Mechanical arm gripper, mechanical arm and unpacking system

Abstract

The utility model provides a mechanical arm gripper, a mechanical arm and an unpacking system. The mechanical arm gripper comprises a mounting base, an adsorption mechanism, a clamping mechanism and a driving mechanism. Wherein the mounting base is provided with a first side and a second side which are opposite to each other, and the first side of the mounting base is used for being connected with an arm body of the mechanical arm; the adsorption mechanism is arranged on the second side of the mounting seat, and is used for being connected with a negative pressure air source so as to adsorb a material bag under the action of negative pressure provided by the negative pressure air source; the clamping mechanism is rotationally connected to the mounting base, the clamping mechanism comprises at least two clamping arms, and a material taking space is defined by the at least two clamping arms and the adsorption mechanism; the driving mechanism is arranged on the mounting base and connected to each clamping arm so as to be used for driving the clamping arms to move towards or away from the adsorption mechanism. According to the mechanical arm gripper provided by the utility model, the adsorption mechanism and the clamping mechanism can be simultaneously utilized to perform double clamping on a material bag, and the clamping capacity is strong.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a robotic arm gripper, a robotic arm, and a package unpacking system. Background Technology

[0002] Currently, robotic arms are widely used in the transfer of material packages. However, existing robotic arms use several relatively openable gripping arms to hold the material packages, which has the disadvantage of poor gripping ability, causing the gripped material packages to easily fall off. Utility Model Content

[0003] This invention aims to solve at least one of the problems existing in the prior art. To this end, this invention provides a robotic arm gripper, a robotic arm, and a packaging unpacking system. The robotic arm gripper can simultaneously utilize both an adsorption mechanism and a clamping mechanism to perform dual clamping of the package, resulting in strong clamping ability and reducing the risk of the package falling off.

[0004] To achieve the above objectives, in a first aspect, this utility model provides a robotic arm gripper, comprising:

[0005] The mounting base has a first side and a second side, the first side of which is used to connect the arm body of the robotic arm;

[0006] An adsorption mechanism is provided on the second side of the mounting base. The adsorption mechanism is used to connect to a negative pressure gas source to adsorb the material bag under the negative pressure provided by the negative pressure gas source.

[0007] A clamping mechanism, rotatably connected to the mounting base, includes at least two clamping arms, which, together with the adsorption mechanism, form a material-grabbing space; and

[0008] A drive mechanism is provided on the mounting base and connected to each of the clamping arms for driving the clamping arms to move toward or away from the adsorption mechanism.

[0009] In one embodiment, the spacing direction between the first side and the second side of the mounting base is a first direction, and each of the clamping arms includes at least two claw teeth spaced apart along a second direction, the second direction being perpendicular to the first direction;

[0010] The claw teeth include a free end extending toward the material picking space, and the free end has a preset distance D between it and the plane on the side of the adsorption mechanism facing away from the mounting base. The preset distance D is greater than or equal to a preset distance threshold.

[0011] In one embodiment, the free end extends toward the material handling space while also extending away from the adsorption mechanism.

[0012] In one embodiment, each of the gripper arms includes a claw plate, at least two connecting arms, and at least two claw teeth. The at least two connecting arms are spaced apart along the second direction and are respectively connected to the mounting base. The claw plate extends along the second direction and is connected to the at least two connecting arms. The at least two claw teeth are spaced apart along the second direction on the side of the claw plate facing the material handling space.

[0013] In one embodiment, the claw teeth include a mounting portion and a clamping portion. The mounting portion extends along the first direction and is connected to the claw plate of the clamping arm. One end of the clamping portion is connected to the end of the mounting portion away from the adsorption mechanism, and the other end of the clamping portion extends toward the material handling space.

[0014] In one embodiment, the robotic arm gripper further includes:

[0015] A shaping mechanism is provided on the second side of the mounting base and located between the adsorption mechanism and the clamping mechanism. The shaping mechanism is used to shape the material package.

