Clamping jaw mechanism and carrying manipulator

Abstract

The utility model discloses a clamping jaw mechanism and a carrying manipulator, and relates to the technical field of carrying manipulators. The clamping jaw mechanism comprises a mounting frame and further comprises a moving mechanism arranged on the mounting frame, two hollow clamping plates are connected to the moving mechanism, and the moving mechanism is used for moving the clamping plates; the mounting holes are formed in the opposite side walls of the two clamping plates; the fixing pipes are fixedly inserted into the mounting holes and communicate with the interiors of the clamping plates; and the moving assemblies are arranged in the fixing pipes, rubber heads are connected to the moving assemblies, and the moving assemblies are used for moving the rubber heads. According to the clamping jaw mechanism and the carrying manipulator, the multiple rubber heads can abut against cargoes, flexible adjustment can be conducted according to the shapes of the bagged cargoes, the contact area can be increased, the anti-skid effect can be improved, the clamping force on the cargoes can be controlled, the clamping effect can be guaranteed, and carrying is more stable and reliable.

Description

Technical Field

[0001] This utility model relates to the field of material handling robot technology, specifically a gripper mechanism and a material handling robot. Background Technology

[0002] Material handling robots are automated devices used in warehouse environments to assist in the handling of goods. Assisted robots are a type of material handling robot, specifically designed for labor-saving operation during material handling and installation. They combine modern mechanical technology, pneumatic-hydraulic transmission technology, and ergonomic principles. Through the principle of force balance, they allow heavy objects to float during lifting and lowering, enabling operators to move heavier materials with minimal force. In warehouse settings, assisted robots play numerous roles: they can quickly move goods, reducing manual handling time (e.g., in e-commerce logistics warehouses, they can quickly grab goods and place them in designated locations); they reduce the physical exertion of workers moving heavy objects, making the work easier when handling heavier goods; and through simple push-pull actions, they can accurately place heavy objects in target positions, facilitating palletizing and storage operations. When gripping goods, they typically use a gripper mechanism for clamping and securing, currently mainly consisting of two clamping plates.

[0003] However, when using existing gripper mechanisms and handling robots, goods such as empty bottles and plastic parts are usually transported in bags. In this case, the surface of the bag is irregularly shaped. When using two clamping plates to clamp and fix it, the clamping plates cannot completely fit the surface of the bag, the contact area is small, and slippage is easy to occur. In addition, it is not easy to control the magnitude of the clamping force, thus affecting the stability of clamping and consequently the stability of handling. Utility Model Content

[0004] The purpose of this invention is to provide a gripper mechanism and a handling robot to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a gripper mechanism, including a mounting frame, and further comprising:

[0006] A moving mechanism is provided on the mounting frame, and two hollow clamping plates are connected to the moving mechanism. The moving mechanism is used to move the clamping plates.

[0007] Multiple mounting holes are provided on the opposite sidewalls of the two clamping plates;

[0008] A fixing tube is fixedly inserted into each of the mounting holes and communicates with the interior of the clamping plate;

[0009] A movable component is disposed within each of the fixed tubes, and a rubber head is connected to the movable component, the movable component being used to move the rubber head.

[0010] Preferably, the moving component includes:

[0011] The first piston slides inside the fixed tube;

[0012] The movable rod is fixed to the end of the first piston, and the end of the movable rod away from the first piston passes through the end of the fixed tube away from the clamp and is fixed to the rubber head;

[0013] The oil supply mechanism is located above the clamping plate and is used to supply hydraulic oil into the fixed pipe.

[0014] Preferably, the oil supply mechanism includes:

[0015] The working cylinder is connected to the top of the clamping plate via a connecting pipe;

[0016] A lifting mechanism is provided on the side wall of the working cylinder, and a lifting plate is connected to the lifting mechanism. The lifting mechanism is used to lift the lifting plate.

