Expanding type carrying gripper and robot thereof

Abstract

The utility model discloses an expansion type carrying gripper and a robot thereof. The expansion type carrying gripper comprises a shell, and a conveying assembly is arranged in the shell; the carrying body comprises a driving part fixedly connected with the shell and an expansion table movably connected with the driving part; the area of the expansion table changes with the plane where the conveying assembly is located. A mounting flange is arranged at the tail end of the shell and fixedly connected with a machine body. The robot gripper is improved into a half-bearing-table and half-conveying-table type carrying plane, the problems of operation and maintenance cost of a complex structure and working condition adaptation are solved, a large amount of flexible linkage is prevented from being used in an internal structure, cooperation is formed through the shape characteristics of a notch and a part, and the combination strength is higher. And on the basis of the gripper, the gripper is applied to a transfer robot.

Description

Technical Field

[0001] This utility model relates to the field of freight equipment, and in particular to an expandable handling gripper and its robot. Background Technology

[0002] Currently, intelligent stacking robots used for passenger baggage handling are generally equipped with grasping systems based on vision recognition technology. These systems rely on cameras to capture images of the baggage and use image processing algorithms to determine the shape and coordinates of the goods, thereby manipulating the robotic arm to perform grasping operations. While this intelligent stacking robot technology has played a role in improving baggage handling efficiency, it still faces problems such as high maintenance costs, complex debugging, and limitations imposed by working conditions. Secondly, existing technologies still have room for improvement in processing speed and accuracy. In demanding working environments, robots require faster response times and higher grasping accuracy; the grasping action needs to be closely integrated with the cargo transportation process to improve efficiency. This necessitates designing a gripper model that can simultaneously address both working condition and efficiency issues.

[0003] Based on this demand, there are many types of grippers for handling robots on the market, but their fit with the transportation process is not obvious, and their working principles may be too outdated, such as gear meshing or simple cylinder motor cooperation, with weak structural characteristics. Therefore, in addition to the above problems, the stability of the internal structure also needs to be considered. Utility Model Content

[0004] The purpose of this section is to outline some aspects of the embodiments of this utility model and to briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of this section, the abstract and the title of this utility model. Such simplifications or omissions shall not be used to limit the scope of this utility model.

[0005] In view of the problems of existing robotic grippers, such as the need to closely integrate the gripping action with the cargo transportation process to improve efficiency, and the possibility that the working principle may be too outdated, such as gear meshing or simple cylinder-motor cooperation, and the lack of strong structural characteristics, this utility model is proposed.

[0006] Therefore, the technical problem to be solved by this utility model is to design a gripper model that can simultaneously solve the working condition problem and the efficiency problem, while also taking into account the stability of the internal structure.

[0007] To solve the above-mentioned technical problems, the present invention provides the following technical solution: an expandable handling gripper, comprising a housing and a built-in conveying assembly;

[0008] The carrier body includes a drive unit fixedly connected to the housing and an expansion stage movably connected to the drive unit;

[0009] The expansion platform changes area based on the plane where the conveying component is located.

[0010] In a preferred embodiment of the expandable handling gripper described in this utility model, the conveying assembly includes a driving wheel, a first driven wheel, and a second driven wheel;

[0011] The first driven wheel and the second driven wheel are placed inside the conveyor belt to form a transmission connection, and the driving wheel is placed between the first driven wheel and the second driven wheel;

[0012] The drive wheel is positioned outside the conveyor belt.

[0013] In a preferred embodiment of the expandable handling gripper described in this utility model, the carrier body is placed inside the housing and the conveyor belt, and is fixedly connected to the housing.

[0014] In a preferred embodiment of the expandable handling gripper described in this utility model, the driving component includes an opening and closing base plate fixedly connected to the housing, and a motor slide rail and bearing fixing seats symmetrically arranged along the motor slide rail are mounted on the opening and closing base plate.

[0015] In a preferred embodiment of the expandable handling gripper described in this utility model, the bearing fixing seat is rotatably connected to the expansion platform via a built-in opening and closing pivot.

[0016] The connection point between the expansion platform and the opening / closing shaft is close to the motor slide rail.

[0017] As a preferred embodiment of the expandable handling gripper described in this utility model, a drive push plate is slidably connected to the motor slide rail;

[0018] The drive push plate is provided with a slot, and the end of the expansion stage is provided with a ball bearing, which is in rolling connection with the slot.

[0019] The ball bearing is connected to the slot at a position close to the motor slide rail.

[0020] In a preferred embodiment of the expandable handling gripper described in this utility model, the housing includes a bottom plate, side plates, and a top plate.