[0016] The shaping mechanism has a shaping surface facing away from the mounting base, and the adsorption mechanism has an adsorption surface facing away from the mounting base. The distance between the shaping surface and the second side surface of the mounting base is less than or equal to the distance between the adsorption surface and the second side surface of the mounting base.

[0017] In one embodiment, the shaping mechanism includes a pair of shaping arms and at least a pair of fixing arms. Each shaping arm is connected to the mounting base via at least one fixing arm. The pair of shaping arms are arranged parallel to the second side surface of the mounting base and are spaced apart on opposite sides of the adsorption mechanism. The surface of the shaping arm facing away from the mounting base constitutes the shaping surface.

[0018] In one embodiment, the clamping mechanism includes a first clamping arm and a second clamping arm, the first clamping arm and the second clamping arm being spaced apart along a third direction, the third direction being perpendicular to both the first direction and the second direction;

[0019] The first clamping arm and the second clamping arm each have the same number of claw teeth, and all the claw teeth of the first clamping arm correspond one-to-one with all the claw teeth of the second clamping arm.

[0020] In one embodiment, the driving mechanism includes a first driving member and a second driving member, which are spaced apart along the second direction. The first driving member is used to drive the first clamping arm to move toward or away from the adsorption mechanism, and the second driving member is used to drive the second clamping arm to move toward or away from the adsorption mechanism.

[0021] In one embodiment, the driving mechanism is located on the second side of the mounting base, and the first driving member and the second driving member are located on opposite sides of the adsorption mechanism.

[0022] Secondly, this utility model provides a robotic arm, including the robotic arm gripper as described in any of the above embodiments.

[0023] Thirdly, this utility model also provides a packaging unpacking system, including the robotic arm described above.

[0024] In the robotic arm gripper, robotic arm, and unpacking system provided by this utility model, the robotic arm gripper includes a mounting base and an adsorption mechanism, a clamping mechanism, and a driving mechanism connected to the mounting base. The adsorption mechanism is connected to a negative pressure air source to adsorb material packages under the negative pressure provided by the air source. The clamping mechanism includes at least two clamping arms, and the at least two clamping arms and the adsorption mechanism enclose a material-grabbing space. The driving mechanism is connected to each clamping arm to drive the clamping arm to move towards or away from the adsorption mechanism. Thus, the robotic arm gripper can clamp material packages using at least one of the adsorption mechanism and the clamping mechanism, meeting the clamping requirements of different application scenarios. Furthermore, when the robotic arm gripper simultaneously uses the adsorption mechanism and the clamping mechanism to perform dual clamping of the material package, the clamping ability is strong, which helps reduce the risk of the material package falling off. In addition, after the adsorption mechanism adsorbs the material package, the driving mechanism can drive at least one clamping arm of the clamping mechanism to move towards or away from the adsorption mechanism, thereby adjusting the posture of the material package.

[0025] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0026] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the structure of the robotic arm gripper provided in an embodiment of this utility model.

[0028] Figure 2 yes Figure 1 The diagram shows the robotic arm gripper from another perspective.

[0029] Figure 3 yes Figure 1The diagram shows the robotic arm gripper from another perspective.

[0030] Figure 4 yes Figure 1 The diagram shows a robotic arm gripper holding a material bag.

[0031] Figure 5 A schematic diagram of the unpacking system provided in the embodiments of this utility model.

[0032] Explanation of key figure labels:

[0033] 100 - Mounting base; 101 - Mounting plate; 102 - First crossbeam; 103 - Second crossbeam;

[0034] 200 - Adsorption mechanism; 210 - Suction cup housing; 220 - Suction cup cover;

[0035] 300-Clamping mechanism; 301-First clamping arm; 302-Second clamping arm; 303-Claw teeth; 3031-Mounting part; 3032-Clamping part; 304-Claw plate; 305-Connecting arm;

[0036] 400 - Drive mechanism; 410 - First drive component; 420 - Second drive component; 430 - Connecting beam; 440 - Tie rod;

[0037] 500 - Shaping mechanism; 510 - Shaping arm; 520 - Fixing arm;

[0038] 1-Unpacking system; 1000-Robotic arm gripper; 2000-Robotic arm; 3000-Material bag; 4000-Functional compartment; 5000-Transportation track;

[0039] A - First direction; B - Second direction; C - Third direction.

