Parcel grabbing device and logistics sorting clamping mechanical arm

Abstract

The utility model discloses a kind of parcel grabbing device and logistics sorting clamping mechanical arm;The parcel grabbing device includes support and two single-side jaw modules. Single-side jaw module includes one or multiple jaw units arranged side by side. The jaw unit includes first support arm, second support arm, first driving element and second driving element. The inner end of the first support arm is rotatably connected with the base plate. The first support arm is rotated by the first driving element. The inner end of the second support arm is rotatably connected with the outer end of the first support arm. The second support arm is rotated by the second driving element. In the utility model, the clamping unit is provided with two support arms, and the two support arms are independently driven. The first support arm driven by motor can accurately adjust the clamping range, and then the second support arm driven by air cylinder can provide stable clamping force within a certain angle range for goods, to realize reliable clamping of multiple types and multiple sizes of parcels.

Description

Technical Field

[0001] This utility model belongs to the field of logistics sorting technology, specifically relating to a parcel gripping device and a logistics sorting clamping robotic arm. Background Technology

[0002] With the development of logistics automation technology, automated parcel gripping devices are increasingly widely used in sorting, handling, and other processes. In existing technologies, common gripping mechanisms often employ a structure where a single drive source synchronously controls both grippers on each side. This type of structure typically relies on pneumatic or electric drives to open and close the gripper arms, but it has significant limitations in practical applications: 1. Insufficient gripping adaptability and stability: The gripping range adjustment of existing grippers is usually controlled by a single drive element, making it difficult to independently optimize both gripping accuracy and gripping force. For example, while motor drives can precisely control the gripping range, they cannot provide instantaneous high-load gripping force; while pure pneumatic drives can provide stable gripping force, they cannot achieve precise adjustment of gripping dimensions. This contradiction makes it difficult to reliably grip packages with large size differences (such as thin and light items and heavy irregularly shaped items) at the same time, easily leading to slippage or damage to the goods.

[0003] 2. Poor compatibility with multiple sizes: The single-sided clamping structure of traditional gripper modules is uniformly driven, and the number of clamping units used cannot be dynamically adjusted, which limits its adaptability to different sizes and shapes of packages.

[0004] 3. Low gripping success rate: Existing devices lack a pre-clamping mechanism, and the contact surface between the gripper and the cargo is easily misaligned due to cargo displacement or tilting at the moment the gripping action begins. Especially when handling packages with smooth surfaces or unstable stacking, multiple attempts to grasp them are often required, significantly reducing operational efficiency. Summary of the Invention

[0005] The purpose of this utility model is to provide a package gripping device and a logistics sorting and clamping robotic arm.

[0006] In a first aspect, this utility model provides a package gripping device, comprising a support frame and two single-sided gripper modules respectively mounted on both sides of the support frame. Each single-sided gripper module includes one or more gripper units arranged side-by-side. Each gripper unit includes a first arm, a second arm, a first driving element, and a second driving element. The inner end of the first arm is rotatably connected to a substrate. The first arm is driven to rotate by the first driving element. The inner end of the second arm is rotatably connected to the outer end of the first arm. The second arm is driven to rotate by the second driving element.

[0007] Preferably, a pressing module is also included between the two single-sided gripper modules. The pressing module includes multiple pressing units. Each pressing unit includes a slide rod, a spring, a limiting block, and a pressure plate. The slide rod and a sliding through hole on the substrate form a sliding pair. The limiting block and pressure plate are respectively fixed to both ends of the slide rod. The spring is sleeved on the slide rod, with both ends abutting against the substrate and the pressure plate, respectively.

[0008] Preferably, the number of pressing units is five. The first pressing unit is installed at the center of the substrate. The remaining four pressing units are installed at the four corners of the substrate.

[0009] Preferably, the support includes a base plate, a connecting plate, and extension columns. One end of each of the multiple extension columns with parallel axes is fixed to the top surface of the base plate. The other end of each extension column is fixed to the connecting plate. The connecting plate has connection holes for connecting an industrial robotic arm.

[0010] Preferably, the inner end of the first arm is located within the edge range of the substrate. A clearance groove is provided on the edge of the substrate at a position aligned with each of the first arms.

