Multifunctional robotic gripper capable of picking up and holding objects

Abstract

This utility model discloses a multifunctional robot gripper capable of suction and clamping, including a robotic arm with a mounting shaft mounted on it. A mounting plate is fixedly connected to the lower end of the mounting shaft, and a gripper assembly and a suction assembly are provided on the mounting plate. The gripper assembly includes a first cylinder, a moving plate, two moving clamping plates, and two fixed clamping plates. The moving plate is fixedly connected to the telescopic end of the first cylinder. By activating the first cylinder, the telescopic end of the first cylinder moves the moving plate and the moving clamping plates, pushing the cardboard box until it contacts the inclined block. At this point, the moving and fixed clamping plates can hold the cardboard box in place, preventing it from falling due to gravity under the action of the inclined block. Activating the second and third cylinders then causes suction cups to press against the cardboard box, further securing it with suction and preventing it from falling due to gravity.

Description

Technical Field

[0001] This utility model relates to the field of robot gripper technology, and more specifically, to a multifunctional robot gripper capable of picking up and holding objects. Background Technology

[0002] In the field of automated logistics and warehousing, robotic grippers are widely used in operations such as palletizing and handling of packaging boxes (such as cardboard boxes).

[0003] Traditional robotic grippers typically rely solely on side clamps to secure palletized and packaged cardboard boxes during handling. However, in actual handling processes, insufficient clamping force or external vibrations can lead to cardboard boxes slipping, causing material damage and posing safety hazards. Utility Model Content

[0004] This invention addresses the technical problems existing in the prior art by providing a multi-functional robotic gripper capable of both picking up and clamping. It solves the problem that traditional robotic grippers, when handling palletized and packaged cardboard boxes, typically rely solely on side clamps for securing the boxes. However, in actual handling processes, insufficient clamping force or external vibrations can lead to cardboard boxes slipping, causing material damage and posing safety hazards.

[0005] To achieve the above objectives, this utility model provides a multifunctional robot gripper capable of suction and clamping, including a robotic arm, on which a mounting shaft is mounted, and a mounting plate is fixedly connected to the lower end of the mounting shaft. A gripper assembly and an adsorption assembly are provided on the mounting plate.

[0006] The clamping assembly includes a first cylinder, a movable plate, two movable clamping plates, and two fixed clamping plates. The movable plate is fixedly connected to the telescopic end of the first cylinder, the two movable clamping plates are symmetrically fixedly connected to the movable plate, and the two fixed clamping plates are symmetrically fixedly connected to the mounting plate.

[0007] The adsorption assembly includes a second cylinder and a third cylinder, and suction cups are installed on the telescopic ends of the second and third cylinders.

[0008] The beneficial effects of this utility model are:

[0009] By activating cylinder number one, the telescopic end of cylinder number one drives the moving plate and the moving clamping plate to move. The moving plate and the moving clamping plate push the cardboard box until it contacts the inclined block. At this time, the moving clamping plate and the fixed clamping plate can hold the cardboard box. Under the action of the inclined block, the cardboard box can be prevented from falling due to gravity. Then, cylinder number two and cylinder number three are activated. The suction cup is pressed against the cardboard box. The suction cup will further fix the cardboard box with suction force to prevent the cardboard box from falling due to gravity.

[0010] Preferably, the mounting plate is provided with a pushing assembly, which includes a fourth cylinder. An L-shaped plate is fixedly connected to the telescopic end of the fourth cylinder. A fifth cylinder is fixedly mounted on the L-shaped plate. A rectangular plate is fixedly connected to the telescopic end of the fifth cylinder. Connecting rods are symmetrically fixedly connected to the rectangular plate. The lower ends of the two connecting rods are jointly fixedly connected to a push plate.

[0011] Preferably, two first fixing plates are symmetrically fixedly connected to the upper surface of the mounting plate, the second cylinder and the third cylinder are respectively fixedly installed on the two first fixing plates, and the first cylinder is fixedly installed on the right first fixing plate.

[0012] Preferably, a square plate is fixedly connected to the mounting plate, the lower end of the push plate is disposed in the square plate, a base plate is fixedly connected to the end face of the mounting plate opposite to the square plate, a second fixing plate is fixedly connected to the upper end face of the mounting plate, and the fourth cylinder is fixedly mounted on the second fixing plate.

[0013] Preferably, both the movable clamping plate and the fixed clamping plate are fixedly connected with inclined blocks.

[0014] Preferably, the mounting plate has two symmetrical connection ports, and the suction cup is disposed in the connection ports.