[0040] The following detailed description, in conjunction with the accompanying drawings, further illustrates this utility model. Detailed Implementation

[0041] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0042] It should be noted that in the description of this utility model, the terms "first," "second," etc., are used to distinguish different objects, not to describe a specific order, and the term "multiple" refers to at least two, and therefore should not be construed as a limitation on this application. Furthermore, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, an indirect connection through other elements, or a connection within two elements; it can be a communication connection or an electrical connection, where both communication and electrical connections include direct connections or indirect connections through other elements. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0043] Please combine Figures 1 to 5 The present invention provides a robotic arm gripper 1000, which is applied in a robotic arm 2000. The robotic arm gripper 1000 is configured to hold items such as a material bag 3000.

[0044] Specifically, such as Figures 1 to 5 As shown, the robotic arm gripper 1000 includes a mounting base 100, an adsorption mechanism 200, a clamping mechanism 300, and a drive mechanism 400. The mounting base 100 has a first side and a second side. The first side of the mounting base 100 is used to connect the arm body of the robotic arm 2000. The adsorption mechanism 200 is located on the second side of the mounting base 100 and is used to connect to a negative pressure air source (not shown) to adsorb the material package 3000 under the negative pressure provided by the negative pressure air source. The clamping mechanism 300 is rotatably connected to the mounting base 100 and includes at least two clamping arms (e.g., ...). Figure 1 The first clamping arm 301 and the second clamping arm 302 shown, at least two clamping arms and the adsorption mechanism 200 enclose a material picking space; the driving mechanism 400 is provided on the mounting base 100 and connected to each clamping arm, for driving the clamping arm to move toward or away from the adsorption mechanism 200.

[0045] It is easy to understand that in the embodiments of this utility model, the robotic arm gripper 1000 can adsorb the material bag 3000 through the adsorption mechanism 200 connected to the negative pressure air source, thereby achieving the purpose of clamping the material bag 3000; the robotic arm gripper 1000 can also drive at least two clamping arms to move toward or away from the adsorption mechanism 200 through the drive mechanism 400, so that the clamping mechanism 300 clamps the material bag 3000; the robotic arm gripper 1000 can also simultaneously perform double clamping of the material bag 3000 through the adsorption mechanism 200 and the clamping mechanism 300. In other words, the robotic arm gripper 1000 can grip the material bag 3000 through at least one of the adsorption mechanism 200 and the clamping mechanism 300, meeting the clamping requirements in different application scenarios. Furthermore, when the robotic arm gripper 1000 uses both the adsorption mechanism 200 and the clamping mechanism 300 to clamp the material bag 3000, the clamping ability is strong, which helps to reduce the risk of the material bag 3000 falling off. In addition, after the adsorption mechanism 200 adsorbs the material bag 3000, the drive mechanism 400 can drive at least one clamping arm to move toward or away from the adsorption mechanism 200, thereby adjusting the posture of the material bag 3000.

[0046] In embodiments of this utility model, the mounting base 100, the adsorption mechanism 200, the clamping mechanism 300, and the driving mechanism 400 can all adopt different design schemes. The following will describe these schemes in conjunction with the accompanying drawings. Figure 1 To be continued Figure 5 The robotic arm gripper 1000 provided in one embodiment of the present invention will be further described below.

