A robotic arm gripping assembly

Abstract

The utility model provides a kind of mechanical arm grabbing subassembly, comprising: two conveyors, conveyor mutually interval and parallel arrangement, and form slit accommodation space between conveyor;A suction mechanical arm, set in slit accommodation space, suction mechanical arm includes suction piece, spherical joint and folding mechanical arm subassembly, suction piece is connected in the first end of folding mechanical arm subassembly by spherical joint, the second end of folding mechanical arm subassembly is pivoted in the lower part of conveyor, folding mechanical arm subassembly has the extension state of suction piece extending out conveyor, the retraction state of suction piece being pulled back on the upper surface of conveyor and the avoidance state of being shrunk to the lower surface of conveyor.The utility model can be aimed at unloading stacked carton scene and carry out lateral grabbing, support heavier load, stably support carton bottom in the process of carrying, prevent bottom box from falling.

Description

Technical Field

[0001] This utility model relates to the field of container warehousing, and more specifically, to a robotic arm gripping component. Background Technology

[0002] In existing unloading scenarios, suction cup components are typically used to grip the sides of the cardboard box. Throughout the process, the suction cup components rely entirely on their suction force to laterally grip and move the cardboard box.

[0003] While this structure simplifies the gripping action, it can only support cartons with relatively small loads. If the cartons contain heavy goods, the excessive weight of the cartons during side suction can cause them to deform eccentrically, potentially leading to some suction cups detaching during handling and the cartons falling.

[0004] Therefore, this utility model provides a robotic arm gripping component. Utility Model Content

[0005] To address the problems in the existing technology, the purpose of this utility model is to provide a robotic arm gripping component that overcomes the difficulties of the existing technology. It can perform lateral gripping in unloading and stacking carton scenarios, support heavier loads, and stably support the bottom of the carton during transportation to prevent the bottom of the carton from falling off.

[0006] An embodiment of this utility model provides a robotic arm grasping assembly, comprising:

[0007] Two conveyor belts are spaced apart from each other and arranged in parallel, with a narrow slit space formed between the conveyor belts.

[0008] A suction robotic arm is disposed in the slit accommodating space. The suction robotic arm includes a suction element, a ball joint, and a folding robotic arm assembly. The suction element is connected to a first end of the folding robotic arm assembly via the ball joint. The second end of the folding robotic arm assembly is pivotally connected to the lower part of the conveyor belt. The folding robotic arm assembly has an extended state in which the suction element extends out of the conveyor belt, a retracted state in which the suction element is pulled back to the upper surface of the conveyor belt, and a retracted state in which it avoids contact with the lower surface of the conveyor belt.

[0009] Preferably, the folding robotic arm assembly includes a main arm, a hinge joint, and a support arm, wherein the main arm is hinged to the support arm via the hinge joint.

[0010] Preferably, the axial direction of the hinge axis in the hinge joint is perpendicular to the slit accommodating space.

[0011] Preferably, the second end of the folding robotic arm assembly is pivotally connected to a pivot joint, the axis of which is perpendicular to the slit receiving space.

[0012] Preferably, the suction element is based on the spherical rotation of the ball joint relative to the first end of the folding robotic arm assembly.

[0013] Preferably, when the folding robotic arm assembly is in the extended state, the suction member and the main arm pass through the slit accommodating space and are exposed on the upper surface of the conveyor belt, and the suction member provides suction to the object being grasped.

[0014] Preferably, when the folding robotic arm assembly is in the pulled-back state, the suction component and part of the main arm are exposed on the upper surface of the conveyor belt. The suction component continuously provides suction to the object to be grasped to pull the object to be grasped onto the upper surface of the conveyor belt. The conveyor belt starts to rotate, transporting the object to the rear end of the conveyor belt.

[0015] Preferably, when the folding robotic arm assembly is in the avoidance state, the suction component stops providing suction to the grasped object, and the suction robotic arm retracts from the slit accommodating space to below the conveyor belt to form a channel for the grasped object to pass through the conveyor belt.