[0017] A pressure control mechanism is provided at the bottom of the lifting plate, and a connecting plate is connected to the pressure control mechanism. The pressure control mechanism is used to control the squeezing force of the lifting plate on the connecting plate.

[0018] The second piston is inserted into the working cylinder and fixed to the connecting plate.

[0019] Preferably, the lifting mechanism includes:

[0020] The mounting block is fixed to the side wall of the working cylinder by an L-shaped plate;

[0021] The first motor is fixed to the top of the mounting block, and a threaded rod is fixedly connected to the output end of the first motor;

[0022] A threaded tube is threaded to the side wall of the threaded rod, and the lower end of the threaded tube is fixed to the top of the lifting plate.

[0023] Two first-stage rods are fixed to the bottom of the mounting block;

[0024] Two first sleeves are fitted onto the side walls of the two first sleeve rods, and the lower ends of the first sleeves are fixed to the top of the lifting plate.

[0025] Preferably, the pressure control mechanism includes:

[0026] Two second sleeves are fixed to the top of the connecting plate;

[0027] The disc slides within each of the second sleeves;

[0028] The second set of rods is fixed to the top of the disc, and the upper end of the second set of rods is fixed to the bottom of the lifting plate;

[0029] An elastic element is inserted into the second sleeve, and the elastic element is located between the bottom of the disc and the bottom of the second sleeve.

[0030] A distance sensor is fixed to the top of the connecting plate and is positioned opposite to the lifting plate.

[0031] Preferably, the moving mechanism includes:

[0032] Two guide rods are fixed to the two opposite side walls of the mounting frame;

[0033] Two T-shaped plates are fitted onto the side wall of the guide rod and fixed above the clamping plate;

[0034] A double-ended lead screw is rotatably connected to two opposite side walls of the mounting frame and threadedly connected to a T-shaped plate;

[0035] The second motor is fixed to the side wall of the mounting frame and to one end of the double-ended lead screw.

[0036] A handling robot includes a power-assisted robot body and a gripper mechanism as described above, wherein the gripper mechanism is fixed to the end of the power-assisted robot body.

[0037] Compared with the prior art, the beneficial effects of this utility model are:

[0038] This type of gripper mechanism and handling robot, by setting up an oil supply mechanism and a pressure control mechanism, can ensure that multiple rubber heads are in contact with the goods. It can be flexibly adjusted according to the shape of the bagged goods, which not only increases the contact area but also improves the anti-slip effect. Furthermore, it can control the clamping force on the goods to ensure the clamping effect, making the handling more stable and reliable. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the overall structure of the gripper mechanism in this utility model;

[0040] Figure 2 This is a partial cross-sectional view of the clamping plate in this utility model;

[0041] Figure 3 for Figure 7 Enlarged structural diagram at point A;

[0042] Figure 4 for Figure 1 Enlarged structural diagram at point B;

[0043] Figure 5 for Figure 2Enlarged structural diagram at point C;

[0044] Figure 6 for Figure 2 Enlarged structural diagram at point D;

[0045] Figure 7 This is a schematic diagram of the assembly structure of the assistive robot body and gripper mechanism in this utility model.

[0046] In the diagram: 1. Power-assisted manipulator body; 201. First piston; 202. Moving rod; 301. Connecting pipe; 302. Working cylinder; 303. Second piston; 401. L-shaped plate; 402. Mounting block; 403. Lifting plate; 404. Connecting plate; 405. First sleeve rod; 406. First sleeve; 407. Threaded pipe; 408. Threaded rod; 409. First motor; 501. Second sleeve; 502. Disc; 503. Second sleeve rod; 504. Elastic element; 505. Distance sensor; 601. Guide rod; 602. T-shaped plate; 603. Double-ended lead screw; 604. Second motor; 7. Mounting frame; 8. Clamping plate; 9. Mounting hole; 10. Fixing pipe; 11. Rubber head. Detailed Implementation

[0047] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0048] Please see Figures 1-7 This utility model provides a technical solution: a gripper mechanism, including a mounting frame 7, and further comprising:

[0049] A moving mechanism is provided on the mounting frame 7, and two hollow clamping plates 8 are connected to the moving mechanism. The moving mechanism is used to move the clamping plates 8.

