Adaptive flexible clamp and multi-scene carrying robot

Abstract

The utility model relates to the technical field of carrying robot, concretely is a kind of self-adapting flexible clamp and multi-scene carrying robot.The clamp includes fixed plate with fixed shaft, rotating sleeve is connected U-shaped frame through annular cover, and U-shaped frame slidingly sets sliding block with suction cup.Initially, U-shaped plate limits the movement of sliding block;After target object contacts U-shaped plate, the limit is removed, and tension spring pulls sliding block to make suction cup self-adapting to adhere to object surface.When rotating sleeve rotates, its internal rectangular plate pushes down triangular block, and drives the insertion rod of U-shaped inner plate to insert into the insertion slot of sliding block to complete mechanical braking.Cooperate with the bottom AGV dolly, realize multi-scenario carrying.The problem that rigid clamp damages object and lacks braking protection is solved, self-adapting clamping and double anti-falling protection are realized, and use cost is reduced.

Description

Technical Field

[0001] This utility model relates to the field of handling robot technology, and in particular to an adaptive flexible gripper and a multi-scenario handling robot. Background Technology

[0002] In the fields of industrial automation and material handling, traditional rigid clamps generally suffer from problems such as uncontrollable clamping force, poor adaptability, and easy damage to the target object. Especially when dealing with irregularly shaped, fragile, or high-precision surface objects, the hard contact method of rigid clamps can easily cause deformation, scratches, or detachment of the target object, leading to production losses and safety hazards. In addition, existing handling equipment lacks a dynamic braking protection mechanism during clamping. In the event of an accidental collision or power interruption, the target object may fall due to inertia, causing equipment damage or safety accidents.

[0003] With the development of flexible manufacturing and intelligent logistics technologies, the market is placing higher demands on handling equipment: it must simultaneously possess adaptive clamping capabilities, versatility across multiple scenarios, and safety redundancy design. However, in existing technical solutions, flexible clamps often rely on complex sensors and closed-loop control systems, which are costly and complex to maintain; while simple clamps, although low in cost, cannot simultaneously ensure clamping stability and protection of the target object.

[0004] Therefore, there is an urgent need for an innovative technical solution that is structurally simple, cost-controllable, and can achieve flexible clamping and dual braking protection. Utility Model Content

[0005] The purpose of this invention is to address the problems of uncontrollable clamping force, poor adaptability, and easy damage to target objects inherent in existing rigid clamps. Especially when dealing with irregularly shaped, fragile, or high-precision surface objects, the hard contact of rigid clamps easily causes deformation, scratches, or detachment of the target object, leading to production losses and safety hazards. Furthermore, existing handling equipment lacks a dynamic braking protection mechanism during clamping; in the event of an accidental collision or power interruption, the target object may detach due to inertia, causing equipment damage or safety accidents. With the development of flexible manufacturing and intelligent logistics technologies, the market places higher demands on handling equipment: it must simultaneously possess adaptive clamping capabilities, multi-scenario versatility, and safety redundancy design. However, in existing technical solutions, flexible clamps often rely on complex sensors and closed-loop control systems, which are costly and complex to maintain; while simple clamps, although low-cost, cannot simultaneously address the shortcomings of clamping stability and target object protection. Therefore, this invention proposes an adaptive flexible clamp and a multi-scenario handling robot.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] An adaptive flexible clamp includes a fixed plate, a collection box fixedly connected to one side of the fixed plate, a fixed shaft fixedly connected to the top of the fixed plate, a rotating sleeve rotatably sleeved on the outer wall of the fixed shaft, an annular sleeve fixedly sleeved on the outer wall of the rotating sleeve, a U-shaped frame fixedly installed on one side of the annular sleeve, and multiple sliding blocks slidably passing through both ends of the U-shaped frame, with a clamping component for clamping a target object provided at one end of each sliding block.

[0008] The U-shaped frame has a U-shaped cavity inside, and a braking component for braking the sliding block is installed inside the U-shaped cavity;

[0009] A pushing component, which is disposed inside the rotating sleeve, is used to push the braking component downward;

[0010] When the target object comes into contact with the U-shaped frame, the clamping assembly adaptively clamps the target object; when the rotating sleeve rotates, the pushing assembly pushes the braking assembly downward to brake the sliding block and prevent the target object from falling off.

[0011] In one possible design, the clamping assembly includes a suction cup fixedly connected to one end of the sliding block, a limiting plate fixedly connected to the other end of the sliding block, and two tension springs symmetrically arranged between one side of the limiting plate and one side of the U-shaped frame. Both ends of the tension springs are connected to one side of the U-shaped frame and one side of the limiting plate via hooks.