[0047] Please combine Figure 1 and Figure 2In one embodiment of the present invention, the mounting base 100 includes a mounting plate 101, a pair of first crossbeams 102 and a pair of second crossbeams 103. The mounting plate 101 is a rectangular plate, with its central area used to connect the arm of the robotic arm 2000. The connection between the mounting plate 101 and the robotic arm 2000 is not limited to bolt connection or snap-fit ​​connection. The mounting plate 101 also has through holes for passing through air pipes, which are used to connect the adsorption mechanism 200 and the negative pressure air source. A pair of first crossbeams 102 are disposed on one side of the mounting plate 101 in the thickness direction (defined as the first direction A) and are parallel and spaced at opposite ends of the mounting plate 101 in the length direction (defined as the second direction B). Each first crossbeam 102 extends along the width direction (defined as the third direction C) of the mounting plate 101 and is connected to the corresponding end of the mounting plate 101. A pair of second crossbeams 103 are disposed on the side of the pair of first crossbeams 102 away from the mounting plate 101 and are parallel and spaced at opposite ends of the mounting plate 101 in the third direction C. The opposite ends of each second crossbeam 103 are connected to the same end of the pair of first crossbeams 102 in the third direction C. In this embodiment, the mounting base 100 is composed of a mounting plate 101 and multiple crossbeams forming a frame structure, with a simple overall structure and high structural strength.

[0048] In other embodiments of this utility model, the mounting base 100 may also adopt other structures. For example, a pair of second crossbeams 103 of the mounting base 100 may be directly connected to the mounting plate 101, thereby eliminating a pair of first crossbeams 102 and simplifying the structure of the mounting base 100. As long as the mounting base 100 can be connected to the arm of the robotic arm 2000 and can be equipped with other mechanisms of the robotic arm gripper 1000, it is acceptable.

[0049] Please combine Figures 1 to 3 In one embodiment of this utility model, the thickness direction (first direction A) of the mounting plate 101 is also the spacing direction between the first side and the second side of the mounting base 100, and the adsorption mechanism 200 is disposed on one side of the mounting plate 101 in the first direction A. Wherein, as... Figure 3 As shown, in this embodiment, the adsorption mechanism 200 includes a suction cup housing 210 and a suction cup cover 220 that is mated and connected to the suction cup housing 210. The suction cup cover 220 and the suction cup housing 210 enclose a cavity. The suction cup housing 210 has a through hole for connecting an air pipe, and the suction cup cover 220 has multiple vent holes communicating with the aforementioned cavity. When the air pipe is connected to a negative pressure air source, the adsorption mechanism 200 can generate an adsorption force at the multiple vent holes of the suction cup cover 220 for adsorbing the material package 3000. It can be understood that... Figures 1 to 3In the example, the adsorption mechanism 200 is a single suction cup structure. However, in other embodiments, the adsorption mechanism 200 can also adopt other structures, such as, but not limited to, a multi-suction cup structure, as long as it can generate adsorption force by connecting to a negative pressure air source. The adsorption mechanism 200 can be connected to one side of the mounting plate 101 in the first direction A via multiple connecting rods. It can be configured to be fixed relative to the mounting plate 101 or movable along the first direction A. Preferably, the adsorption mechanism 200 can be movable relative to the mounting plate 101 along the first direction A. This allows for changing the size of the material handling space formed by the clamping arms of the adsorption mechanism 200 and the clamping mechanism 300, thereby adapting to material bags 3000 of different sizes.

[0050] like Figures 1 to 3 As shown, in one embodiment of this utility model, the clamping mechanism 300 includes a first clamping arm 301 and a second clamping arm 302. The first clamping arm 301 and the second clamping arm 302 are spaced apart along a third direction C and are located on opposite sides of the adsorption mechanism 200. Each clamping arm includes at least two claw teeth 303 spaced apart along a second direction B. Each claw tooth 303 includes a free end extending toward the material-grabbing space formed by the clamping arm and the adsorption mechanism 200. Thus, when the driving mechanism 400 drives each clamping arm to move toward or away from the adsorption mechanism 200, the first clamping arm 301 and the second clamping arm 302 clamp the material bag 3000 located in the material-grabbing space (see...) through their respective claw teeth 303. Figure 4 ).

[0051] Preferably, such as Figure 1 and Figure 3 As shown, in this embodiment, the first clamping arm 301 and the second clamping arm 302 include the same number of claw teeth 303, and all the claw teeth 303 of the first clamping arm 301 correspond one-to-one with all the claw teeth 303 of the second clamping arm 302, so that there is a gap between each pair of adjacent claw teeth 303 of the two clamping arms. This gap can effectively cooperate with the bag-breaking knife, so that when the bag-breaking knife performs bag-breaking operation on the material bag 3000 held by the robotic arm gripper 1000, the bag-breaking knife can be housed in the gap, avoiding collision between the claw teeth 303 and the bag-breaking knife and damage to the bag-breaking knife.

