Material box single-disassembly clamp and robot

Abstract

The utility model provides a work bin single-disassembly clamp and a robot. The work bin single-disassembly clamp comprises a clamp support; the clamping arms are arranged on the clamp support and used for clamping a frame of a material box. The driving mechanism is arranged on the clamp support and used for driving one clamping arm to move in the height direction and / or the horizontal direction of the clamp support so as to adapt to material boxes of different sizes. According to the utility model, the plurality of clamping arms are arranged on the clamp bracket, and the clamping arms are moved in the height direction and the horizontal direction through the driving mechanism, so that the clamp can adapt to material boxes with different sizes, and the universality of the clamp is realized; and in addition, the problems that stable grabbing cannot be achieved through a single suction cup or a single grabbing hand, and deformation of some objects is likely to be caused in the grabbing process can be solved, and stable grabbing of the target material box is achieved.

Description

Technical Field

[0001] This utility model relates to intelligent robots, specifically to a bin disassembly clamp and robot. Background Technology

[0002] A robot is an intelligent device equipped with sensors, lenses, and electro-optical systems that can quickly sort and move goods.

[0003] More and more 3D vision and force sensors will be used in robots, making them increasingly intelligent. With advancements in sensing and recognition systems, artificial intelligence, and other technologies, robots are evolving from being controlled unidirectionally to storing and applying their own data, gradually becoming information-based.

[0004] When sorting robots are used in different application scenarios, they often need to be equipped with different fixtures. In industries such as logistics warehousing and manufacturing, the handling of toy boxes is a common and important task.

[0005] Currently, the handling of material boxes mainly relies on manual labor or the use of simple mechanical clamps, which suffers from low efficiency, high labor intensity, and poor safety. Furthermore, existing material box clamps often lack versatility and cannot adapt to material boxes of different sizes and shapes. Therefore, a new type of material box clamp is needed to improve the efficiency and safety of material box handling, while also possessing better versatility. Utility Model Content

[0006] In view of the deficiencies in the existing technology, the purpose of this utility model is to provide a single-disassembly clamp for a material box and a robot.

[0007] The hopper disassembly clamp provided by this utility model includes:

[0008] Fixture bracket;

[0009] A clamping arm, mounted on the clamping bracket, is used to clamp the frame of the material box;

[0010] A drive mechanism, mounted on the clamp support, is used to drive one of the clamping arms to move along the height direction and / or horizontal direction of the clamp support to accommodate material boxes of different sizes.

[0011] Preferably, the driving mechanism includes: a first driving unit and a second driving unit;

[0012] The second driving unit is disposed on the first driving unit;

[0013] The first drive unit is disposed on the clamp bracket and is used for the second drive unit to move along the length or width direction of the clamp bracket;

[0014] The clamping arm is mounted on the second drive unit, which drives the clamping arm to move up and down.

[0015] Preferably, the clamping arm includes a first clamping arm, a second clamping arm, a third clamping arm, and a fourth clamping arm;

[0016] The first clamping arm, the second clamping arm, the third clamping arm, and the fourth clamping arm are arranged in a rectangular shape on the lower side of the clamping bracket;

[0017] The first clamping arm and the second clamping arm are arranged opposite to each other; the third clamping arm and the fourth clamping arm are arranged opposite to each other.

[0018] Preferably, it further includes a central support plate; the central support plate is connected to the clamp bracket;

[0019] The central support plate is disposed between the plurality of clamping arms and is used to cooperate with the clamping arms to clamp the frame of the material box.

[0020] Preferably, it further includes a first card holder and a second card holder;

[0021] The first clamping member is disposed at one end of the clamp bracket; the second clamping member is disposed at the other end of the clamp bracket;

[0022] The first clamping member is used to clamp one side of the material box; the second clamping member is used to clamp the other side of the material box.

[0023] Preferably, the first drive unit includes a first guide rail, a first slider, a mounting plate, and a first drive cylinder;

[0024] The first guide rail and the first drive cylinder are disposed on the lower side of the clamp bracket; the mounting plate is slidably connected to the first guide rail via the first slider;

[0025] The second drive unit is mounted on the mounting plate;

[0026] The first driving cylinder is used to drive the mounting plate to move along the first guide rail;

[0027] The second drive unit includes a guide rail mounting bracket, a second guide rail, a second slider, and a second drive cylinder;

[0028] The second drive cylinder and the upper end of the guide rail mounting plate are connected to the mounting plate; the second guide rail is mounted on the guide rail mounting bracket;

[0029] The clamping arm is connected to the second guide rail via the second slider;

[0030] The second drive cylinder is used to drive the clamping arm to move along the second guide rail.