[0012] The tension spring causes the sliding block to move adaptively when it comes into contact with the target object, and the suction cup flexibly adheres to the surface of the target object.

[0013] In one possible design, the braking assembly includes a U-shaped inner plate slidably connected inside a U-shaped cavity. Two second springs are symmetrically arranged between the bottom of the U-shaped inner plate and the bottom inner wall of the U-shaped cavity. The top and bottom of the second springs abut against the bottom of the U-shaped inner plate and the bottom inner wall of the U-shaped cavity through spring seats. Multiple insert rods are fixedly connected to the bottom of the U-shaped inner plate. Multiple slots are opened on the top of the sliding block. The slots engage with the insert rods. A triangular block is fixedly connected to the middle position of the top of the U-shaped inner plate.

[0014] The insert rod is inserted into the slot to fix the sliding block and provide physical braking protection.

[0015] In one possible design, the pushing assembly includes a rectangular hole formed inside the rotating sleeve, a second rectangular groove formed on the inner wall of the annular sleeve, the second rectangular groove and the rectangular hole being connected, a rectangular plate being slidably connected inside the rectangular hole and the second rectangular groove, a first spring being provided between one side of the rectangular plate and one side of the inner wall of the second rectangular groove, both ends of the first spring being abutted against one side of the inner wall of the second rectangular groove and one side of the rectangular plate via spring seats, a pushing plate being fixedly connected to one side of the rectangular plate, a first rectangular groove formed on the outer wall of the annular sleeve, and one end of the pushing plate extending into the interior of the first rectangular groove and engaging with a triangular block;

[0016] When the rotating sleeve rotates, the rectangular plate moves, and the push plate pushes the triangular block down to drive the braking assembly.

[0017] In one possible design, the outer wall of the fixed shaft is provided with a clearance opening, which is used in conjunction with a rectangular plate;

[0018] The clearance opening allows the rectangular plate to extend out in its initial position and retract during rotation.

[0019] In one possible design, a servo motor is fixedly connected to the bottom of the fixed plate, and the output shaft of the servo motor is fixedly connected to the bottom of the rotating sleeve.

[0020] The servo motor drives the rotating sleeve to rotate, triggering the linkage between the pushing component and the braking component.

[0021] In one possible design, a U-shaped plate is slidably connected to the inner wall of the U-shaped frame, and multiple notches are provided on both sides of the top of the U-shaped plate. The notches and the sliding block cooperate to initially limit the sliding block.

[0022] When the target object comes into contact with the U-shaped plate, the U-shaped plate slides to align the notch with the sliding block, thus releasing the limit.

[0023] A multi-scenario handling robot includes the aforementioned adaptive flexible gripper and an AGV trolley, which is fixedly installed at the bottom of a collection box.

[0024] Among them, AGVs enable autonomous navigation and handling, and are suitable for multiple scenarios such as ground, shelves and production lines.

[0025] In this application, during use, the movement of the AGV trolley can help the device move to a suitable position to pick up the target object, so that the target object moves into the inside of the U-shaped frame. In the initial state, the two ends of the U-shaped plate abut against one end of the sliding block, and the notch is misaligned with the sliding block. When the target object contacts the U-shaped plate, the U-shaped plate is pushed into the inside of the U-shaped frame, so that the notch is aligned with the sliding block, and the braking state of the multiple sliding blocks is released.

[0026] Multiple limiting plates move laterally under the tension of the tension springs. The limiting plates move laterally under the tension of the tension springs, and the limiting plates drive the sliding blocks to move laterally. The sliding blocks drive the suction cup to move laterally. At this time, the suction cup will adsorb the target object, realizing flexible clamping. The extension distance of the multiple sliding blocks can be automatically changed according to the shape of the target object.

[0027] During clamping, the rectangular plate is inside the clearance opening, and the push plate is inside the second rectangular slot. At this time, the servo motor is started, and the output shaft of the servo motor drives the rotating sleeve to rotate. The rotating sleeve drives the annular sleeve to rotate. At this time, the rectangular plate gradually moves out from inside the clearance opening and then retracts into the second rectangular slot. The first spring is compressed, and the push plate enters the first rectangular slot. The push plate pushes the triangular block to move down, and the triangular block drives the U-shaped inner plate to move down. The U-shaped inner plate compresses the second spring, and the U-shaped inner plate drives the insertion rod to move down. The insertion rod enters the corresponding slot, which can brake multiple sliding blocks to ensure the stability of the sliding blocks. At the same time, the target object moves to the top of the collection box, and it can also ensure that the transportation process can still be completed if the target object falls.

