A type of anti-drop gripper mechanism

Abstract

This utility model discloses an anti-drop gripper mechanism, including a gripper assembly and an anti-detachment assembly. The gripper assembly includes a gripper drive assembly and symmetrically arranged grippers. The gripper drive assembly drives the grippers to translate towards or away from each other. The anti-detachment assembly is disposed on the grippers and includes an anti-detachment drive assembly and a limiting part. The two grippers are gripped from the outside of the object being gripped. The anti-detachment drive assembly drives the limiting part to limit the object being gripped from the opposite side of the grippers. Through structural optimization, the problems of easy deformation, slippage, and limited operating space when clamping turnover boxes are effectively solved: the gripping part lifts the outer edge of the turnover box from the outside, and the limiting part of the anti-detachment assembly moves down from the inside to form a gripping gap, achieving double limiting to prevent the inward concavity of the box wall and the torsion of the outer edge, thus avoiding deformation and slippage.

Description

Technical Field

[0001] This utility model belongs to the technical field of handling and transfer equipment, specifically relating to an anti-drop gripper mechanism. Background Technology

[0002] Turnover boxes, also known as logistics boxes, are widely used in industries such as machinery, automobiles, home appliances, light industry, and electronics. They are acid and alkali resistant, oil resistant, non-toxic, and odorless, suitable for storing food, easy to clean, facilitate convenient parts turnover, neat stacking, and easy management; see Figure 4 The image shows the structure of a conventional turnover box 40, which includes a rectangular box body, an outward-flared edge 41 located at the upper edge of the box body, and a reinforcing rib 42 connecting the lower end face of the outward-flared edge 41 to the box body. Since the strength at the upper edge of the turnover box body is lower than that at the bottom, if the upper edge of the box body is directly clamped, the upper edge of the box body will often deform elastically due to excessive force. For example, if the items inside the turnover box are heavy, the box wall 43 at the upper edge of the clamped box body will deform inward towards the middle or the outward-flared edge 41 will twist upward due to clamping and squeezing. This can easily lead to unstable clamping of the turnover box or even slippage from the clamping claws during clamping and handling. Therefore, conventional turnover boxes are often handled by supporting the bottom of the turnover box to avoid the above problems during handling. However, clamping the bottom of the turnover box and forming an upward-supporting clamping method requires more space and is more difficult than clamping the upper edge of the box body. Summary of the Invention

[0003] The purpose of this invention is to provide an anti-drop gripper mechanism, which aims to solve the problem of easy deformation and slippage when gripping the upper edge of a turnover box in the prior art.

[0004] To solve the above-mentioned technical problems, the purpose of this utility model is achieved as follows:

[0005] A gripper mechanism for preventing drop includes a gripper assembly and an anti-detachment assembly; the gripper assembly includes a gripper drive assembly and symmetrically arranged grippers, and the gripper drive assembly drives the grippers to translate towards or away from each other.

[0006] The anti-detachment component is disposed on the grippers and includes an anti-detachment drive component and a limiting part; the two grippers are gripped by the outside of the object being gripped, and the anti-detachment drive component drives the limiting part to limit the object being gripped from the opposite side of the grippers.

[0007] Based on the above scheme and as a preferred embodiment of the above scheme: the lower ends of the clamping sides of the two clamping claws extend toward each other with clamping portions.

[0008] Based on the above scheme and as a preferred embodiment of the above scheme: at least one clearance notch is provided on the clamping part.

[0009] Based on the above scheme and as a preferred embodiment of the above scheme: the gripper drive assembly has two output ends with opposite directions of movement, and the grippers are respectively connected to the output ends.

[0010] Based on the above scheme and as a preferred embodiment of the above scheme: the gripper drive assembly includes a drive motor, an active tooth fixed on the main shaft of the drive motor, and two racks arranged parallel to both sides of the active tooth and meshing with the active tooth; the gripper is respectively connected to the two racks.

[0011] Based on the above scheme and as a preferred embodiment of the above scheme: it further includes two linear rails, a slider, and two support plates. The slider is movably disposed on the linear rails, and the support plates are fixedly connected to the sliders. The rack is fixedly connected to the two support plates respectively. The connecting end of the gripper is fixedly connected to the support plate.