[0052] Preferably, such as Figure 2As shown, in this embodiment, there is a preset distance D between the free end of the claw teeth 303 and the plane containing the side of the adsorption mechanism 200 facing away from the mounting base 100. The preset distance D is greater than or equal to a preset distance threshold. It should be noted that the preset distance threshold is related to the specifications of the material bag 3000 to be gripped by the robotic arm gripper 1000. Specifically, the larger the specifications of the material bag 3000, the larger the preset distance threshold. This ensures that the adsorption mechanism 200 and the gripper arm form a sufficiently large picking space to grip the material bag 3000, so that the claw teeth 303 of the gripper arm grip the entire material bag 3000 (see...). Figure 4 This improves clamping reliability. More preferably, in... Figure 2 and Figure 4 In the example, the free end of the claw tooth 303 extends toward the material picking space and also extends away from the adsorption mechanism 200. That is, the free end of the claw tooth 303 extends at an angle. It is easy to understand that the free end of the angled claw tooth 303 can more smoothly extend into the side of the material bag 3000 away from the adsorption mechanism 200 when clamping the material bag 3000, thereby quickly clamping the material bag 3000.

[0053] Please combine again Figure 1 and Figure 2 In one embodiment of this utility model, the first clamping arm 301 and the second clamping arm 302 are identical. Taking the first clamping arm 301 as an example, each clamping arm includes a claw plate 304, at least two connecting arms 305, and at least two claw teeth 303. The at least two connecting arms 305 are spaced apart along the second direction B and respectively connected to the mounting base 100. The claw plate 304 extends along the second direction B and is connected to the at least two connecting arms 305. The at least two claw teeth 303 are spaced apart along the second direction B on the side of the claw plate 304 facing the material handling space. Specifically, as shown... Figure 1 As shown, in this embodiment, at least two connecting arms 305 of each clamping arm are fixedly connected to a second crossbeam 103 on the corresponding side of the mounting base 100. The opposite ends of the second crossbeam 103 are rotatably connected to the aforementioned pair of first crossbeams 102. The driving mechanism 400 is connected to each second crossbeam 103. Thus, when the driving mechanism 400 drives the second crossbeam 103 to rotate around its own axis, it can drive the connecting arms 305 connected to the second crossbeam 103 to rotate around the axis of the second crossbeam 103, thereby causing the entire clamping arm to move toward or away from the adsorption mechanism 200. Of course, in other embodiments of this utility model, at least two connecting arms 305 of each clamping arm can also be rotatably connected to a second crossbeam 103 on the corresponding side of the mounting base 100. The opposite ends of the second crossbeam 103 are rotatably connected or fixedly connected to the aforementioned pair of first crossbeams 102. The driving mechanism 400 directly drives at least one connecting arm 305 to rotate around the axis of the second crossbeam 103, which can also cause the entire clamping arm to move toward or away from the adsorption mechanism 200.

[0054] More specifically, in Figure 1 and Figure 2 In the example, each claw tooth 303 includes a mounting portion 3031 and a clamping portion 3032. The mounting portion 3031 extends along the first direction A and is connected to the side of the claw plate 304 of the clamping arm facing the adsorption mechanism 200. One end of the clamping portion 3032 is connected to the end of the mounting portion 3031 away from the adsorption mechanism 200, and the other end of the clamping portion 3032 extends toward the material handling space. That is, the other end of the clamping portion 3032 constitutes the free end of the claw tooth 303. In this embodiment, the claw tooth 303 is connected to the claw plate 304 through the mounting portion 3031 extending along the first direction A. The connection area between the claw tooth 303 and the claw plate 304 is large, which is beneficial to improving the connection reliability between the two. Of course, in other embodiments of this utility model, the claw tooth 303 may adopt other structures, such as, but not limited to, the claw tooth 303 only including the clamping part 3032, one end of the clamping part 3032 is connected to the side of the claw plate 304 facing the adsorption mechanism 200, and the other end of the clamping part 3032 extends towards the material picking space. The claw tooth 303 does not have the mounting part 3031, which can simplify the structure and reduce the overall weight of the robotic arm gripper 1000.