[0021] The side plate has an opening, the length of which is greater than the longest side of the expansion platform, and the thickness of which is greater than the thickness of the expansion platform.

[0022] In a preferred embodiment of the expandable handling gripper of this utility model, the base plate contacts and is positioned on the outside of the conveyor belt;

[0023] The top plate is positioned between the conveyor belt and the expansion table, and is in contact with the conveyor belt.

[0024] In a preferred embodiment of the expandable handling gripper described in this utility model, a stop block is provided at the end of the motor slide rail, and the stop block is away from the drive push plate.

[0025] The beneficial effects of this utility model are as follows: by improving the robot gripper into a semi-bearing platform and semi-conveying platform for handling, the problems of maintenance cost and adaptability to working conditions of complex structures are solved. Moreover, the internal structure avoids the extensive use of flexible linkages, and instead forms a fit through the slots and component shape characteristics, resulting in higher combined strength.

[0026] Given the need to equip a complete robot assembly on top of the gripper

[0027] To solve the above-mentioned technical problems, this utility model also provides the following technical solution: an expandable handling robot, including the aforementioned expandable handling gripper, and a mounting flange provided at the end of the housing, the mounting flange being fixedly connected to the body.

[0028] The beneficial effects of this utility model are: it completes the assembly of the handling robot. Attached Figure Description

[0029] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Among them:

[0030] Figure 1 A schematic diagram of the default state of an expandable handling gripper according to an embodiment of this utility model;

[0031] Figure 2 A schematic diagram of the expanded state of an expandable handling gripper according to an embodiment of this utility model;

[0032] Figure 3 A structural plan view of the default state of an expandable handling gripper according to an embodiment of this utility model;

[0033] Figure 4 A structural plan view of an expanded handling gripper in an expanded state according to an embodiment of this utility model;

[0034] Figure 5 A schematic diagram showing the internal structure of an expandable handling gripper according to an embodiment of this utility model;

[0035] Figure 6 A detailed schematic diagram of the internal conveying components of an expandable handling gripper according to an embodiment of this utility model;

[0036] Figure 7 A schematic diagram of the appearance of an expandable handling gripper robot assembly according to one embodiment of this utility model. Detailed Implementation

[0037] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0038] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0039] Secondly, this utility model is described in detail with reference to the schematic diagrams. When describing the embodiments of this utility model, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not according to the usual scale. Furthermore, the schematic diagrams are merely examples and should not limit the scope of protection of this utility model. In addition, actual manufacturing should include the three-dimensional spatial dimensions of length, width, and depth.

[0040] Furthermore, the term "an embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that excludes other embodiments.

[0041] Example 1

[0042] Reference Figure 1 This embodiment provides an expandable handling gripper, including a housing 100 and a built-in conveying component G. The housing 100 can be understood as a protective device for the entire gripper end of the handling robot, and all the actuating components operate inside the housing 100. The conveying component G is a special treatment of the gripper to match the transportation process. The conveying component G can be understood as part of the baggage conveyor belt in the handling process, functionalized on the gripper.

[0043] Furthermore, the carrier body 200 includes a drive component 201 fixedly connected to the housing 100 and an expansion platform 202 movably connected to the drive component 201. The drive component 201, in conjunction with the expansion platform 202, can act as a power source to change and control the state of the expansion platform 202, thereby determining whether the gripper will grasp or not. The carrier component 200 can be understood as a special component used by the gripper to adapt to different working conditions.

[0044] The expansion platform 202 changes area along the plane where the conveying component G is located. Under the control of the drive unit 201, the expansion platform 202 will create an area expansion effect, thereby achieving the purpose of adapting to different working conditions. Currently, the handling...

[0045] The main problem faced by the gripper is its inability to handle luggage and cargo of various sizes, which causes inconvenience. Therefore, this problem is solved by expanding the load-bearing area.

[0046] Example 2

[0047] Reference Figure 5 This is the second embodiment of the present invention. This embodiment is based on the previous embodiment, but differs from the previous embodiment in that: the conveying component G includes a driving wheel G1, a first driven wheel G2, and a second driven wheel G3. The three wheels are responsible for different working areas. The driving wheel G1 can be regarded as the main power source of the conveyor belt g, providing the basis for the operation of the moving belt. The first driven wheel G2 is also responsible for part of the power source for the operation of the moving belt, and together with the second driven wheel G3, it serves as a roller to provide stable belt rotation and steering functions.