[0050] Multiple mounting holes 9 are provided on the opposite sidewalls of the two clamping plates 8;

[0051] The fixing tube 10 is fixedly inserted into each mounting hole 9 and communicates with the interior of the clamping plate 8;

[0052] A movable component is installed inside each fixed tube 10, and a rubber head 11 is connected to the movable component. The movable component is used to move the rubber head 11 so that multiple rubber heads 11 can abut against the goods. It can be flexibly adjusted according to the shape of the bagged goods, which can not only increase the contact area, but also improve the anti-slip effect. In addition, it can control the clamping force on the goods to ensure the clamping effect, making the handling more stable and reliable.

[0053] Please see Figure 6 The mobile components include:

[0054] The first piston 201 slides inside the fixed tube 10;

[0055] The movable rod 202 is fixed to the end of the first piston 201, and the end of the movable rod 202 away from the first piston 201 passes through the fixed tube 10 away from the clamping plate 8 and is fixed to the rubber head 11;

[0056] The oil supply mechanism is located above the clamping plate 8 and is used to supply hydraulic oil into the fixed pipe 10. By supplying hydraulic oil into the fixed pipe 10 through the oil supply mechanism, the first piston 201 can be pushed to move away from the clamping plate 8 along the fixed pipe 10 under the action of hydraulic pressure, and multiple rubber heads 11 can be moved and collide with the goods through the moving rod 202.

[0057] Please see Figure 5 and Figure 6 The oil supply system includes:

[0058] The working cylinder 302 is connected to the upper part of the clamping plate 8 through the connecting pipe 301. Both the working cylinder 302 and the clamping plate 8 are filled with hydraulic oil.

[0059] A lifting mechanism is provided on the side wall of the working cylinder 302, and a lifting plate 403 is connected to the lifting mechanism. The lifting mechanism is used to lift the lifting plate 403.

[0060] A pressure control mechanism is located at the bottom of the lifting plate 403, and a connecting plate 404 is connected to the pressure control mechanism. The pressure control mechanism is used to control the pressing force of the lifting plate 403 on the connecting plate 404.

[0061] The second piston 303 is inserted into the working cylinder 302 and fixed to the connecting plate 404. The lifting plate 403 is driven to move downward through the lifting mechanism, and the connecting plate 404 and the second piston 303 are driven to move downward through the pressure control mechanism. When the second piston 303 slides downward along the working cylinder 302, it can squeeze the hydraulic oil in the working cylinder 302.

[0062] Please see Figure 5 and Figure 7 The lifting mechanism includes:

[0063] Mounting block 402 is fixed to the side wall of working cylinder 302 by L-shaped plate 401;

[0064] The first motor 409 is fixed to the top of the mounting block 402, and the output end of the first motor 409 is fixedly connected to the threaded rod 408;

[0065] Threaded tube 407 is threadedly connected to the side wall of threaded rod 408, and the lower end of threaded tube 407 is fixed to the top of lifting plate 403;

[0066] Two first-stage rods 405 are fixed to the bottom of the mounting block 402;

[0067] Two first sleeves 406 are sleeved on the side walls of two first sleeve rods 405, and the lower end of the first sleeve 406 is fixed to the top of the lifting plate 403. The first motor 409 is started, and the rotation of the first motor 409 drives the rotation of the threaded rod 408, thereby driving the lifting plate 403 to rise and fall.

[0068] Please see Figure 5 and Figure 7 The pressure control mechanism includes:

[0069] Two second sleeves 501 are fixed to the top of the connecting plate 404;

[0070] The disc 502 slides within each of the second sleeves 501;

[0071] The second rod 503 is fixed to the top of the disc 502, and the upper end of the second rod 503 is fixed to the bottom of the lifting plate 403;

[0072] The elastic element 504 is inserted into the second sleeve 501, and the elastic element 504 is located between the bottom of the disc 502 and the bottom of the second sleeve 501.