[0055] It is not difficult to understand that in other embodiments of this utility model, the clamping mechanism 300 may also adopt other structures. For example, the clamping mechanism 300 may include three or more clamping arms, as long as it can achieve the purpose of clamping the material bag 3000 under the drive of the driving mechanism 400.

[0056] Optionally, such as Figure 1 and Figure 2 As shown, in one embodiment of this utility model, the driving mechanism 400 includes a first driving member 410 and a second driving member 420 spaced apart along a second direction B. The first driving member 410 drives the first clamping arm 301 to move toward or away from the adsorption mechanism 200, and the second driving member 420 drives the second clamping arm 302 to move toward or away from the adsorption mechanism 200. In this embodiment, different clamping arms are driven independently by different driving members, which helps to increase the clamping force of the clamping arms and improve the clamping capacity of the clamping mechanism 300. Preferably, in this embodiment, the driving mechanism 400 is located on the second side of the mounting base 100, and the first driving member 410 and the second driving member 420 are located between the first clamping arm 301 and the second clamping arm 302 and on opposite sides of the adsorption mechanism 200. This design can reduce the overall size of the robotic arm gripper 1000.

[0057] Among them, Figure 1 and Figure 2In the example, the first driving member 410 and the second driving member 420 are inclined. One end of each driving member is fixedly connected to the side of the mounting plate 101 facing the adsorption mechanism 200 via a connecting beam 430 extending along the first direction A. The other end of each driving member is rotatably connected to a pull rod 440. The pull rod 440 is connected to the second crossbeam 103 connected to the clamping arm on the corresponding side. Thus, each driving member drives the corresponding second crossbeam 103 to rotate around its own axis, thereby driving the clamping arm connected to the second crossbeam 103 to move toward or away from the adsorption mechanism 200. Optionally, the first driving member 410 and the second driving member 420 may be, but are not limited to, driving cylinders.

[0058] Of course, in other embodiments of this utility model, the drive mechanism 400 may also use a single drive member to drive the first clamping arm 301 and the second clamping arm 302 simultaneously, which will not be elaborated further.

[0059] Please refer to general information. Figure 1 , Figure 2 and Figure 4 In one embodiment of this utility model, the robotic arm gripper 1000 further includes a shaping mechanism 500 disposed on the second side of the mounting base 100 (i.e., the side of the mounting plate 101 facing the adsorption mechanism 200). The shaping mechanism 500 is located between the adsorption mechanism 200 and the clamping mechanism 300 and is used to shape the material package 3000. The shaping mechanism 500 has a shaping surface facing away from the mounting base 100, and the adsorption mechanism 200 has an adsorption surface facing away from the mounting base 100. The distance between the shaping surface and the second side surface of the mounting base 100 is less than or equal to the distance between the adsorption surface and the second side surface of the mounting base 100; that is, the shaping surface of the shaping mechanism 500 does not extend beyond the adsorption surface of the adsorption mechanism 200. In this embodiment, by providing a shaping mechanism 500 between the adsorption mechanism 200 and the clamping mechanism 300, and setting the shaping surface of the shaping mechanism 500 not to exceed the adsorption surface of the adsorption mechanism 200, the surface of the material package 3000 facing the adsorption mechanism 200 can be shaped so that the surface of the material package 3000 is kept as flat as possible, which is beneficial to improving the adsorption stability of the adsorption mechanism 200 on the material package 3000.

[0060] Optionally, such as Figure 1 , Figure 2 and Figure 4As shown, the shaping mechanism 500 includes a pair of shaping arms 510 and at least a pair of fixing arms 520. Each shaping arm 510 is connected to the mounting base 100 via at least one fixing arm 520. The pair of shaping arms 510 are arranged parallel to the second side surface of the mounting base 100 and are spaced apart on opposite sides of the adsorption mechanism 200. The surfaces of the shaping arms 510 facing away from the mounting base 100 constitute shaping surfaces. In this embodiment, the shaping mechanism 500 and the mounting base 100 enclose a receiving space, in which the adsorption mechanism 200 is located, serving to protect the adsorption mechanism 200, prevent it from being collided with, and ensure the stability of the adsorption material pack 3000.