[0031] Preferably, it further includes a support plate mounting bracket; the central support plate is connected to the clamp bracket via the support plate mounting bracket;

[0032] A sliding rod is provided at the lower end of the support plate mounting bracket; a spring is fixedly connected to the sliding rod.

[0033] The lower end of the spring is connected to the central support plate.

[0034] Preferably, the first card holder and the second card holder are connected by a linkage mechanism;

[0035] The linkage mechanism is used to realize the linkage between the first card holder and the second card holder.

[0036] Preferably, the linkage mechanism includes a first rotating shaft, a first pulley, a second rotating shaft, a connecting belt, a second pulley, a first gear, a second gear, and a third rotating shaft;

[0037] The first rotating shaft is disposed at one end of the upper side of the clamp bracket, and the second and third rotating shafts are disposed at the other end of the upper side of the clamp bracket; the first holding member is disposed on the first rotating shaft, and the second holding member is disposed on the third rotating shaft.

[0038] The first pulley is mounted on the first rotating shaft, and the second pulley is mounted on the second rotating shaft; the first pulley is connected to the second pulley via the connecting belt.

[0039] The first gear is mounted on the second shaft, and the second gear is mounted on the third shaft; the third shaft is located on the side of the second shaft close to the first shaft; the first gear and the second gear mesh.

[0040] Preferably, it also includes a third drive cylinder and a fourth drive cylinder;

[0041] The third drive cylinder and the fourth drive cylinder are mounted on the clamp bracket;

[0042] The third drive cylinder is used to drive the first clamping member to rotate;

[0043] The fourth drive cylinder is used to drive the second clamping member to rotate.

[0044] The robot provided by the present invention includes the hopper disassembly fixture described herein, and also includes a robotic arm;

[0045] The hopper disassembly fixture is located at the end of the robotic arm.

[0046] Compared with the prior art, the present invention has the following beneficial effects:

[0047] In this invention, multiple clamping arms are set on the clamp bracket, and the clamping arms are moved in the height and horizontal directions by the driving mechanism, so as to adapt to material boxes of different sizes and realize the versatility of the invention. In addition, it can avoid the problem that a single suction cup or gripper cannot achieve stable gripping and is prone to deformation of some items during the gripping process, thus achieving stable gripping of the target material box.

[0048] In this invention, the first and second clamping members are linked together by a linkage mechanism to simultaneously clamp the two side frames of the target box to be clamped, thereby preventing the target box from sliding during the clamping process and achieving stable gripping of the target box. Attached Figure Description

[0049] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort. Other features, objects, and advantages of this utility model will become more apparent by reading the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0050] Figure 1 This is a schematic diagram of the structure of the single-disassembly clamp for the material box in the embodiment of this utility model;

[0051] Figure 2 This diagram shows a schematic representation of the linkage mechanism in an embodiment of the present invention.

[0052] Figure 3 This diagram shows a schematic representation of the drive unit in an embodiment of the present invention.

[0053] Figure 4 This is a schematic diagram of the drive unit in an embodiment of the present invention;

[0054] Figure 5 This diagram shows the structural schematic of the central support plate in an embodiment of the present invention;

[0055] Figure 6 This is a schematic diagram illustrating the working state of the single-disassembly clamp for the material box in an embodiment of this utility model; and

[0056] Figure 7 This is a schematic diagram of the working state of the robot in an embodiment of this utility model.

[0057] In the picture:

[0058] 1 is a clamping bracket; 2 is a clamping arm; 3 is a first clamping component; 4 is a second clamping component; 5 is a central support plate; 6 is a camera; 701 is a first rotating shaft; 702 is a connecting belt; 703 is a second rotating shaft; 704 is a first gear; 705 is a second gear; 706 is a third rotating shaft; 8 is a third drive cylinder; 9 is a fourth drive cylinder; 10 is a first drive unit; 1001 is a first drive cylinder; 1002 is a mounting plate; 1003 is a first guide rail; 1004 is a first slider; 11 is a second drive unit; 1101 is a second drive cylinder; 1102 is a guide rail mounting bracket; 1103 is a second guide rail; 1104 is a second slider; 1201 is a support plate mounting bracket; 1202 is a sliding rod; 100 is a single-disassembly clamp for the material box; 200 is a material box; 300 is a robot. Detailed Implementation

[0059] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any way. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0060] It should be noted that when a component is referred to as "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as "connected to" another component, it can be directly connected to or indirectly connected to that other component. Furthermore, a connection can be for both fixing and circuit connection purposes.