[0012] Based on the above solution and as a preferred embodiment of the above solution: the limiting part is fixed to the output end of the anti-detachment drive assembly, the two limiting parts are located between the two grippers and above the clamping part; in the clamping state, the anti-detachment drive assembly drives the limiting part to move down to a position opposite to the clamping part to form a clamping gap.

[0013] Based on the above solution and as a preferred embodiment of the above solution: the limiting part is fixed to the output end of the anti-detachment drive component by a connecting plate, and the connecting plate and the limiting part form an L-shaped structure; the gripper has a plate-shaped body, and a channel is opened on the body; the anti-detachment drive component is fixed on the side of the body away from the gripping part; the connecting end of the connecting plate and the limiting part extends through the channel to the side where the gripping part is located.

[0014] The outstanding and beneficial technical effects of this utility model compared to the prior art are as follows: Through structural optimization, it effectively solves the problems of easy deformation, slippage, and limited operating space when clamping turnover boxes. The clamping part lifts the outer edge of the turnover box from the outside, and the limiting part of the anti-slip component moves down from the inside to form a clamping gap, achieving double limiting to prevent the box wall from concave and the outer edge from twisting, thus avoiding deformation and slippage. At the same time, the clamping part has a clearance notch to accommodate reinforcing ribs, and the symmetrical drive structure ensures that the grippers move synchronously, which is compatible with turnover boxes of different specifications and prevents offset and tilting. In addition, the motor-gear-rack transmission structure is compact and efficient, clamping from the upper edge reduces space requirements, and the modular design facilitates maintenance. A machine vision device can also be added to compensate for positional deviations and improve the efficiency of automated and precise grasping. Through the design of "double limiting, self-adaptation, and compact drive", it takes into account stability, compatibility, and operational flexibility, and has significant practical value. Attached Figure Description

[0015] Figure 1 This is a three-dimensional schematic diagram of the overall structure of this utility model;

[0016] Figure 2 This is a front view of the overall structure of this utility model;

[0017] Figure 3 This is a front view of the gripper mechanism of this utility model holding a turnover box.

[0018] Figure 4 This is a three-dimensional view of the gripper mechanism of this utility model holding a turnover box. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the given embodiments, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0020] In the description of this application, it should be understood that the terms "upper" and "lower" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0021] See details Figure 1-4 As shown, this application discloses an anti-drop gripper mechanism, which is connected to the free end of a robotic arm via an adapter 10, as follows: Figure 1 In the process, the robotic arm is connected to the adapter 10 via the connecting end 12 of the adapter 10. In the actual connection, the robotic arm is connected by bolts by setting flange thread holes on the connecting end 12. Of course, other methods in the prior art can also be used. The specific connection method is no different from the prior art, and will not be described in detail here.

[0022] The anti-drop gripper mechanism of this application includes a gripper assembly 20 and an anti-detachment assembly 30. Specifically, the gripper assembly 20 includes a gripper drive assembly 21 and symmetrically arranged grippers 22. The gripper drive assembly 21 drives the grippers 22 to move towards or away from each other. In this embodiment, since the upper edge of the turnover box 40 is provided with an outward flange 41, in order for the grippers 22 to reliably engage with the outward flange 41, it is preferable that the lower ends of the gripping sides of the two grippers 22 extend towards each other with gripping portions 222. During the gripping process, the gripping portions 222 are inserted below the outward flange 41. Of course, due to the setting of the reinforcing rib 42, the gripping portions 222 will be blocked by the reinforcing rib 42 when inserted into the outward flange 41. Therefore, it is preferable to provide at least one clearance notch 2221 on the gripping portion 222. The specific number and width of the clearance notches 2221 can be adapted according to the distribution and size of the reinforcing ribs 42 on the turnover box, and will not be elaborated here. The gripper drive assembly 21 has two output ends with opposite directions of movement, and grippers 22 are respectively connected to the output ends. Specifically, the gripper drive assembly 21 includes a drive motor, a drive gear 211 fixed on the main shaft of the drive motor, and two racks 212 arranged parallel to and meshing with the drive gear 211 on both sides. The grippers 22 are respectively connected to the two racks 212. This structural arrangement allows the drive motor to drive the two racks 212 to move parallel in opposite directions while rotating the drive gear 211, thereby achieving opposite directions of movement at the output points of the gripper drive assembly 21, which in turn drives the grippers 22 to move towards or away from each other, realizing the action of moving towards each other to grip the turnover box or moving away from each other to release the turnover box. Of course, considering that the grippers 22 can move smoothly and maintain the accuracy and stability of movement. See Figure 1-2 As shown, this embodiment also includes two linear rails 213, a slider 214, and two support plates 215. The slider 214 is movably mounted on the linear rails 213, and the support plates 215 are fixedly connected to the slider 214 with bolts. The rack 212 is fixedly connected to the two support plates 215 respectively. The connecting end 221 of the gripper 22 is screwed into the support plate 215 with bolts to realize the fixed connection of the gripper 22 to the support plate 215. Some bolts are not shown in the figure, but they do not affect the understanding of the technical solution of this application and the implementation of the specific structure.