[0061] Specifically, in Figure 1 , Figure 2 and Figure 4 In the example, the shaping mechanism 500 may include two pairs of fixed arms 520, and a pair of shaping arms 510 are spaced apart along a third direction C on opposite sides of the adsorption mechanism 200. Each shaping arm 510 extends along a second direction B, and each shaping arm 510 is fixedly connected to a pair of first crossbeams 102 of the mounting base 100 by a pair of fixed arms 520 spaced apart along the second direction B. It is understood that in other embodiments of the present invention, the shaping mechanism 500 may also adopt other structures, such as, but not limited to, each shaping arm 510 being fixedly connected to the mounting plate 101 of the mounting base 100 by a fixed arm 520, thereby simplifying the structure of the shaping mechanism 500, and no limitation is made thereto.

[0062] It should be noted that, in the embodiments of this utility model, each component of the robotic arm gripper 1000 can be made of lightweight profiles such as aluminum alloy, or at least one component has a hollow structure, such as a hollow hole on the mounting plate 101, thereby reducing the weight of the robotic arm gripper 1000.

[0063] It should also be noted that, in the embodiments of this utility model, the connection between any two of the components such as the mounting plate 101, the first crossbeam 102, the second crossbeam 103, the connecting beam 430, the tie rod 440, and the fixed arm 520 included in the robotic arm gripper 1000 may be, but is not limited to, bolted connections, and there is no limitation on this.

[0064] Further, please refer to Figure 5 The present invention also provides a robotic arm device, including a robotic arm 2000 and a robotic arm gripper 1000 connected to the arm body of the robotic arm 2000. The robotic arm gripper 1000 can be any of the robotic arm grippers 1000 described in the foregoing embodiments, and therefore possesses at least all the beneficial effects brought about by the technical solutions of the foregoing embodiments. More specific descriptions can be found in the relevant content of the foregoing embodiments, and will not be repeated here.

[0065] Furthermore, please refer again. Figure 5 The present invention also provides a packaging unpacking system 1, including a robotic arm device. The robotic arm device includes a robotic arm 2000 and a robotic arm gripper 1000 connected to the arm body of the robotic arm 2000. The robotic arm gripper 1000 can be any of the robotic arm grippers 1000 in the foregoing embodiments, and therefore has at least all the beneficial effects brought about by the technical solutions of the foregoing embodiments. For more specific descriptions, please refer to the relevant content in the foregoing embodiments, which will not be repeated here.

[0066] It is understood that, similar to existing unpacking systems, the unpacking system 1 provided in the embodiments of this utility model may also include at least one functional compartment 4000 (e.g., a bag-breaking compartment, an air shower compartment) and a transport track 5000 for mounting a robotic arm 2000, etc., which will not be elaborated further.

[0067] Of course, the robotic arm device provided in the embodiments of this utility model can also be applied to other scenarios besides the unpacking system 1, such as, but not limited to, production lines, and is not limited thereto.

[0068] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0069] In the description of this specification, the references to terms such as "embodiment," "specific embodiment," and "example" indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0070] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A robotic arm gripper (1000), characterized in that, include: Mounting base (100) has a first side and a second side opposite to each other. The first side of the mounting base (100) is used to connect the arm body of the robotic arm (2000). The spacing direction between the first side and the second side of the mounting base (100) is a first direction. An adsorption mechanism (200) is provided on the second side of the mounting base (100). The adsorption mechanism (200) is used to connect to a negative pressure gas source to adsorb the material bag (3000) under the negative pressure provided by the negative pressure gas source. A clamping mechanism (300) is rotatably connected to the mounting base (100). The clamping mechanism (300) includes at least two clamping arms. The at least two clamping arms and the adsorption mechanism (200) enclose a material handling space. Each clamping arm includes a claw plate (304), at least two connecting arms (305), and at least two claw teeth (303). The at least two connecting arms (305) are spaced apart along a second direction and are respectively connected to the mounting base (100). The claw plate (304) extends along the second direction and is connected to the at least two connecting arms (305). The at least two claw teeth (303) are spaced apart along the second direction on the side of the claw plate (304) facing the material handling space. The second direction is perpendicular to the first direction. as well as A drive mechanism (400) is provided on the mounting base (100) and connected to each of the clamping arms for driving the clamping arms to move toward or away from the adsorption mechanism (200).