[0061] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0062] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of the present invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0063] This utility model provides a single-disassembly clamp for a material box, comprising:

[0064] Fixture bracket;

[0065] A clamping arm, mounted on the clamping bracket, is used to clamp the frame of the material box;

[0066] A drive mechanism, mounted on the clamp bracket, is used to drive one of the clamping arms to move along the length or width direction of the clamp bracket to accommodate material boxes of different sizes.

[0067] This invention utilizes multiple clamping arms on a clamping bracket and a driving mechanism to move the clamping arms in both the vertical and horizontal directions, thereby adapting to different sized bins and achieving versatility. Furthermore, it avoids the problem that a single suction cup or gripper cannot achieve stable gripping and is prone to causing deformation of some items during the gripping process, thus achieving stable gripping of the target bin.

[0068] The above is the core idea of ​​this utility model. To make the above-mentioned objectives, features, and advantages of this utility model more apparent and understandable, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0069] Figure 1 This is a schematic diagram of the structure of the single-disassembly clamp for the material box in an embodiment of this utility model, as shown below. Figure 1 As shown, the hopper disassembly fixture provided by the present invention includes:

[0070] Fixture bracket 1;

[0071] Clamping arm 2 is mounted on the clamping bracket 1 and is used to clamp the frame of the material box;

[0072] A drive mechanism is provided on the clamp bracket 1 for driving one of the clamping arms 2 to move along the height direction and / or horizontal direction of the clamp bracket 1 to accommodate material boxes of different sizes.

[0073] In this embodiment of the invention, the clamping arm 2 includes a first clamping arm, a second clamping arm, a third clamping arm, and a fourth clamping arm;

[0074] The first clamping arm, the second clamping arm, the third clamping arm, and the fourth clamping arm are arranged in a rectangular shape on the lower side of the clamping bracket 1;

[0075] The first clamping arm and the second clamping arm are arranged opposite to each other; the third clamping arm and the fourth clamping arm are arranged opposite to each other.

[0076] The first and second clamping arms are used to clamp two opposite sides of the material box, and the third and fourth clamping arms are used to clamp the other two opposite sides of the material box.

[0077] Figure 3 A schematic diagram of the drive unit in an embodiment of this utility model is shown, as follows: Figure 3 As shown, the driving mechanism includes: a first driving unit 10 and a second driving unit 11;

[0078] The second drive unit 11 is disposed on the first drive unit 10;

[0079] The first drive unit 10 is disposed on the clamp bracket 1 and is used for the second drive unit 11 to move along the length direction or width direction of the clamp bracket 1;

[0080] The clamping arm 2 is mounted on the second driving unit 11, which is used to drive the clamping arm 2 to move up and down.

[0081] In this embodiment of the invention, the second driving unit 11 is perpendicular to the first driving unit 10. There are four driving mechanisms, each corresponding to a clamping arm 2.

[0082] Figure 5 A schematic diagram of the central support plate in an embodiment of this utility model is shown, as follows: Figure 5 As shown, the hopper disassembly clamp provided by the present invention further includes a central support plate 5 and a support plate mounting bracket 1201; the central support plate 5 is connected to the clamp bracket 1;

[0083] The central support plate 5 is disposed between the plurality of clamping arms 2 and is used to cooperate with the clamping arms 2 to clamp the frame of the material box.

[0084] The central support plate 5 is connected to the clamp bracket 1 via the support plate mounting bracket 1201;

[0085] The lower end of the support plate mounting bracket 1201 is provided with a sliding rod 1202; a spring is fixedly connected to the sliding rod 1202.

[0086] The lower end of the spring is connected to the central support plate 5.

[0087] In this embodiment of the invention, the central support plate 5 is used to support the inside of the material box to prevent the clamping arm 2 from damaging the material box.

[0088] The central support plate 5 can float under the action of the spring to avoid applying too much downward force to the hopper.

[0089] In an embodiment of the present invention, the hopper disassembly clamp provided by the present invention further includes a first clamping member 3, a second clamping member 4, a third driving cylinder 8, and a fourth driving cylinder 9;

[0090] The first clamping member 3 is disposed at one end of the clamp bracket 1; the second clamping member 4 is disposed at the other end of the clamp bracket 1;

[0091] The first clamping member 3 is used to clamp one side of the material box; the second clamping member 4 is used to clamp the other side of the material box.