[0011] Preferably, the second arm includes connecting rods and multiple end plates. The end plates are aligned with each other and arranged at intervals, and are fixed by multiple connecting rods. Elastic pads are provided on the inner side of each end plate.

[0012] Preferably, the outer end of the first support arm has a through hole. The through hole at the outer end of the first support arm is rotatably connected to one of the connecting rods and is axially limited by a retaining spring. The first support arm is located between two adjacent end plates.

[0013] Preferably, the first driving element includes a motor and a reducer; the reducer is fixed to the bottom surface of the base plate; the motor is fixed to the reducer. The output shaft of the motor is fixed to the input port of the reducer. The output shaft of the reducer is fixed to the inner end of the first support arm. The second driving element is a cylinder. One end of the cylinder is rotatably connected to the first support arm. The other end of the cylinder is rotatably connected to the second support arm. The connection point between the cylinder and the second support arm is offset from the rotation axis of the first support arm.

[0014] Preferably, a photoelectric sensor is mounted on the first arm. The photoelectric sensor is mounted on the first arm with its detection port facing the closing direction of the single-sided gripper module. A tactile sensor is mounted on the second arm. The tactile sensor is mounted on the second arm with its detection position facing the closing direction of the single-sided gripper module.

[0015] Secondly, this utility model provides a logistics sorting and gripping robotic arm, which includes a robotic arm body and a package gripping device. The package gripping device adopts the aforementioned package gripping device. The robotic arm body includes a base and multiple articulated arms. The multiple articulated arms are rotatably connected in sequence. The articulated arm located at the first end is rotatably connected to the base. The connecting plate in the package gripping device is fixed to the articulated arm located at the last end. Each articulated arm is driven to rotate by a corresponding motor.

[0016] The present invention has the following beneficial effects.

[0017] 1. The clamping unit of this utility model is provided with two support arms and the two support arms are driven independently. The clamping range can be accurately adjusted by the first support arm driven by the motor, and the second support arm can be driven by the cylinder to provide a stable clamping force for the goods, so as to realize reliable clamping of various types and sizes of packages.

[0018] 2. This utility model sets up multiple independently controlled clamping units in a single-sided gripper module, which can use different numbers of clamping units according to the size of the clamped goods, thereby improving the adaptability to goods of various sizes.

[0019] 3. This utility model features a pressing module that can slide up and down and provide downward pressure, which can press down on the goods before clamping, so as to successfully clamp the goods. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of Embodiment 1 of this utility model in the fully closed state.

[0021] Figure 2 This is a schematic diagram of the structure of Embodiment 1 of this utility model in a semi-closed state.

[0022] Figure 3 This is a schematic diagram of the structure of Embodiment 1 of this utility model in its unfolded state.

[0023] Figure 4 This is a schematic diagram of the overall structure of Embodiment 2 of this utility model.

[0024] Figure 5 This is a schematic diagram of the pressing unit in Embodiment 2 of this utility model.

[0025] Figure 6 This is a structural schematic diagram of Embodiment 3 of the present invention.

[0026] Figure 7 This is a schematic diagram of the clamping of a large square object in Embodiment 3 of this utility model.

[0027] Figure 8 This is a schematic diagram of a small square object being clamped in Embodiment 3 of this utility model.

[0028] Figure 9 This is a schematic diagram of the clamping of a cylindrical object in Embodiment 3 of this utility model.

[0029] Figure 10 This is a schematic diagram of the clamping of a flat cylindrical object in Embodiment 3 of this utility model.

[0030] Reference numerals: 1. Base plate; 2. Connecting disc; 3. Extension column; 4. Gripper unit; 4-1. First arm; 4-2. Second arm; 4-2-1. Connecting rod; 4-2-2. End clamping plate; 4-2-3. Elastic pad; 4-3. First driving element; 4-4. Second driving element; 4-5. Photoelectric sensor; 4-6. Tactile sensor; 5. Pressing unit; 5-1. Slide rod; 5-2. Spring; 5-3. Limiting block; 5-4. Pressure plate; 5-5. Linear bearing; 6. Base; 7. Joint arm. Detailed Implementation

[0031] The present invention will be further described below with reference to the accompanying drawings.