2. The robotic arm gripper (1000) as described in claim 1, characterized in that, The claw (303) includes a free end extending toward the material picking space, and the free end has a preset distance D between it and the plane of the adsorption mechanism (200) on the side opposite to the mounting base (100), the preset distance D being greater than or equal to a preset distance threshold.

3. The robotic arm gripper (1000) as described in claim 2, characterized in that, The free end extends toward the material intake space while also extending away from the adsorption mechanism (200).

4. The robotic arm gripper (1000) as described in claim 2, characterized in that, The claw (303) includes a mounting part (3031) and a clamping part (3032). The mounting part (3031) extends along the first direction and is connected to the claw plate (304) of the clamping arm. One end of the clamping part (3032) is connected to the end of the mounting part (3031) away from the adsorption mechanism (200), and the other end of the clamping part (3032) extends toward the material picking space.

5. The robotic arm gripper (1000) as described in any one of claims 1 to 4, characterized in that, Also includes: A shaping mechanism (500) is provided on the second side of the mounting base (100) and located between the adsorption mechanism (200) and the clamping mechanism (300). The shaping mechanism (500) is used to shape the material package (3000). The shaping mechanism (500) has a shaping surface facing away from the mounting base (100), and the adsorption mechanism (200) has an adsorption surface facing away from the mounting base (100). The distance between the shaping surface and the second side surface of the mounting base (100) is less than or equal to the distance between the adsorption surface and the second side surface of the mounting base (100).

6. The robotic arm gripper (1000) as described in claim 5, characterized in that, The shaping mechanism (500) includes a pair of shaping arms (510) and at least a pair of fixing arms (520). Each of the shaping arms (510) is connected to the mounting base (100) through at least one of the fixing arms (520). The pair of shaping arms (510) are arranged parallel to the second side surface of the mounting base (100), and the pair of shaping arms (510) are spaced apart on opposite sides of the adsorption mechanism (200). The surface of the shaping arm (510) facing away from the mounting base (100) constitutes the shaping surface.

7. The robotic arm gripper (1000) as described in any one of claims 2 to 4, characterized in that, The clamping mechanism (300) includes a first clamping arm (301) and a second clamping arm (302), the first clamping arm (301) and the second clamping arm (302) being spaced apart along a third direction, the third direction being perpendicular to both the first direction and the second direction; The first clamping arm (301) and the second clamping arm (302) include the same number of claw teeth (303), and all the claw teeth (303) of the first clamping arm (301) correspond one-to-one with all the claw teeth (303) of the second clamping arm (302).

8. The robotic arm gripper (1000) as described in claim 7, characterized in that, The driving mechanism (400) includes a first driving member (410) and a second driving member (420), the first driving member (410) and the second driving member (420) being spaced apart along the second direction, wherein the first driving member (410) is used to drive the first clamping arm (301) to move toward or away from the adsorption mechanism (200), and the second driving member (420) is used to drive the second clamping arm (302) to move toward or away from the adsorption mechanism (200).

9. The robotic arm gripper (1000) as described in claim 8, characterized in that, The driving mechanism (400) is located on the second side of the mounting base (100), and the first driving member (410) and the second driving member (420) are located on opposite sides of the adsorption mechanism (200).

10. A robotic arm (2000), characterized in that, Includes the robotic arm gripper (1000) as described in any one of claims 1 to 9.

11. A package unpacking system (1), characterized in that, Includes the robotic arm (2000) as described in claim 10.

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