[0092] The third drive cylinder 8 and the fourth drive cylinder 9 are mounted on the clamp bracket 1;

[0093] The third drive cylinder 8 is used to drive the first clamping member 3 to rotate;

[0094] The fourth drive cylinder 9 is used to drive the second clamping member 4 to rotate.

[0095] In this embodiment of the invention, there are two first holding members 3, which are arranged in parallel and located on both sides of the clamp bracket 1 respectively; the two first holding members 3 are simultaneously arranged on the first rotating shaft 701 and are linked together through the first rotating shaft 701.

[0096] There are two second clamping members 4, which are arranged in parallel and located on both sides of the clamp bracket 1 respectively; the two second clamping members 4 are simultaneously arranged on the third rotating shaft 706 and are linked together through the third rotating shaft 706.

[0097] Figure 4 This is a schematic diagram of the drive unit in an embodiment of the present invention, as shown below. Figure 4 As shown, the first drive unit 10 includes a first guide rail 1003, a first slider 1004, a mounting plate 1002, and a first drive cylinder 1001;

[0098] The first guide rail 1003 and the first drive cylinder 1001 are disposed on the lower side of the clamp bracket 1; the mounting plate 1002 is slidably connected to the first guide rail 1003 through the first slider 1004;

[0099] The second drive unit 11 is mounted on the mounting plate 1002;

[0100] The first driving cylinder 1001 is used to drive the mounting plate 1002 to move along the first guide rail 1003, thereby realizing the movement of the clamping arm 2 in the horizontal direction;

[0101] The second drive unit 11 includes a guide rail mounting bracket 1102, a second guide rail 1103, a second slider 1104, and a second drive cylinder 1101;

[0102] The upper ends of the second drive cylinder 1101 and the guide rail mounting bracket 1102 are connected to the mounting plate 1002; the second guide rail 1103 is disposed on the guide rail mounting bracket 1102;

[0103] The clamping arm 2 is connected to the second guide rail 1103 via the second slider 1104;

[0104] The second drive cylinder 1101 is used to drive the clamping arm 2 to move along the second guide rail 1103, thereby realizing the movement of the clamping arm 2 in the vertical direction.

[0105] The clamping arm 2 includes a horizontal support plate and a vertical connecting plate that are vertically connected. The vertical connecting plate is connected to the second guide rail 1103 through a second slider 1104.

[0106] The horizontal support plate is used to support the side frame of the hopper.

[0107] Figure 2 A schematic diagram of the linkage mechanism in an embodiment of this utility model is shown, as follows: Figure 2 As shown, the first card holder 3 and the second card holder 4 are connected by a linkage mechanism;

[0108] The linkage mechanism is used to achieve linkage between the first card holder 3 and the second card holder 4.

[0109] The linkage mechanism includes a first rotating shaft 701, a first pulley, a second rotating shaft 703, a connecting belt 702, a second pulley, a first gear 704, a second gear 705, and a third rotating shaft 706;

[0110] The first rotating shaft 701 is disposed at one end of the upper side of the clamp bracket 1, and the second rotating shaft 703 and the third rotating shaft 706 are disposed at the other end of the upper side of the clamp bracket 1; the first holding member 3 is disposed on the first rotating shaft 701, and the second holding member 4 is disposed on the third rotating shaft 706.

[0111] The first pulley is mounted on the first rotating shaft 701, and the second pulley is mounted on the second rotating shaft 703; the first pulley is connected to the second pulley via the connecting belt 702.

[0112] The first gear 704 is disposed on the second rotating shaft 703, and the second gear 705 is disposed on the third rotating shaft 706; the third rotating shaft 706 is disposed on the side of the second rotating shaft 703 near the first rotating shaft 701; the first gear 704 and the second gear 705 mesh.

[0113] In this embodiment of the invention, the first rotating shaft 701, the second rotating shaft 703, and the third rotating shaft 706 are arranged in parallel.

[0114] Figure 7 This is a schematic diagram of the robot structure in an embodiment of the present invention, as shown below. Figure 7 As shown, the robot 300 provided by this utility model includes the aforementioned bin disassembly clamp 100 and also includes a robotic arm;

[0115] The hopper disassembly clamp 100 is located at the end of the robotic arm.