[0023] Because the strength of the upper edge of the turnover box is lower than that of the bottom, if the upper edge of the box is directly clamped, excessive force often causes elastic deformation of the upper edge of the box. For example, if the items inside the turnover box are heavy, the box wall 43 at the upper edge of the clamped box will deform inward towards the center or twist upward due to clamping and squeezing. This can easily lead to unstable clamping or even slippage from the grippers during handling. To address this, this application further provides an anti-slip component 30. Preferably, the anti-slip component 30 is provided on the grippers 22, and includes an anti-slip drive component 31 and a limiting part 33; preferably, the anti-slip drive component 31 is a cylinder. The two grippers 22 clamp the object from the inside or outside, and the anti-slip drive component 31 drives the limiting part 33 to limit the object from the opposite side of the grippers. Specifically, the limiting part 33 is fixed to the output end of the anti-detachment drive assembly 31. The two limiting parts 33 are located between the two grippers 22 and above the clamping part 222. The anti-detachment drive assembly 31 drives the limiting parts 33 to move down to a position facing the clamping part 222 only when the clamping state is in progress. The limiting part 33 is fixed to the output end of the anti-detachment drive assembly 31 by a connecting plate 32, and the connecting plate 32 and the limiting part 33 form an L-shaped structure. The gripper 22 has a plate-shaped body with a channel. The anti-detachment drive assembly 31 is fixed on the side of the body away from the clamping part 222. The connecting end of the connecting plate 32 and the limiting part 33 extends through the channel to the side where the clamping part 222 is located.

[0024] Of course, since the turnover boxes may be slightly tilted or freely placed during actual stacking or placement, in order to enable the robotic arm to accurately position the anti-drop gripper mechanism of this application with the turnover box 40, a machine vision device 50 can be installed on the adapter 10. Its main structure is a vision camera, with the image acquisition end 51 of the vision camera facing the gripper. Image analysis assists the robotic arm in accurately positioning the turnover box, improving the accuracy of automated gripping. It should be noted that the specific structure, circuitry, and software algorithms involved in image analysis and processing of the vision camera are identical to existing technologies. This application only provides a solution for intelligent gripping based on the existing vision system and analysis algorithms, building upon the hardware of this application.