[0032] Example 1 like Figure 1 , Figure 2 and Figure 3 As shown, a package gripping device includes a support frame and two single-sided gripper modules. The two single-sided gripper modules are symmetrically mounted on both sides of the support frame.

[0033] The support includes a base plate 1, a connecting plate 2, and extension columns 3. Four extension columns 3, arranged in a rectangular configuration with parallel axes, have one end fixed to the top surface of the base plate 1. The other end of each of the four extension columns 3 is fixed to the connecting plate 2. The connecting plate 2 has multiple connection holes for fixing to the end of an industrial robotic arm.

[0034] The single-sided gripper module includes two gripper units 4 arranged side by side. Each gripper unit 4 includes a first arm 4-1, a second arm 4-2, a first driving element 4-3, and a second driving element 4-4. The inner end of the first arm 4-1 is rotatably connected to the substrate 1. The first arm 4-1 is driven to rotate by the first driving element 4-3. The inner end of the second arm 4-2 is rotatably connected to the outer end of the first arm 4-1. The second arm 4-2 is driven to rotate by the second driving element 4-4.

[0035] The connection point between the first driving element 4-3 and the first support arm 4-1 is located below the substrate 1 and within the edge range of the substrate 1. A clearance groove is provided on the edge of the substrate 1 at a position aligned with each of the first support arms 4-1, to reduce or eliminate the restriction of the substrate 1 on the flipping angle of the first support arm 4-1, thereby expanding the flipping range of the first support arm 4-1 and enabling the package gripping device provided in this embodiment to fully unfold into a wing-like shape.

[0036] The second support arm 4-2 adopts a parallel double-clamp structure, including a connecting rod 4-2-1 and two end clamps 4-2-2. The two end clamps 4-2-2 are spaced apart and aligned with each other. Both ends of the connecting rod 4-2-1 are fixed to the mounting holes on the two end clamps 4-2-2 by retaining springs. There are at least two connecting rods 4-2-1. The rotational connection structure between the first support arm 4-1 and the second support arm 4-2 is as follows: a through hole is provided at the outer end of the first support arm 4-1. The through hole at the outer end of the first support arm 4-1 is rotatably connected to one of its connecting rods 4-2-1 and is axially limited by retaining springs. The first support arm 4-1 is located between the two end clamps 4-2-2. An elastic pad 4-2-3 is provided on the side of the end clamp 4-2-2 near the closing direction. The elastic pad 4-2-3 is elongated and designed to directly contact the clamped object, preventing damage to the goods.

[0037] The single-sided gripper module in this embodiment has four clamping plates that are aligned with each other and evenly spaced, which can achieve stable clamping of goods.

[0038] In some optional embodiments, the first arm 4-1 is close to the inner end plate 4-2-2 of the two end plates 4-2-2.

[0039] In some optional embodiments, the first driving element 4-3 includes a motor and a reducer; the motor is preferably a servo motor. The connection structure between the first driving element 4-3 and the first support arm 4-1 is as follows: the reducer is fixed to the bottom surface of the base plate 1; the motor is fixed to the reducer. The output shaft of the motor is fixed to the input port of the reducer. The output shaft of the reducer serves as the rotational output structure of the first driving element 4-3 and is fixed to the inner end of the first support arm 4-1. In this embodiment, to simplify the structure, there is no independent connection structure between the first support arm 4-1 and the base plate 1, but an indirect rotational connection is achieved through the reducer. In some other embodiments, a bearing seat or other connection structure can also be provided between the first support arm 4-1 and the base plate 1 to improve structural stability. In this embodiment, the motor is located at the bottom of the reducer. In some further preferred embodiments, the output shafts of the two reducers in the same single-sided gripper module are coaxial and face each other to reduce the distance between the two first supports 4-1 in the same single-sided gripper module and increase the clamping plate density of the single-sided gripper module.