[0016] Preferably, the conveyor belt continues to rotate, continuing to transport the grasped object to the rear end of the conveyor belt.

[0017] Preferably, it further includes an outer frame, the outer frames being disposed opposite to each other, each outer frame having an inwardly extending drive shaft, and each conveyor belt being disposed on the inner side of the corresponding outer frame and being connected to the drive shaft for transmission.

[0018] The purpose of this invention is to provide a robotic arm gripping component that can perform lateral gripping in unloading and stacking cardboard box scenarios, support heavier loads, and stably support the bottom of the cardboard box during handling to prevent the bottom box from falling off. Attached Figure Description

[0019] Other features, objects, and advantages of this invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings.

[0020] Figure 1 This is a top view of the robotic arm gripping component of this utility model.

[0021] Figure 2 This is a side view of the robotic arm gripping component of this utility model.

[0022] Figure 3 This is a top view of the extended state of the robotic arm gripping component of this utility model.

[0023] Figure 4 This is a side view of the extended state of the robotic arm gripping component of this utility model.

[0024] Figure 5 This is a top view of the robotic arm gripping component of this utility model in the pulled-back state.

[0025] Figure 6 This is a side view of the robotic arm gripping component of this utility model in the pulled-back state.

[0026] Figure 7 This is a top view of the robotic arm gripping component of this utility model in the avoidance state.

[0027] Figure 8 This is a side view of the robotic arm gripping component of this utility model in the avoidance state.

[0028] Figure Labels

[0029] 10 containers

[0030] 11 Outer Frame

[0031] 12 Conveyor Belts

[0032] 13 Suction components

[0033] 14 Main Arm

[0034] 15. Hinge joint

[0035] 16 arms

[0036] 17. Pivot joint

[0037] 18. Ball joints

[0038] 19. Slit-like accommodating space Detailed Implementation

[0039] The following specific examples illustrate the implementation methods of this application. Those skilled in the art can easily understand the other advantages and effects of this application from the content disclosed herein. This application can also be implemented or applied through other different specific embodiments, and various details in this application can be modified or changed according to different viewpoints and application systems without departing from the spirit of this application. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0040] The embodiments of this application will now be described in detail with reference to the accompanying drawings, so that those skilled in the art can easily implement the application. This application may be embodied in many different forms and is not limited to the embodiments described herein.

[0041] In this application, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics represented in connection with that embodiment or example, which are included in at least one embodiment or example of this application. Furthermore, the specific features, structures, materials, or characteristics represented may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate different embodiments or examples represented in this application, as well as features of different embodiments or examples.

[0042] Furthermore, the terms "first" and "second" are used for illustrative 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 at least one of that feature. In the representation of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0043] To clearly illustrate this application, devices unrelated to the description are omitted, and the same or similar constituent elements throughout the specification are given the same reference numerals.

[0044] Throughout this specification, when it is said that a device is "connected" to another device, this includes not only "direct connection" but also "indirect connection" by placing other components in between. Furthermore, when it is said that a device "comprises" a certain constituent element, unless otherwise stated otherwise, this does not exclude other constituent elements, but rather implies that other constituent elements may be included.

[0045] When we say that a device is "above" another device, this can mean that it is directly above the other device, or it can mean that other devices are present in between. Conversely, when we say that a device is "directly" "above" another device, there are no other devices present in between.

[0046] Although the terms first, second, etc., are used in some instances herein to refer to various elements, these elements should not be limited by these terms. These terms are used only to distinguish one element from another. For example, first interface and second interface, etc., are used. Furthermore, as used herein, the singular forms “a,” “an,” and “the” are intended to also include the plural forms unless the context indicates otherwise. It should be further understood that the terms “comprising,” “including,” indicate the presence of features, steps, operations, elements, components, items, kinds, and / or groups, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, kinds, and / or groups. The terms “or” and “and / or” as used herein are interpreted as inclusive, or mean any one or any combination thereof. Thus, “A, B, or C” or “A, B, and / or C” means “any one of: A; B; C; A and B; A and C; B and C; A, B, and C.” Exceptions to this definition will only occur if the combination of elements, functions, steps, or operations is inherently mutually exclusive in some way.