[0048] In detail, the first driven wheel G2 and the second driven wheel G3 are placed inside the conveyor belt g to form a transmission connection, providing the conveying and steering effects for the entire conveyor belt g. The driving wheel G1 is placed between the first driven wheel G2 and the second driven wheel G3. The two driven rollers are set in parallel, and the driving wheel G1 runs independently. Each roller is provided with a hidden guide groove to ensure stable operation.

[0049] The drive wheel G1 is located outside the conveyor belt g and is an independent power source, avoiding interference with the internal auxiliary wheels for reversal. The carrier body 200 is placed inside the housing 100 and the conveyor belt g, and is fixedly connected to the housing 100. Some parts of the carrier body 200 need to change state, mainly the components related to the expansion table 202, but there are also rigid components that need to be supported and combined with the housing 100.

[0050] Example 3

[0051] Reference Figure 5This is the third embodiment of the present invention. This embodiment is based on the previous embodiment, and differs from the previous embodiment in that: the driving component 201 includes an opening and closing base plate 201a fixedly connected to the housing 100. The opening and closing base plate 201a is the rigid part that supports the entire driving component 201. A motor slide rail 201b and a bearing fixing seat 201c symmetrically arranged along the motor slide rail 201b are mounted on the opening and closing base plate 201a. The motor slide rail 201b provides a power source for the entire device. The combination of the bearing fixing seat 201c and the expansion platform 202 is a necessary prerequisite for driving the entire technical solution to operate.

[0052] Furthermore, the bearing mounting base 201c is rotatably connected to the expansion stage 202 via a built-in opening and closing rotating shaft 201c-1. The opening and closing rotating shaft 201c-1 provides the expansion stage 202 with a first position rotation angle. The expansion stage 202 also needs another limiting position to form the required rotation angle.

[0053] Furthermore, the connection position between the expansion platform 202 and the opening and closing shaft 201c-1 is close to the motor slide rail 201b, while the end away from the motor slide rail 201b is used as a load-bearing part.

[0054] Furthermore, a drive push plate 201d is slidably connected to the motor slide rail 201b. Under the drive of the motor slide rail 201b, the drive push plate 201d moves linearly along the slide rail direction.

[0055] In detail, the drive push plate 201d is provided with a slot 201d-1, and the end of the expansion platform 202 is provided with a ball bearing 202a. The ball bearing 202a is rolledly connected to the slot 201d-1, which is the second limiting position of the expansion platform 202. Combined with the first limiting position formed by the opening and closing rotating shaft 201c-1 and the expansion platform 202, the expansion platform 202 is caused to make an outward expansion-like rotational motion with the drive push plate 201d, and tends to the state after rotating 90°.

[0056] In detail, the connection position of the ball bearing 202a and the slot 201d-1 is close to the motor slide rail 201b, and the positions of the ball bearing 202a and the opening and closing shaft 201c-1 are also close to the motor slide rail 201b, so as to avoid the transmission here affecting the load-bearing part.

[0057] Example 4

[0058] Reference Figure 5 This is the fourth embodiment of the present invention, which is based on the previous embodiment and differs from the previous embodiment in that:

[0059] Furthermore, the housing 100 includes a bottom plate 100a, a side plate 100b, and a top plate 100c. These three hardware facilities form an open rectangle to form the housing 100, and the gap is sealed by the first driven wheel G2.

[0060] In detail, the side plate 100b is provided with an opening 100b-1. The length of the opening 100b-1 is greater than the longest side of the expansion platform 202, and the thickness of the opening 100b-1 is greater than the thickness of the expansion platform 202. This numerical relationship is used to ensure that the expansion platform 202 can be moved without obstruction when the plane area of ​​the conveying component G changes.

[0061] Furthermore, the bottom plate 100a contacts and is positioned outside the conveyor belt g; the top plate 100c is positioned between the conveyor belt g and the expansion platform 202, and contacts the conveyor belt g. The top plate 100c is not confined within the conveyor belt g, in order to ensure that the entire conveying assembly G can fulfill its purpose of conveying goods.

[0062] In detail, the motor slide rail 201b has a stop 201b-1 at its end. The stop 201b-1 is used to prevent the drive push plate 201d from moving beyond the required position on the bearing surface. The stop 201b-1 is located away from the drive push plate 201d.

[0063] Example 5

[0064] Reference Figure 5 This is the fifth embodiment of the present invention. This embodiment provides an expandable handling robot. This embodiment is based on the previous embodiment. The housing 100 has a mounting flange 300 at its end, and the mounting flange 300 is fixedly connected to the body A. The body A, together with the gripper, forms a complete working assembly for the handling robot.