[0040] In some optional embodiments, the second driving element 4-4 is a cylinder. The tail end of the cylinder body is rotatably connected to the first support arm 4-1. The outer end of the piston rod of the cylinder is rotatably connected to the second support arm 4-2. The connection point between the tail end of the cylinder body and the first support arm 4-1 is located at the inner end of the first support arm 4-1. The positions of the connection point between the outer end of the piston rod and the second support arm 4-2 are different from the connection points between the first support arm 4-1 and the second support arm 4-2; specifically, the connection point between the outer end of the piston rod and the second support arm 4-2 is located on the side away from the tip of the second support arm 4-2. The second support arm 4-2 is amplified by levers, moving away from the displacement generated by the second driving element 4-4.

[0041] In some optional embodiments, a photoelectric sensor 4-5 is mounted on the first arm 4-1. The photoelectric sensor 4-5 is mounted on the first arm 4-1, with its detection port facing the closing direction of the single-sided gripper module. The photoelectric sensor 4-5 is a photoelectric ranging sensor or a photoelectric switch, used to detect whether a gripped object appears within the target range.

[0042] In some optional embodiments, a tactile sensor 4-6 is mounted on the second arm 4-2. The tactile sensor 4-6 is mounted on the second arm 4-2, and its detection position faces the closing direction of the single-sided gripper module. The tactile sensor 4-6 is a limit switch used to detect whether the second arm 4-2 touches the gripped object.

[0043] The working principle of the package gripping device is as follows: The industrial robotic arm moves the package gripping device to the location of the object to be gripped via a support frame. The first drive element 4-3 drives the first arm 4-1 to flip downwards. Then, the second drive element 4-4 flips inwards until the two single-sided gripper modules clamp the object. The industrial robotic arm moves the package gripping device to the designated position via the support frame, after which the two single-sided gripper modules unfold and reset, releasing the object.

[0044] Example 2 A package gripping device; the difference between this embodiment and embodiment 1 is: like Figure 4 As shown, the package gripping device further includes a pressing module. The pressing module is mounted on a support and located between two single-sided gripper modules. In this embodiment, the base plate 1 is rectangular, preferably square. The pressing module includes five pressing units 5. The first pressing unit 5 is installed at the center of the base plate 1. The remaining four pressing units 5 are respectively installed at the four corners of the base plate 1. Five sliding through holes, each corresponding to one of the five pressing units 5, are provided on the base plate 1.

[0045] like Figure 5 As shown, the pressing unit 5 includes a slide rod 5-1, a spring 5-2, a limiting block 5-3, and a pressure plate 5-4. The slide rod 5-1 and the corresponding sliding through hole on the base plate 1 form a sliding pair through a linear bearing 5-5. The limiting block 5-3 is circular and coaxially fixed to the tail end of the slide rod 5-1 (i.e., Figure 4 The upper end of the slide rod 5-1). The pressure plate 5-4 is coaxially fixed to the head end of the slide rod 5-1 (i.e., the upper end of the slide rod 5-1). Figure 4 (Lower end of the plate). The spring 5-2 is sleeved on the slide rod 5-1, and its two ends abut against the bottom surface of the base plate 1 and the pressure plate 5-4, respectively. The spring 5-2 is used to provide an elastic pushing force to the pressure plate 5-4 in a direction away from the base plate 1. During the clamping process, the pressure plate 5-4 presses down on the clamped object under the pushing force of the spring 5-2, improving the stability of the object during clamping.

[0046] Example 3 like Figure 6 As shown, a logistics sorting and gripping robotic arm includes a robotic arm body and a package gripping device provided in Embodiment 2. The robotic arm body includes a base 6 and multiple articulated arms 7. The multiple articulated arms 7 are rotatably connected in sequence. The articulated arm 7 located at the first end is rotatably connected to the base 6. The connecting plate 2 in the package gripping device is fixed to the articulated arm 7 located at the last end by bolts. Each articulated arm 7 corresponds to a servo motor. The servo motor is used to drive the articulated arm 7 to rotate. The rotation axis between the articulated arm 7 located at the first end and the base 6 is vertically arranged. The rotation axis between at least one set of adjacent articulated arms 7 is horizontally arranged.

[0047] The logistics sorting and gripping robotic arm provided in this embodiment can grasp goods of different sizes and shapes, such as... Figure 7 , Figure 8 , Figure 9 , Figure 10 As shown in the figure, the logistics sorting and gripping robotic arm provided in this embodiment has a strong adaptability to goods of different sizes and shapes.