[0015] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0016] By activating cylinder number one, the telescopic end of cylinder number one drives the moving plate and the moving clamping plate to move. The moving plate and the moving clamping plate push the cardboard box until it contacts the inclined block. At this time, the moving clamping plate and the fixed clamping plate can hold the cardboard box. Under the action of the inclined block, the cardboard box can be prevented from falling due to gravity. Then, cylinder number two and cylinder number three are activated. The suction cup is pressed against the cardboard box. The suction cup will further fix the cardboard box with suction force to prevent the cardboard box from falling due to gravity. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the multifunctional robot gripper of this utility model, which is capable of overall suction and clamping;

[0018] Figure 2 This is a schematic diagram of a portion of the structure of the multifunctional robot gripper of this utility model, which is capable of picking up and clamping as a whole.

[0019] Figure 3 for Figure 2 Another structural diagram;

[0020] Figure 4 for Figure 3 Top view.

[0021] The meanings of the labels in the diagram are as follows:

[0022] 1. Robotic arm; 2. Mounting shaft; 3. Mounting plate; 4. Clamping assembly; 401. Cylinder No. 1; 402. Moving plate; 403. Moving clamping plate; 404. Fixed clamping plate; 405. Inclined block; 5. Adsorption assembly; 501. Cylinder No. 2; 502. Cylinder No. 3; 503. Suction cup; 6. Pushing assembly; 601. Cylinder No. 4; 602. L-shaped plate; 603. Cylinder No. 5; 604. Rectangular plate; 605. Connecting rod; 606. Push plate; 607. Rectangular plate; 608. Base plate; 7. First fixed plate; 8. Second fixed plate. Detailed Implementation

[0023] 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.

[0024] Please see Figures 1-4 This embodiment provides a multi-functional robot gripper capable of picking up and holding, including a robotic arm 1, a mounting shaft 2 mounted on the robotic arm 1, and a mounting plate 3 fixedly connected to the lower end of the mounting shaft 2. Considering that the box is fixed by relying solely on the side clamping plate, there may be insufficient clamping force or the box may slip off due to external vibration or other factors during actual handling. The mounting plate 3 is provided with a gripper assembly 4 and an adsorption assembly 5.

[0025] The clamp assembly 4 includes a first cylinder 401, a movable plate 402, two movable clamping plates 403 and two fixed clamping plates 404. The movable plate 402 is fixedly connected to the telescopic end of the first cylinder 401. The two movable clamping plates 403 are symmetrically fixedly connected to the movable plate 402. The two fixed clamping plates 404 are symmetrically fixedly connected to the mounting plate 3.

[0026] The adsorption assembly 5 includes a second cylinder 501 and a third cylinder 502, and a suction cup 503 is installed on the telescopic ends of both the second cylinder 501 and the third cylinder 502.

[0027] In summary, the improvement of this embodiment lies in:

[0028] By activating cylinder 401, the telescopic end of cylinder 401 moves the moving plate 402 and the moving clamping plate 403. The moving plate 402 and the moving clamping plate 403 push the cardboard box until it contacts the inclined block 405. At this time, the moving clamping plate 403 and the fixed clamping plate 404 can hold the cardboard box. Under the action of the inclined block 405, the cardboard box can be prevented from falling due to gravity. Then, cylinders 501 and 502 are activated, and the suction cup 503 presses against the cardboard box. The suction cup 503 will further fix the cardboard box with suction force to prevent the cardboard box from falling due to gravity.

[0029] Based on the above, other structures also need to be disclosed in detail, such as:

[0030] Please see Figures 2 to 4 Considering the need to push the cardboard box directly under the mounting plate 3, a pushing assembly 6 is provided on the mounting plate 3. The pushing assembly 6 includes a fourth cylinder 601, an L-shaped plate 602 fixedly connected to the telescopic end of the fourth cylinder 601, a fifth cylinder 603 fixedly installed on the L-shaped plate 602, a rectangular plate 604 fixedly connected to the telescopic end of the fifth cylinder 603, and connecting rods 605 symmetrically fixedly connected to the rectangular plate 604. The lower ends of the two connecting rods 605 are fixedly connected to a push plate 606. When the fourth cylinder 601 is activated, the telescopic end of the fourth cylinder 601 drives the L-shaped plate 602, the fifth cylinder 603 and the push plate 606 to move. During this movement, the push plate 606 can push the cardboard box to move.

[0031] Please see Figure 2 Considering the need to fix cylinders 501, 502, and 401, two first fixing plates 7 are symmetrically fixedly connected to the upper surface of the mounting plate 3. Cylinders 501 and 502 are fixedly installed on the two first fixing plates 7 respectively, and cylinder 401 is fixedly installed on the right first fixing plate 7.

[0032] Please see Figures 2 to 4 Considering the need to position the pushed cardboard box, a backplate 607 is fixedly connected to the mounting plate 3. The lower end of the push plate 606 is set in the backplate 607. A base plate 608 is fixedly connected to the end face of the mounting plate 3 away from the backplate 607. A second fixing plate 8 is fixedly connected to the upper end face of the mounting plate 3. The fourth cylinder 601 is fixedly installed on the second fixing plate 8. When the cardboard box moves to contact the base plate 608, it is directly below the mounting plate 3.