[0047] The technical terms used herein are for reference only to specific embodiments and are not intended to limit the scope of this application. The singular form used herein includes the plural form unless the statement explicitly indicates otherwise. The word "comprising" as used in the specification means to specify a particular characteristic, region, integer, step, operation, element, and / or component, and does not exclude the presence or addition of other characteristics, regions, integers, steps, operations, elements, and / or components.

[0048] Although not explicitly defined, all terms, including technical and scientific terms used herein, shall have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. Terms defined in commonly used dictionaries shall be further interpreted as having a meaning consistent with the relevant technical literature and the content of this present application, and shall not be over-interpreted as having an ideal or overly formulaic meaning unless otherwise defined.

[0049] Figure 1 This is a top view of the robotic arm gripping component of this utility model. Figure 2 This is a side view of the robotic arm gripping component of this utility model. Figure 3 This is a top view of the extended state of the robotic arm gripping component of this utility model. Figure 4 This is a side view of the extended state of the robotic arm gripping component of this utility model. Figure 5 This is a top view of the robotic arm gripping component of this utility model in the pulled-back state. Figure 6 This is a side view of the robotic arm gripping component of this utility model in the pulled-back state. Figure 7 This is a top view of the robotic arm gripping component of this utility model in the avoidance state. Figure 8This is a side view of the robotic arm gripping component of this utility model in an obstacle avoidance state. Figures 1 to 8 As shown, the robotic arm grasping assembly of this utility model includes: two conveyor belts 12 and a suction robotic arm. The two conveyor belts 12 are spaced apart and arranged parallel to each other, forming a slit-like accommodating space between them. The suction robotic arm is disposed in the slit-like accommodating space and includes a suction element 13, a ball joint 18, and a folding robotic arm assembly. The suction element 13 is connected to the first end of the folding robotic arm assembly via the ball joint 18. The second end of the folding robotic arm assembly is pivotally connected to the lower part of the conveyor belts 12. The folding robotic arm assembly has an extended state where the suction element 13 extends out of the conveyor belts 12, a retracted state where the suction element 13 is pulled back to the upper surface of the conveyor belts 12, and a retracted state where it avoids contact with the lower surface of the conveyor belts 12.

[0050] In a preferred embodiment, the suction element 13 is an active suction cup that can create negative pressure with the side of the carton to generate suction, but is not limited thereto.

[0051] In a preferred embodiment, the folding robotic arm assembly includes a main arm 14, a hinge joint 15, and a support arm 16, wherein the main arm 14 is hinged to the support arm 16 via the hinge joint 15, but is not limited thereto.

[0052] In a preferred embodiment, the hinge axis in the hinge joint 15 is perpendicular to the slit receiving space, but is not limited thereto.

[0053] In a preferred embodiment, the second end of the folding robotic arm assembly is pivotally connected to a pivot joint 17, the axis of which is perpendicular to the slit receiving space, but not limited thereto.

[0054] In a preferred embodiment, the suction element 13 is based on the spherical rotation of the ball joint 18 relative to the first end of the folding robotic arm assembly, but is not limited thereto.

[0055] In a preferred embodiment, when the folding robotic arm assembly is in the extended state, the suction member 13 and the main arm 14 pass through the slit receiving space and are exposed on the upper surface of the conveyor belt 12. The suction member 13 provides suction to the object being grasped, but is not limited thereto.

[0056] In a preferred embodiment, when the folding robotic arm assembly is in the pulled-back state, the suction member 13 and part of the main arm 14 are exposed on the upper surface of the conveyor belt 12. The suction member 13 continuously provides suction to the object to be grasped to pull the object to the upper surface of the conveyor belt 12. The conveyor belt 12 starts to rotate, transporting the object to the rear end of the conveyor belt 12, but is not limited thereto.