[0028] Beneficial effects:

[0029] By employing a coordinated design between the suction cup and the sliding block, this application achieves dynamic matching between clamping force and contact area. When the target object contacts the U-shaped plate, the sliding block automatically adjusts its extension distance under the action of a tension spring, ensuring a flexible fit between the suction cup and the target object's surface, thus avoiding scratches or deformation caused by rigid contact. This design is particularly suitable for handling irregularly shaped parts, fragile items, and high-precision components.

[0030] The U-shaped inner plate and the insert rod engage to physically limit the sliding block after clamping, preventing the target object from falling off due to vibration or inertia during transportation.

[0031] The rotating sleeve driven by the servo motor forms a power locking mechanism with the rectangular plate. Even if the motor is powered off, the preload of the first spring can still maintain the clamping state, ensuring safe transportation under abnormal working conditions.

[0032] The main body of the clamp is integrated into the U-shaped frame, enabling autonomous navigation and handling in various scenarios such as the ground, shelves, and production lines when used with AGV trolleys. The staggered and limiting design of the U-shaped plate and sliding block keeps the clamp compact in its initial state, facilitating operation in narrow spaces; the automatic expansion structure after clamping ensures both stability and maneuverability.

[0033] By using a mechanical triggering method where the target object contacts the U-shaped plate, the clamping action is automatically started and the braking is released, replacing the traditional sensors and electronic control system. This design simplifies the control logic, reduces the number of electrical components, significantly reduces equipment cost and maintenance difficulty, and improves system reliability.

[0034] Even if the target object becomes loose during transportation, the dual protection of the braking component and the power locking mechanism can maintain its clamping state and prevent it from falling. Combined with the AGV's path planning function, the target object can be automatically transferred to a safe area, minimizing the risk of production interruption. Attached Figure Description

[0035] Figure 1 This is a three-dimensional structural diagram of an adaptive flexible gripper and a multi-scenario handling robot proposed in this utility model;

[0036] Figure 2 This is a three-dimensional structural diagram of an adaptive flexible gripper and a multi-scenario handling robot from a second perspective, as proposed in this utility model.

[0037] Figure 3 An exploded view of the fixed axis and rotating sleeve in an adaptive flexible clamp and multi-scenario handling robot proposed in this utility model;

[0038] Figure 4 An exploded view of the annular sleeve and rotating sleeve in an adaptive flexible clamp and multi-scenario handling robot proposed in this utility model;

[0039] Figure 5 This is an exploded view of the U-shaped frame and U-shaped plate in an adaptive flexible fixture and multi-scenario handling robot proposed in this utility model.

[0040] In the diagram: 1. AGV trolley; 2. Servo motor; 3. Fixing plate; 5. U-shaped frame; 6. Collection box; 7. Annular sleeve; 8. Rectangular plate; 9. Rotating sleeve; 10. Clearance opening; 11. Fixing shaft; 12. U-shaped plate; 13. Rectangular hole; 14. First rectangular groove; 15. Second rectangular groove; 16. Push plate; 17. First spring; 19. Suction cup; 20. Slot; 21. Tension spring; 22. Sliding block; 23. Limiting plate; 24. U-shaped inner plate; 25. Second spring; 26. U-shaped cavity; 27. Insert rod; 28. Notch; 29. ​​Triangular block. Detailed Implementation

[0041] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0042] In one embodiment; reference Figure 1-5 A clamp, comprising: a fixing plate 3,

[0043] The fixed plate 3 is horizontally arranged, and its right side is fixedly connected to the collection box 6 by bolts. The bottom of the collection box 6 is reserved with an installation interface for the AGV trolley 1. The fixed shaft 11 is welded to the center of the top of the fixed plate 3. The outer wall of the fixed shaft 11 is rotatably connected to the rotating sleeve 9 through the bearing. The outer wall of the rotating sleeve 9 is fixedly connected to the annular sleeve 7 by a key. The right side of the annular sleeve 7 is welded to the U-shaped frame 5. Multiple through holes are opened in the upper and lower end faces of the U-shaped frame 5 along the horizontal direction. A sliding block 22 is slidably assembled in each through hole. The cross section of the sliding block 22 can be designed as a rectangular or trapezoidal structure. The trapezoidal cross section can enhance the guiding effect, and the rectangular cross section is easy to process and groove. The right end of the sliding block 22 is connected to the suction cup 19 by thread, and the left end is welded to the limiting plate 23. Two sets of tension springs 21 are symmetrically arranged between the limiting plate 23 and the left side face of the U-shaped frame 5. The two ends of each set of tension springs 21 are respectively hooked to the pre-set hanging ears of the U-shaped frame 5 and the limiting plate 23 by D-shaped rings.