[0025] The specific working principle of this application is as follows: The robotic arm drives the anti-drop gripper mechanism to move to the approximate position above the turnover box. The vision camera captures an image, which is analyzed and processed by the controller to determine the gripping position of the anti-drop gripper mechanism. After the robotic arm drives the anti-drop gripper mechanism to rotate and compensate for deviations in the X and Y directions, it moves to the precise gripping position. Then, the robotic arm drives the anti-drop gripper mechanism to move down to the gripping height. The drive motor drives the active gear 211 to rotate, which drives the two racks 212 to move. Then, the two grippers 22 approach each other, and the gripping part 222 is inserted below the outer flange 41 of the turnover box 40. The avoidance notch 2221 just avoids the reinforcing rib 42 so that the gripping part 222 can be inserted smoothly. That is to say, the gripper 22 grips the turnover box from the outside. Subsequently, the piston rod of the anti-detachment drive assembly 31 extends, driving the connecting plate 32 and the limiting part 33 to move downward. The limiting part 33 is located on the inner side wall 43 of the turnover box 40, thus forming a clamping gap a between the limiting part 33 and the clamping part 222. That is, the side wall of the turnover box 40 is located within the clamping gap a. When the turnover box 40 is lifted, the clamping part 222 contacts the lower end face of the outer flange 41. The presence of the limiting part 33 can prevent the turnover box 40 from deforming inward after being subjected to force, thus preventing the clamping from becoming unstable. In addition, the limiting part 33 can be set with a suitable width, so that it can clamp the clamping part 222 to a certain extent from the inner wall of the turnover box 40, avoiding the outer flange 41 from being over-forced and twisting inward, and preventing the clamping part 222 from slipping. Furthermore, with the horizontal L-shaped structure formed by the connecting plate 32 and the limiting part 33, the connecting plate 32 can press down on the outer flange 41 from the upper end of the outer flange 41, thereby further suppressing the torsion problem and also significantly increasing the slippage problem. Thus, through the symmetrical gripper structure on both sides and the setting of the anti-slip component 30, the turnover box 40 can be stably and reliably clamped, thereby preventing the problem of falling off during the transfer process.

[0026] The above embodiments are merely preferred embodiments of the present utility model and are not intended to limit the scope of protection of the present utility model. Therefore, all equivalent changes made to the structure, shape, and principle of the present utility model should be covered within the scope of protection of the present utility model.

Claims

1. An anti-drop gripper mechanism, characterized by: It includes a gripper assembly (20) and an anti-detachment assembly (30); the gripper assembly (20) includes a gripper drive assembly (21) and symmetrically arranged grippers (22), the gripper drive assembly (21) drives the grippers (22) to translate towards or away from each other; The anti-detachment component (30) is disposed on the gripper (22), and includes an anti-detachment drive component (31) and a limiting part (33); the two grippers (22) are gripped by the outside of the object being gripped, and the anti-detachment drive component (31) drives the limiting part (33) to limit the object being gripped from the opposite side of the grippers.

2. A fall-prevention gripper mechanism according to claim 1, characterized in that: The lower ends of the clamping sides of the two clamping claws (22) extend toward each other with clamping portions (222).

3. A fall-prevention gripper mechanism according to claim 2, characterized in that: The clamping part (222) has at least one clearance notch (2221).

4. The anti-drop gripper mechanism of claim 1, wherein: The gripper drive assembly (21) has two output ends with opposite directions of motion, and the grippers (22) are respectively connected to the output ends.

5. The anti-drop gripper mechanism of claim 1, wherein: The gripper drive assembly (21) includes a drive motor, an active tooth (211) fixed on the main shaft of the drive motor, and two racks (212) arranged parallel to both sides of the active tooth (211) and meshing with the active tooth (211); the grippers (22) are respectively connected to the two racks (212).

6. A fall-prevention gripper mechanism according to claim 5, wherein: It also includes two linear rails (213), a slider (214) and two support plates (215). The slider (214) is movably mounted on the linear rails (213), and the support plates (215) are fixedly connected to the sliders (214). The rack (212) is fixedly connected to the two support plates (215) respectively. The connecting end (221) of the gripper (22) is fixedly connected to the support plate (215).

7. A fall-prevention gripper mechanism according to claim 2, characterized in that: The limiting part (33) is fixed at the output end of the anti-detachment drive assembly (31). The two limiting parts (33) are located between the two grippers (22) and above the clamping part (222). In the clamping state, the anti-detachment drive assembly (31) drives the limiting part (33) to move down to a position opposite to the clamping part (222) to form a clamping gap.

8. A fall-prevention gripper mechanism according to claim 7, characterized in that: The limiting part (33) is fixed to the output end of the anti-detachment drive assembly (31) by a connecting plate (32). The connecting plate (32) and the limiting part (33) form an L-shaped structure. The gripper (22) has a plate-shaped body with a channel. The anti-detachment drive assembly (31) is fixed on the side of the body away from the clamping part (222). The connecting end of the connecting plate (32) and the limiting part (33) extends from the channel to the side where the clamping part (222) is located.

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