts against the outer side of the handle in a manner that extends into the positioning groove of the handle.

10. The robotic arm with a clamping device according to claim 9, wherein the width dimension of the abutting end of the fixed jaw matches the width dimension of the positioning groove of the handle, and wherein the inner sides of the clamping ends of each of the movable jaws respectively have arc surfaces that match the shapes of the opposite sides of the handle.

Images