[0116] In this embodiment of the utility model, the robot 300 drives the bin single-disassembly clamp 100 through the robotic arm, and sorts the boxes through the bin single-disassembly clamp 100.

[0117] This utility model embodiment, by setting multiple clamping arms on the clamp bracket and moving the clamping arms in the height and horizontal directions through the driving mechanism, can adapt to material boxes of different sizes, realize the versatility of the invention, and also avoid the problem that a single suction cup or gripper cannot achieve stable gripping and is prone to causing deformation of some items during the gripping process, thus achieving stable gripping of the target material box.

[0118] In this embodiment of the invention, the first and second clamping members are linked together by a linkage mechanism to simultaneously clamp the two side frames of the target box to be clamped, thereby preventing the target box from sliding during the clamping process and achieving stable gripping of the target box.

[0119] The various embodiments described in this specification are presented in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. The above description of the disclosed embodiments enables those skilled in the art to implement or use this invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this invention. Therefore, this invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0120] The specific embodiments of this utility model have been described above. It should be understood that this utility model is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the substantive content of this utility model.

Claims

1. A magazine single release clamp characterized by, The utility model relates to a kind of material box clamping device, including: Clamp support; Clamping arm, be provided on the clamp support, for the frame of material box is clamped; Driving mechanism, provided on the clamp support, for driving a the clamping arm along the height direction and / or horizontal direction of the clamp support moves to adapt to the material box of different size.

2. The magazine single release clamp of claim 1, wherein, The driving mechanism includes: first driving unit and second driving unit; The second driving unit is provided on the first driving unit; First driving unit is provided on the clamp support, for second driving unit moves along the length direction or width direction of the clamp support; The clamping arm is provided on the second driving unit, and the second driving unit is used to drive the clamping arm up and down.

3. The magazine single release clamp of claim 1, wherein, The clamping arm includes first clamping arm, second clamping arm, third clamping arm and fourth clamping arm; The first clamping arm, the second clamping arm, the third clamping arm and the fourth clamping arm are distributed in a rectangular shape on the lower side of the clamp support; The first clamping arm and the second clamping arm are oppositely arranged;The third clamping arm and the fourth clamping arm are oppositely arranged.

4. The magazine single release clamp of claim 1, wherein, It also includes a center support plate;The center support plate connects the clamp support; The center support plate is arranged between a plurality of clamping arms, for cooperating with the clamping arm to clamp the frame of the material box.

5. The magazine single release clamp of claim 4, wherein, It also includes a first clamping member and a second clamping member; The first clamping member is arranged at one end of the clamp support, and the second clamping member is arranged at the other end of the clamp support; The first clamping member is used to clamp one side frame of the material box; The second clamping member is used to clamp the other side frame of the material box.

6. The magazine single release clamp of claim 2, wherein, The first driving unit includes a first guide rail, a first sliding block, a mounting plate and a first driving cylinder; The first guide rail and the first driving cylinder are arranged on the lower side of the clamp support;The mounting plate is slidably connected to the first guide rail by the first sliding block; The second driving unit is arranged on the mounting plate; The first driving cylinder is used to drive the mounting plate to move along the first guide rail; The second driving unit includes a guide rail mounting bracket, a second guide rail, a second sliding block and a second driving cylinder; The second driving cylinder and the upper end of the guide rail mounting bracket are connected to the mounting plate;The second guide rail is arranged on the guide rail mounting bracket; The clamping arm is connected to the second guide rail by the second sliding block; The second driving cylinder is used to drive the clamping arm to move along the second guide rail.

7. The magazine single release clamp of claim 4, wherein, It also includes a support plate mounting bracket;The center support plate is connected to the clamp support by the support plate mounting bracket; The lower end of the support plate mounting bracket is provided with a slide rod;The spring is fixedly connected to the slide rod; The lower end of the spring is connected to the center support plate.

8. The magazine single release clamp of claim 5, wherein, The first clamping member and the second clamping member are connected by a linkage mechanism; The linkage mechanism is used to realize the linkage of the first clamping member and the second clamping member.

9. The magazine single release clamp of claim 5, wherein, It also includes a third driving cylinder and a fourth driving cylinder; The third driving cylinder and the fourth driving cylinder are arranged on the clamp support; The third driving cylinder is used to drive the first clamping member to rotate; The fourth driving cylinder is used to drive the second clamping member to rotate.

10. A robot, characterized in that The box single unpacking clamp comprises a mechanical arm. The box single unpacking clamp is arranged at the tail end of the mechanical arm.

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