[0044] A U-shaped cavity 26 is formed inside the U-shaped frame 5. A U-shaped inner plate 24 is slidably assembled inside the U-shaped cavity 26. Two sets of second springs 25 are symmetrically arranged between the bottom of the U-shaped inner plate 24 and the bottom surface of the U-shaped cavity 26. The upper and lower ends of each set of second springs 25 abut against the bottom surfaces of the U-shaped inner plate 24 and the bottom surface of the U-shaped cavity 26, respectively, through spring seats. Multiple insert rods 27 are vertically welded to the bottom of the U-shaped inner plate 24. Multiple slots 20 are formed along the axial direction on the top surface of the sliding block 22. The spacing of the slots 20 matches the spacing of the insert rods 27. A triangular block 29 is welded to the center of the top surface of the U-shaped inner plate 24. The inclined surface of the triangular block 29 is arranged facing the upper right.

[0045] A rectangular hole 13 is formed inside the rotating sleeve 9, and a second rectangular groove 15 is formed on the inner wall of the annular sleeve 7 at the corresponding position. The rectangular hole 13 and the second rectangular groove 15 communicate to form a rectangular channel. A rectangular plate 8 is slidably assembled inside the channel. A first spring 17 is set between the left side of the rectangular plate 8 and the left side of the second rectangular groove 15. The two ends of the first spring 17 abut against the side walls of the rectangular plate 8 and the second rectangular groove 15 respectively through spring seats. A push plate 16 is welded to the right side of the rectangular plate 8, and the right end of the push plate 16 extends into the first rectangular groove 14 formed on the outer wall of the annular sleeve 7. A clearance opening 10 is formed on the outer wall of the fixed shaft 11. When the rotating sleeve 9 rotates to the working position, the clearance opening 10 and the rectangular plate 8 form a straight channel.

[0046] A multi-scenario handling robot includes the aforementioned gripper and an AGV trolley 1, which is fixedly installed at the bottom of a collection box 6.

[0047] This application can be used in the field of handling robots, or in other fields applicable to this application.

[0048] In another embodiment; reference Figure 1-5An adaptive flexible clamp is used in the field of handling robots. The bottom of the fixed plate 3 is fixed with a servo motor 2 by bolts. The output shaft of the servo motor 2 is connected to the bottom of the rotating sleeve 9 by a coupling. The U-shaped plate 12 is slidably assembled on the inner wall of the U-shaped frame 5. Multiple notches 28 are symmetrically opened on the upper and lower sides of the U-shaped plate 12. The position of the notches 28 corresponds to the initial position of the sliding block 22.

[0049] In actual operation, the AGV trolley 1, carrying the collection box 6, moves above the target object and adjusts its position after being positioned by the vision system. Initially, the right side of the U-shaped plate 12 protrudes from the right end face of the U-shaped frame 5, and its notch 28 forms a misaligned fit with the sliding block 22, which is limited by the end face of the U-shaped plate 12. When the target object contacts the left side of the U-shaped plate 12, it pushes the U-shaped plate 12 to slide to the left, aligning the notch 28 with the sliding block 22 and releasing the axial constraint on the sliding block 22. At this time, the limiting plate 23, under the tension of the tension spring 21, drives the sliding block 22 to move to the right. The suction cup 19 at the right end of the sliding block 22 contacts the surface of the target object, forming an adsorption. Multiple sliding blocks 22 automatically adjust their extension according to the shape of the target object, achieving adaptive flexible clamping.

[0050] The servo motor 2 is started to drive the rotating sleeve 9 to rotate counterclockwise. The rotating sleeve 9 drives the annular sleeve 7 to rotate synchronously, and the rectangular plate 8 gradually exits the area of ​​the clearance opening 10 under the constraint of the clearance opening 10. When the rotating sleeve 9 rotates 90 degrees, the rectangular plate 8 fully enters the second rectangular groove 15 and compresses the first spring 17. At the same time, the right end of the push plate 16 enters the first rectangular groove 14 and contacts the inclined surface of the triangular block 29. During the continued rotation, the push plate 16 presses down along the inclined surface of the triangular block 29, causing the U-shaped inner plate 24 to move down against the elastic force of the second spring 25. The insertion rod 27 inserts into the corresponding slot 20 of the sliding block 22 to form a mechanical brake. At this time, the target object is lifted above the collection box 6. Even if there is an accidental collision or power interruption, the engagement of the insertion rod 27 and the slot 20 and the preload of the first spring 17 can still maintain the clamping state, ensuring that the target object is safely transferred into the collection box 6.