[0065] It is important to note that the constructions and arrangements of this application shown in several different exemplary embodiments are merely illustrative. Although only a few embodiments are described in detail in this disclosure, those who consult this disclosure will readily understand that many modifications are possible (e.g., changes in the size, dimensions, structure, shape and proportion of various elements, as well as parameter values ​​(e.g., temperature, pressure, etc.), mounting arrangements, use of materials, color, orientation, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in this application). For example, an element shown as integrally formed may be composed of multiple parts or elements, the position of elements may be inverted or otherwise altered, and the nature or number or position of discrete elements may be changed or altered. Therefore, all such modifications are intended to be included within the scope of this utility model. The order or sequence of any process or method steps may be changed or reordered according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure described herein that performs the function, and not only structural equivalents but also equivalent structures. Without departing from the scope of this invention, other substitutions, modifications, alterations, and omissions may be made in the design, operation, and arrangement of the exemplary embodiments. Therefore, this invention is not limited to the specific embodiments, but extends to various modifications that still fall within the scope of the appended claims.

[0066] Furthermore, in order to provide a concise description of exemplary embodiments, not all features of actual embodiments (i.e., those features that are not relevant to the best mode of carrying out the present invention as currently considered, or those features that are not relevant to the implementation of the present invention) may be omitted.

[0067] It should be understood that numerous specific implementation decisions can be made during the development of any practical implementation, such as in any engineering or design project. Such development efforts may be complex and time-consuming, but for those skilled in the art who benefit from this disclosure, the development effort will be a routine work of design, manufacturing, and production without requiring much experimentation.

[0068] It should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of the technical solution of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. An expandable handling gripper, characterized in that: include, Housing (100) with built-in conveying assembly (G); The carrier body (200) includes a drive unit (201) fixedly connected to the housing (100) and an expansion stage (202) movably connected to the drive unit (201). The expansion stage (202) changes area with respect to the plane where the conveying component (G) is located.

2. The expandable handling gripper according to claim 1, characterized in that: The conveying assembly (G) includes a driving wheel (G1), a first driven wheel (G2), and a second driven wheel (G3); The first driven wheel (G2) and the second driven wheel (G3) are placed inside the conveyor belt (g) to form a transmission connection, and the driving wheel (G1) is placed between the first driven wheel (G2) and the second driven wheel (G3); The drive wheel (G1) is positioned outside the conveyor belt (g).

3. The expandable handling gripper according to claim 2, characterized in that: The carrier body (200) is placed inside the housing (100) and the conveyor belt (g) and is fixedly connected to the housing (100).

4. An expandable handling gripper according to claim 3, characterized in that: The drive unit (201) includes an opening and closing base plate (201a) fixedly connected to the housing (100), on which a motor slide rail (201b) and a bearing fixing seat (201c) symmetrically arranged along the motor slide rail (201b) are mounted.

5. An expandable handling gripper according to claim 4, characterized in that: The bearing mounting base (201c) is rotatably connected to the expansion platform (202) via a built-in opening and closing pivot (201c-1); The connection position of the expansion platform (202) and the opening and closing shaft (201c-1) is close to the motor slide rail (201b).

6. An expandable handling gripper according to claim 5, characterized in that: A drive push plate (201d) is slidably connected to the motor slide rail (201b). The drive push plate (201d) is provided with a slot (201d-1), and the end of the expansion platform (202) is provided with a ball bearing (202a), which is in rolling connection with the slot (201d-1). The connection position of the ball bearing (202a) and the slot (201d-1) is close to the motor slide rail (201b).

7. An expandable handling gripper according to any one of claims 2 to 6, characterized in that: The housing (100) includes a bottom plate (100a), a side plate (100b), and a top plate (100c). The side plate (100b) has an opening (100b-1), the length of which is greater than the longest side of the expansion platform (202), and the thickness of which is greater than the thickness of the expansion platform (202).

8. An expandable handling gripper according to claim 7, characterized in that: The base plate (100a) contacts and is positioned on the outside of the conveyor belt (g); The top plate (100c) is positioned between the conveyor belt (g) and the expansion table (202) and is in contact with the conveyor belt (g).

9. An expandable handling gripper according to claim 6, characterized in that: The motor slide rail (201b) has a stop (201b-1) at its end, and the stop (201b-1) is away from the drive push plate (201d).

10. An expandable transport robot, characterized in that: An expandable handling gripper based on any one of claims 1 to 9, and, The housing (100) is provided with a mounting flange (300) at its end, and the mounting flange (300) is fixedly connected to the body (A).

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