Claims

1. A package gripping device, comprising a support frame and two single-sided gripper modules respectively mounted on both sides of the support frame; characterized in that: The single-sided gripper module includes one or more gripper units (4) arranged side by side; the gripper unit (4) includes a first arm (4-1), a second arm (4-2), a first driving element (4-3), and a second driving element (4-4); the inner end of the first arm (4-1) is rotatably connected to the substrate (1); the first arm (4-1) is driven to rotate by the first driving element (4-3); the inner end of the second arm (4-2) is rotatably connected to the outer end of the first arm (4-1); the second arm (4-2) is driven to rotate by the second driving element (4-4).

2. The package gripping device according to claim 1, characterized in that: It also includes a pressing module located between two single-sided gripper modules; the pressing module includes multiple pressing units (5); the pressing unit (5) includes a slide rod (5-1), a spring (5-2), a limiting block (5-3) and a pressure plate (5-4); the slide rod (5-1) and the sliding through hole on the substrate (1) form a sliding pair; the limiting block (5-3) and the pressure plate (5-4) are respectively fixed at both ends of the slide rod (5-1); the spring (5-2) is sleeved on the slide rod (5-1), and its two ends abut against the substrate (1) and the pressure plate (5-4) respectively.

3. The package gripping device according to claim 2, characterized in that: The number of the pressing units (5) is five; the first pressing unit (5) is installed at the center of the substrate (1); the other four pressing units (5) are installed at the four corners of the substrate (1).

4. The package gripping device according to claim 1, characterized in that: The support includes a base plate (1), a connecting plate (2) and extension columns (3); one end of multiple extension columns (3) with parallel axes is fixed to the top surface of the base plate (1); the other end of multiple extension columns (3) is fixed to the connecting plate (2); the connecting plate (2) has a connecting hole for connecting an industrial robotic arm.

5. A package gripping device according to claim 4, characterized in that: The inner end of the first support arm (4-1) is located within the edge range of the substrate (1); a clearance groove is provided on the edge of the substrate (1) at a position aligned with each of the first supports arm (4-1).

6. The package gripping device according to claim 1, characterized in that: The second arm (4-2) includes a connecting rod (4-2-1) and multiple end clamps (4-2-2); each end clamp (4-2-2) is aligned with each other and arranged in sequence at intervals, and is fixed by multiple connecting rods (4-2-1); an elastic pad (4-2-3) is provided on the inner side of the end clamp (4-2-2).

7. A package gripping device according to claim 6, characterized in that: The outer end of the first support arm (4-1) is provided with a through hole; the through hole at the outer end of the first support arm (4-1) is rotatably connected to one of the connecting rods (4-2-1) and is axially limited by a snap ring; the first support arm (4-1) is located between two adjacent end plates (4-2-2).

8. A package gripping device according to claim 1, characterized in that: The first driving element (4-3) includes a motor and a reducer; the reducer is fixed on the bottom surface of the base plate (1); the motor is fixed on the reducer; the output shaft of the motor is fixed to the input port of the reducer; the output shaft of the reducer is fixed to the inner end of the first support arm (4-1); the second driving element (4-4) is a cylinder; one end of the cylinder is rotatably connected to the first support arm (4-1); the other end of the cylinder is rotatably connected to the second support arm (4-2).

9. A package gripping device according to claim 1, characterized in that: A photoelectric sensor (4-5) is installed on the first arm (4-1); the photoelectric sensor (4-5) is installed on the first arm (4-1) and the detection port faces the closing direction of the single-sided gripper module; a tactile sensor (4-6) is installed on the second arm (4-2); the tactile sensor (4-6) is installed on the second arm (4-2) and the detection position faces the closing direction of the single-sided gripper module.

10. A logistics sorting and gripping robotic arm, comprising a robotic arm body and a package gripping device; characterized in that: The package gripping device is a package gripping device as described in claim 1; the main body of the robotic arm includes a base (6) and multiple articulated arms (7); the multiple articulated arms (7) are rotatably connected in sequence; the articulated arm (7) at the first end is rotatably connected to the base (6); the connecting plate (2) in the package gripping device is fixed to the articulated arm (7) at the end; each articulated arm (7) is driven to rotate by a corresponding motor.

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