[0033] Please see Figures 2 to 4 To prevent the cardboard box from falling from below during movement, inclined blocks 405 are fixedly connected to both moving clamps 403 and fixed clamps 404. The inclined surfaces of the inclined blocks 405 can prevent the cardboard box from falling.

[0034] Please see Figure 3 and Figure 4 Considering that the suction cup 503 needs to move downwards, two connection ports are symmetrically opened on the mounting plate 3. The suction cup 503 is set in the connection port and passes through the connection port to abut against the cardboard box.

[0035] In summary, the working principle of this solution is as follows:

[0036] The robotic arm 1 moves the clamp to the top of the cardboard box containing the stacked and packaged paper. Before clamping the cardboard box, it needs to be moved directly below the mounting plate 3. Cylinder 5 603 is activated, and its extension / retraction end moves the rectangular plate 604, connecting rod 605, and push plate 606 downwards. Cylinder 4 601 is then activated, and its extension / retraction end moves the L-shaped plate 602, cylinder 5 603, and push plate 606. During this movement, push plate 606 pushes the cardboard box. When the cardboard box contacts the base plate 608, it is positioned on the mounting plate. Directly below point 3, cylinder 401 is activated. The telescopic end of cylinder 401 moves the moving plate 402 and the moving clamping plate 403. The moving plate 402 and the moving clamping plate 403 push the cardboard box until it contacts the inclined block 405. At this time, the moving clamping plate 403 and the fixed clamping plate 404 can hold the cardboard box. Under the action of the inclined block 405, the cardboard box can be prevented from falling due to gravity. Then, cylinders 501 and 502 are activated. The suction cup 503 presses against the cardboard box. The suction cup 503 will further fix the cardboard box with suction force to prevent the cardboard box from falling due to gravity.

[0037] It is worth noting that the entire device is controlled by a controller. Since the controller is a common device and belongs to existing mature technology, its electrical connection relationship and specific circuit structure will not be described in detail here.

[0038] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A multifunctional robot gripper capable of picking up and clamping, comprising a robotic arm (1), wherein a mounting shaft (2) is mounted on the robotic arm (1), and a mounting plate (3) is fixedly connected to the lower end of the mounting shaft (2), characterized in that: The mounting plate (3) is provided with a clamp assembly (4) and an adsorption assembly (5); The clamp assembly (4) includes a first cylinder (401), a movable plate (402), two movable clamping plates (403) and two fixed clamping plates (404). The movable plate (402) is fixedly connected to the telescopic end of the first cylinder (401). The two movable clamping plates (403) are symmetrically fixedly connected to the movable plate (402). The two fixed clamping plates (404) are symmetrically fixedly connected to the mounting plate (3). The adsorption assembly (5) includes a second cylinder (501) and a third cylinder (502), and suction cups (503) are installed on the telescopic ends of the second cylinder (501) and the third cylinder (502).

2. The multifunctional robot gripper capable of picking up and holding according to claim 1, characterized in that: The mounting plate (3) is provided with a pushing assembly (6), which includes a fourth cylinder (601). An L-shaped plate (602) is fixedly connected to the telescopic end of the fourth cylinder (601). A fifth cylinder (603) is fixedly installed on the L-shaped plate (602). A rectangular plate (604) is fixedly connected to the telescopic end of the fifth cylinder (603). Connecting rods (605) are symmetrically fixedly connected to the rectangular plate (604). The lower ends of the two connecting rods (605) are fixedly connected to a push plate (606).

3. The multifunctional robot gripper capable of picking up and holding according to claim 1, characterized in that: Two first fixing plates (7) are symmetrically fixedly connected to the upper surface of the mounting plate (3). The second cylinder (501) and the third cylinder (502) are respectively fixedly installed on the two first fixing plates (7), and the first cylinder (401) is fixedly installed on the right first fixing plate (7).

4. The multifunctional robot gripper capable of picking up and holding according to claim 2, characterized in that: A rectangular plate (607) is fixedly connected to the mounting plate (3). The lower end of the push plate (606) is set in the rectangular plate (607). A base plate (608) is fixedly connected to the end face of the mounting plate (3) away from the rectangular plate (607). A second fixing plate (8) is fixedly connected to the upper end face of the mounting plate (3). The fourth cylinder (601) is fixedly installed on the second fixing plate (8).

5. The multifunctional robot gripper capable of picking up and holding according to claim 1, characterized in that: An inclined block (405) is fixedly connected to each of the two movable clamping plates (403) and the fixed clamping plate (404).

6. The multifunctional robot gripper capable of picking up and holding according to claim 1, characterized in that: The mounting plate (3) has two symmetrical connection ports, and the suction cup (503) is disposed in the connection port.

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