[0073] The distance sensor 505 is fixed to the top of the connecting plate 404 and is positioned opposite the lifting plate 403. After the rubber head 11 comes into contact with the cargo, it stops moving. When the second piston 303 continues to move downward, it can pressurize the hydraulic oil. At the same time, the elastic element 504 can be gradually compressed, and the distance between the lifting plate 403 and the connecting plate 404 gradually decreases. By detecting the change in distance between the connecting plate 404 and the lifting plate 403 through the distance sensor 505, the compression amount of the elastic element 504 and the squeezing force of the lifting plate 403 on the connecting plate 404 can be determined, thereby determining the pressure of the hydraulic oil, and further determining the squeezing force of the rubber head 11 on the cargo.

[0074] Please see Figure 2 and Figure 4 Mobile institutions include:

[0075] Two guide rods 601 are fixed to the two opposite side walls of the mounting frame 7;

[0076] Two T-shaped plates 602 are fitted onto the side wall of the guide rod 601 and fixed above the clamping plate 8;

[0077] The double-ended lead screw 603 is rotatably connected to the two opposite side walls of the mounting frame 7 and threadedly connected to the T-shaped plate 602;

[0078] The second motor 604 is fixed to the side wall of the mounting frame 7 and to one end of the double-ended lead screw 603. When the second motor 604 is started, the rotation of the second motor 604 drives the rotation of the double-ended lead screw 603, thereby driving the two T-shaped plates 602 to move closer to each other along the side wall of the guide rod 601. At the same time, it drives the two clamping plates 8 to move closer to each other, and makes the rubber head 11 closer to the goods.

[0079] A handling robot includes a power robot body 1 and a gripper mechanism as described above. The gripper mechanism is fixed to the end of the power robot body 1. The power robot body 1 is a well-known technology in this field and will not be described in detail here. The mounting frame 7 on the gripper mechanism is fixed to the end of the power robot body 1.

[0080] Working principle: When bagged goods need to be handled, the operator moves the mounting frame 7 above the goods and places the two clamping plates 8 on both sides of the goods. Then, the second motor 604 is started. The rotation of the second motor 604 drives the rotation of the double-headed screw 603, thereby driving the two T-shaped plates 602 to move closer to each other along the side wall of the guide rod 601. At the same time, it drives the two clamping plates 8 to move closer to each other, and makes the rubber head 11 close to the goods.

[0081] Next, the first motor 409 is started. The rotation of the first motor 409 drives the rotation of the threaded rod 408, which in turn drives the lifting plate 403 to move downward. The pressure control mechanism drives the connecting plate 404 and the second piston 303 to move downward. At this time, the hydraulic oil in the working cylinder 302 can be squeezed. At the same time, under the action of pressure, the first piston 201 moves along the fixed tube 10 away from the clamping plate 8, and the moving rod 202 drives multiple rubber heads 11 to move and come into contact with the goods.

[0082] Once the rubber head 11 stops moving after contacting the goods, the second piston 303 continues to move downwards, pressurizing the hydraulic oil. Simultaneously, the elastic element 504 is gradually compressed, and the distance between the lifting plate 403 and the connecting plate 404 gradually decreases. By detecting the change in distance between the connecting plate 404 and the lifting plate 403 through the distance sensor 505, the compression amount of the elastic element 504 and the squeezing force of the lifting plate 403 on the connecting plate 404 can be determined, thereby determining the hydraulic oil pressure and, consequently, the squeezing force of the rubber head 11 on the goods. This allows for flexible adjustment based on the shape of the bagged goods, ensuring that multiple rubber heads 11 are in contact with the goods. This not only increases the contact area but also improves the anti-slip effect. Furthermore, it controls the clamping force on the goods, ensuring a secure clamping effect and making the handling more stable and reliable.