[0057] In a preferred embodiment, when the folding robotic arm assembly is in the avoidance state, the suction member 13 stops providing suction to the grasped object, and the suction robotic arm retracts from the slit accommodating space to below the conveyor belt 12 to form a channel for the grasped object to pass through the conveyor belt 12, but is not limited thereto.

[0058] In a preferred embodiment, the conveyor belt 12 continues to rotate, continuing to transport the grasped object to the rear end of the conveyor belt 12, but is not limited thereto.

[0059] In a preferred embodiment, it further includes an outer frame 11, which are arranged opposite to each other. Each outer frame 11 is provided with an inwardly extending drive shaft. Each conveyor belt 12 is respectively arranged on the inner side of the corresponding outer frame 11 and is connected to the drive shaft for transmission, but is not limited thereto.

[0060] The specific embodiments of this utility model include:

[0061] refer to Figure 1 and 2 As shown, in the robotic arm gripping assembly of this utility model, two conveyor belts 12 are spaced apart and arranged in parallel, forming a slit-like accommodating space between the conveyor belts 12. One pair of outer frames 11 in the robotic arm gripping assembly are arranged opposite to each other, and each outer frame 11 is provided with an inwardly extending drive shaft. Each conveyor belt 12 is respectively arranged on the inner side of the corresponding outer frame 11 and is connected to the drive shaft for transmission. The suction robotic arm is arranged in the slit-like accommodating space. The suction robotic arm includes a suction element 13, a ball joint 18, and a folding robotic arm assembly. The suction element 13 is connected to the first end of the folding robotic arm assembly through the ball joint 18. The second end of the folding robotic arm assembly is pivotally connected to the lower part of the conveyor belt 12. The folding robotic arm assembly has an extended state in which the suction element 13 extends out of the conveyor belt 12, a pulled-back state in which the suction element 13 is pulled back to the upper surface of the conveyor belt 12, and a retracted state in which it avoids contact with the lower surface of the conveyor belt 12. The folding robotic arm assembly includes a main arm 14, a hinge joint 15, and a support arm 16. The main arm 14 is hinged to the support arm 16 via the hinge joint 15. The axial direction of the hinge axis in the hinge joint 15 is perpendicular to the slit receiving space. The second end of the folding robotic arm assembly is pivotally connected to a pivot joint 17, the axial direction of which is perpendicular to the slit receiving space.

[0062] refer to Figure 3 and 4 As shown, when the folding robotic arm assembly is in the extended state, the suction member 13 and the main arm 14 pass through the slit accommodating space and are exposed on the upper surface of the conveyor belt 12. The main arm 14 extends in a direction parallel to the conveyor belt 12 and provides suction to the side of the carton through the suction member 13 (suction cup structure).

[0063] refer to Figure 5 and 6As shown, when the folding robotic arm assembly is in the retracted state, the suction member 13 and part of the main arm 14 are exposed on the upper surface of the conveyor belt 12. The suction member 13 continuously provides suction to the carton to pull it onto the upper surface of the conveyor belt 12. The conveyor belt 12 then begins to rotate, transporting the carton to the rear end of the conveyor belt 12. During this process, the main arm 14 will tilt downwards, partially entering the slit receiving space. To compensate for the tilt of the main arm 14, the suction member 13 can be spherically rotated relative to the first end of the folding robotic arm assembly based on the ball joint 18, thereby maintaining surface contact between the suction member 13 and the side of the carton and ensuring that the suction force does not weaken.