[0051] However, as is well known to those skilled in the art, the working principles and wiring methods of the AGV trolley 1 and the servo motor 2 are commonplace and are all conventional methods or common knowledge. They will not be elaborated here. Those skilled in the art can make any selections according to their needs or convenience.

[0052] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. An adaptive flexible clamp, characterized in that, include: A fixed plate (3) is fixedly connected to a collection box (6) on one side. A fixed shaft (11) is fixedly connected to the top of the fixed plate (3). A rotating sleeve (9) is rotatably sleeved on the outer wall of the fixed shaft (11). An annular sleeve (7) is fixedly sleeved on the outer wall of the rotating sleeve (9). A U-shaped frame (5) is fixedly installed on one side of the annular sleeve (7). Multiple sliding blocks (22) slide through both ends of the U-shaped frame (5). A clamping component for clamping the target object is provided at one end of the sliding block (22). The U-shaped frame (5) has a U-shaped cavity (26) inside, and a braking component for braking the sliding block (22) is provided inside the U-shaped cavity (26); A pushing component is disposed inside the rotating sleeve (9) and is used to push the braking component downward.

2. The adaptive flexible clamp according to claim 1, characterized in that, The clamping assembly includes a suction cup (19) fixedly connected to one end of the sliding block (22), and a limiting plate (23) fixedly connected to the other end of the sliding block (22). Two tension springs (21) are symmetrically arranged between one side of the limiting plate (23) and one side of the U-shaped frame (5). Both ends of the tension springs (21) are connected to one side of the U-shaped frame (5) and one side of the limiting plate (23) through hooks.

3. The adaptive flexible clamp according to claim 1, characterized in that, The braking assembly includes a U-shaped inner plate (24) slidably connected inside the U-shaped cavity (26). Two second springs (25) are symmetrically arranged between the bottom of the U-shaped inner plate (24) and the bottom inner wall of the U-shaped cavity (26). The top and bottom of the second springs (25) abut against the bottom of the U-shaped inner plate (24) and the bottom inner wall of the U-shaped cavity (26) through spring seats. Multiple insert rods (27) are fixedly connected to the bottom of the U-shaped inner plate (24). Multiple slots (20) are opened on the top of the sliding block (22). The slots (20) engage with the insert rods (27). A triangular block (29) is fixedly connected to the middle position of the top of the U-shaped inner plate (24).

4. The adaptive flexible clamp according to claim 1, characterized in that, The pushing assembly includes a rectangular hole (13) inside the rotating sleeve (9). The inner wall of the annular sleeve (7) is provided with a second rectangular groove (15). The second rectangular groove (15) and the rectangular hole (13) are connected. The rectangular hole (13) and the second rectangular groove (15) are slidably connected to the same rectangular plate (8). The same first spring (17) is provided between one side of the rectangular plate (8) and one side of the inner wall of the second rectangular groove (15). Both ends of the first spring (17) are in contact with one side of the inner wall of the second rectangular groove (15) and one side of the rectangular plate (8) through spring seats. A pushing plate (16) is fixedly connected to one side of the rectangular plate (8). The outer wall of the annular sleeve (7) is provided with a first rectangular groove (14). One end of the pushing plate (16) extends into the interior of the first rectangular groove (14) and is used in conjunction with the triangular block (29).

5. The adaptive flexible clamp according to claim 4, characterized in that, The outer wall of the fixed shaft (11) is provided with a clearance opening (10), which is used in conjunction with the rectangular plate (8).

6. The adaptive flexible clamp according to claim 1, characterized in that, The bottom of the fixed plate (3) is fixedly connected to a servo motor (2), and the output shaft of the servo motor (2) is fixedly connected to the bottom of the rotating sleeve (9).

7. The adaptive flexible clamp according to claim 1, characterized in that, The inner wall of the U-shaped frame (5) is slidably connected to a U-shaped plate (12). Multiple notches (28) are provided on both sides of the top of the U-shaped plate (12). The notches (28) and the sliding block (22) cooperate to initially limit the sliding block (22).

8. A multi-scenario handling robot, comprising an adaptive flexible gripper as described in any one of claims 1-7, characterized in that, It also includes an AGV (1) which is fixedly installed at the bottom of the collection box (6).

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