Claims

1. A gripper mechanism comprising a mounting frame (7), characterised in that: Also include: A moving mechanism is arranged on the mounting frame (7), and two hollow clamping plates (8) are connected to the moving mechanism, and the moving mechanism is used for moving the clamping plate (8); A plurality of mounting holes (9) are arranged on the opposite side walls of the two clamping plates (8); A fixed tube (10) is fixedly inserted into each mounting hole (9) and communicates with the inside of the clamping plate (8); A moving assembly is arranged in each fixed tube (10), and a rubber head (11) is connected to the moving assembly, and the moving assembly is used for moving the rubber head (11).

2. A jaw mechanism according to claim 1, wherein: The moving assembly comprises: A first piston (201) slides in the fixed tube (10); A moving rod (202) is fixed to the end of the first piston (201), and the end of the moving rod (202) away from the first piston (201) penetrates the end of the fixed tube (10) away from the clamping plate (8) and is fixed with the rubber head (11); An oil supply mechanism is arranged above the clamping plate (8) and is used for supplying hydraulic oil into the fixed tube (10).

3. A gripper mechanism according to claim 2, wherein: The oil supply mechanism comprises: A working cylinder (302) is communicated above the clamping plate (8) through a connecting pipe (301); A lifting mechanism is arranged on the side wall of the working cylinder (302), and a lifting plate (403) is connected to the lifting mechanism, and the lifting mechanism is used for lifting the lifting plate (403); A pressure control mechanism is arranged at the bottom of the lifting plate (403), and a connecting plate (404) is connected to the pressure control mechanism, and the pressure control mechanism is used for controlling the extrusion force of the lifting plate (403) on the connecting plate (404); A second piston (303) is inserted into the working cylinder (302) and fixed with the connecting plate (404).

4. A jaw mechanism according to claim 3, wherein: The lifting mechanism comprises: An installation block (402) is fixed to the side wall of the working cylinder (302) through an L-shaped plate (401); A first motor (409) is fixed to the top of the installation block (402), and the output end of the first motor (409) is fixedly connected with a threaded rod (408); A threaded pipe (407) is threadedly connected to the side wall of the threaded rod (408), and the lower end of the threaded pipe (407) is fixed with the top of the lifting plate (403); Two first sleeve rods (405) are fixed to the bottom of the installation block (402); Two first sleeve pipes (406) are sleeved on the side walls of the two first sleeve rods (405), and the lower ends of the first sleeve pipes (406) are fixed with the top of the lifting plate (403).

5. A jaw mechanism according to claim 3, wherein: The pressure control mechanism comprises: Two second sleeve pipes (501) are fixed to the top of the connecting plate (404); A disc (502) slides in each second sleeve pipe (501); A second sleeve rod (503) is fixed to the top of the disc (502), and the upper end of the second sleeve rod (503) is fixed with the bottom of the lifting plate (403); An elastic member (504) is inserted into the second sleeve pipe (501), and the elastic member (504) is located between the bottom of the disc (502) and the bottom of the second sleeve pipe (501). A distance sensor (505) is fixed on the top of the connecting plate (404) and opposite to the lifting plate (403).

6. The jaw mechanism of claim 1, wherein: The moving mechanism comprises: Two guide rods (601) are fixed on two opposite side walls of the mounting frame (7); Two T-shaped plates (602) are sleeved on the side walls of the guide rods (601) and fixed above the clamping plate (8); A double-end screw rod (603) is rotatably connected to two opposite side walls of the mounting frame (7) and threadedly connected with the T-shaped plates (602); A second motor (604) is fixed on a side wall of the mounting frame (7) and fixed with one end of the double-end screw rod (603).

7. A handling robot comprising a power-assisted robot body (1), characterized in that: Further comprising: The clamping jaw mechanism is fixed on the end of the power-assisted mechanical hand body (1). The clamping jaw mechanism is fixed on the end of the power-assisted mechanical hand body (1).

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