[0064] refer to Figure 7 and 8 As shown, finally, when the folding robotic arm assembly is in the avoidance state, the suction component 13 stops providing suction to the carton, and the main arm 14 continues to tilt downwards until it is fully inside the slit receiving space. Because the suction robotic arm retracts from the slit receiving space below the conveyor belt 12, a channel for the carton to pass through the conveyor belt 12 can be completely formed on the upper surface of the conveyor belt 12 (the suction robotic arm will not obstruct the passage of the carton on the upper surface of the conveyor belt 12). The conveyor belt 12 continues to rotate, continuing to transport the carton to the rear end of the conveyor belt 12.

[0065] In summary, the purpose of this utility model is to provide a robotic arm gripping component that can perform lateral gripping in unloading and stacking cardboard box scenarios, support heavier loads, and stably support the bottom of the cardboard box during transportation to prevent the bottom box from falling off.

[0066] The above description, in conjunction with specific preferred embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, various simple deductions or substitutions can be made without departing from the concept of the present invention, and all such modifications and substitutions should be considered within the protection scope of the present invention.

Claims

1. A robotic arm grasping assembly, characterized in that, include: Two conveyor belts (12) are spaced apart from each other and arranged in parallel, forming a slit space between the conveyor belts (12); A suction robotic arm is disposed in the slit accommodating space. The suction robotic arm includes a suction element (13), a ball joint (18), and a folding robotic arm assembly. The suction element (13) is connected to the first end of the folding robotic arm assembly through the ball joint (18). The second end of the folding robotic arm assembly is pivotally connected to the lower part of the conveyor belt (12). The folding robotic arm assembly has an extended state in which the suction element (13) extends out of the conveyor belt (12), a pulled-back state in which the suction element (13) is pulled back to the upper surface of the conveyor belt (12), and a retracted state in which it is retracted to the lower surface of the conveyor belt (12).

2. The robotic arm gripping assembly as described in claim 1, characterized in that, The folding robotic arm assembly includes a main arm (14), a hinge joint (15), and a support arm (16), wherein the main arm (14) is hinged to the support arm (16) via the hinge joint (15).

3. The robotic arm gripping assembly as described in claim 2, characterized in that, The hinge axis in the hinge joint (15) is perpendicular to the slit accommodating space.

4. The robotic arm gripping assembly as described in claim 1, characterized in that, The second end of the folding robotic arm assembly is pivotally connected to a pivot joint (17), the axis of which is perpendicular to the slit receiving space.

5. The robotic arm gripping assembly as described in claim 1, characterized in that, The suction element (13) rotates spherically relative to the first end of the folding robotic arm assembly based on the ball joint (18).

6. The robotic arm gripping assembly as described in claim 2, characterized in that, When the folding robotic arm assembly is in the extended state, the suction member (13) and the main arm (14) pass through the slit accommodating space and are exposed on the upper surface of the conveyor belt (12), and the suction member (13) provides suction to the object being grasped.

7. The robotic arm gripping assembly as described in claim 2, characterized in that, When the folding robotic arm assembly is in the pulled-back state, the suction member (13) and part of the main arm (14) are exposed on the upper surface of the conveyor belt (12). The suction member (13) continuously provides suction to the object to be grasped to pull the object to the upper surface of the conveyor belt (12). The conveyor belt (12) starts to rotate, transporting the object to the rear end of the conveyor belt (12).

8. The robotic arm gripping assembly as described in claim 2, characterized in that, When the folding robotic arm assembly is in the avoidance state, the suction member (13) stops providing suction to the grasped object, and the suction robotic arm retracts from the slit accommodating space to below the conveyor belt (12) to form a channel for the grasped object to pass through the conveyor belt (12).

9. The robotic arm gripping assembly as described in claim 8, characterized in that, The conveyor belt (12) continues to rotate, continuing to transport the grasped object to the rear end of the conveyor belt (12).

10. The robotic arm gripping assembly as described in claim 1, characterized in that, It also includes an outer frame (11) arranged opposite to each other. Each outer frame (11) is provided with an inwardly extending drive shaft. Each conveyor belt (12) is respectively arranged inside the corresponding outer frame (11) and is connected to the drive shaft for transmission.

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