A magazine gripping device and a carrying robot

Abstract

This utility model belongs to the field of bin transfer technology, specifically relating to a bin gripping device and a handling robot. It includes a mounting base and a clamping structure mounted on the mounting base. The clamping structure includes two gripper units for gripping two adjacent bins. Each gripper unit includes a first gripper arm, a second gripper arm, and a drive mechanism. The first and second gripper arms are opposite to each other and staggered. The drive mechanism drives the first and second gripper arms to move closer or further apart. The two gripper units are centrally symmetrically arranged on the mounting base. When the first and second gripper arms are in their fully open state, the first gripper arms are adjacent in their width direction. This invention increases the number of bins gripped in a single operation without increasing the number of robots, reduces robot setup costs and the number of robot round trips, and improves bin handling efficiency. Each gripper unit is independently adjustable, adaptable to gripping adjacent bins of different sizes, thus offering greater versatility.

Description

Technical Field

[0001] This utility model belongs to the field of material box transfer technology, specifically relating to a material box gripping device and a handling robot. Background Technology

[0002] In manufacturing logistics and other fields, the efficiency of tote box handling directly determines the overall supply chain turnover speed. Currently, most mainstream robotic tote box gripping devices are single-gripper structures, which, due to structural limitations, typically only grip one tote box per operation. When facing large-volume tote box handling demands, it's necessary to increase the number of robots or extend operating hours to meet capacity requirements. This not only increases equipment investment costs but may also cause site congestion due to frequent robot back-and-forth movements. Directly increasing the number of gripping structures can easily lead to unstable gripping due to overall center of gravity shift, and adjacent tote boxes are prone to collisions and interference, posing certain safety hazards. Utility Model Content

[0003] The technical problem to be solved by this utility model is to provide a material box gripping device and handling robot that can stably and reliably grasp two adjacent boxes synchronously, increase the number of boxes grasped at one time without increasing the number of robots, reduce robot setup costs and robot round trips, improve box handling efficiency, and allow each gripper unit to be independently adjustable to adapt to the gripping of adjacent boxes of different sizes, thus making it more versatile.

[0004] This utility model provides a bin gripping device, including a mounting base and a clamping structure disposed on the mounting base. The clamping structure includes two gripper units for gripping two adjacent bins respectively. Each gripper unit includes a first gripper arm, a second gripper arm, and a driving mechanism. The first gripper arm and the second gripper arm are opposite to each other and staggered. The driving mechanism is used to drive the first gripper arm and the second gripper arm to move closer to each other or further away from each other. The two gripper units are centrally symmetrically arranged on the mounting base. When the first gripper arm and the second gripper arm in the two gripper units are in the maximum open state, the first gripper arm in the two gripper units is adjacent in its own width direction.

[0005] Furthermore, the driving mechanism includes a lead screw and a rotary drive component for driving the lead screw to rotate. The threads at both ends of the lead screw are in opposite directions, and both ends of the lead screw are threaded with nuts. Clamping arm one and clamping arm two are fixed to the nuts at both ends of the lead screw.

[0006] Furthermore, the first clamping arm is mounted on the first fixing plate, and the second clamping arm is mounted on the second fixing plate. The first fixing plate and the second fixing plate are fixed to the nuts at both ends of the lead screw, so that the first clamping arm and the second clamping arm are fixed to the nuts at both ends of the thread.

[0007] Furthermore, one end of the fixing plate extends obliquely to form an extension section, and the clamping arm is located at the end of the extension section.

[0008] Furthermore, in a single gripper unit, there is one gripper arm and two gripper arms, with the two gripper arms mounted on the same fixed plate.

[0009] Furthermore, the lead screw and rotary drive are disposed on one side of clamping arm one and clamping arm two.

[0010] Furthermore, both clamping arms one and two are slidably connected to the mounting base.

[0011] Furthermore, the clamping structure is provided in two sets, corresponding to both ends of the mounting base. In the two sets of clamping structures, the two gripper units located at both ends of the mounting base are used to grip the same material box.

[0012] Furthermore, the area on the mounting base located between the two clamping structures is used for connection with the robot.

[0013] This utility model also provides a handling robot, which is equipped with the material box gripping device as described above.

[0014] The beneficial effects of this invention are that the spatial distribution of the two gripper units in a single clamping structure is more compact and reasonable, ensuring the balance of the clamping structure's center of gravity and avoiding offset or instability caused by an increase in the number of hoppers gripped, thus improving the safety of hopper handling. When the two gripper units in a single clamping structure are in their maximum open state, the gripping arms of the two gripper units are adjacent, occupying less space in the gripping direction. This allows for more precise insertion between two adjacent hoppers, better compatibility with spacing deviations between adjacent hoppers, reduced positioning difficulty during gripping, and avoidance of collisions with hoppers or materials within them. Stable and reliable synchronous gripping of two adjacent hoppers is achieved, increasing the number of hoppers gripped in a single operation without increasing the number of robots, reducing robot setup costs and robot round trips, and improving hopper handling efficiency. Furthermore, the two gripper units in a single clamping structure are driven by their respective drive mechanisms to move their gripping arms, and each gripper unit can be independently adjusted to adapt to gripping adjacent hoppers of different sizes, resulting in higher versatility. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the material box gripping device of this utility model.

[0016] Figure 2 This is a bottom view of the material box gripping device of this utility model.

[0017] Figure 3 This is a side view of the material box gripping device of this utility model.

[0018] Figure 4This is a structural schematic diagram of the clamping arm and fixing plate of this utility model.

[0019] In the diagram: 1. Mounting base; 2. Clamping structure; 21. Clamping arm one; 22. Clamping arm two; 23. Fixing plate one; 231. Extension section; 24. Fixing plate two; 25. Lead screw; 26. Rotary drive component; 3. Guide rail; 4. Slider. Detailed Implementation

[0020] like Figures 1-4 As shown, this utility model provides a bin gripping device, including a mounting base 1 and a clamping structure 2 disposed on the mounting base 1. The clamping structure 2 includes two gripper units for gripping two adjacent bins respectively, that is, one gripper unit is used to grip one bin and the other gripper unit is used to grip the other bin. Each gripper unit includes a first gripper arm 21, a second gripper arm 22 and a driving mechanism. The first gripper arm 21 and the second gripper arm 22 are arranged opposite to each other and staggered. The driving mechanism is used to drive the first gripper arm 21 and the second gripper arm 22 to move closer to each other or further away from each other, so as to achieve gripping or releasing of the bin. That is, the first gripper arm 21 and the second gripper arm 22 are used together to grip the bin, and in the gripping direction (i.e., the moving direction of the first gripper arm 21 and the second gripper arm 22), the projected portions of the first gripper arm 21 and the second gripper arm 22 may overlap or not overlap. The two gripper units are centrally symmetrically arranged on the mounting base 1. When the gripper arm 21 and gripper arm 22 of the two gripper units are in their maximum open state, that is, when the gripper arm 21 and gripper arm 22 are in their maximum spacing open state, the gripper arm 21 of the two gripper units is adjacent in its own width direction, specifically as follows: Figure 2 Taking the perspective as an example, the width direction of clamp arm 21 is... Figure 2 In the vertical direction of the viewing angle, the gripper arm 21 in the two gripper units is... Figure 2 They are adjacent in the vertical direction from the perspective of the viewpoint.

[0021] Based on the above configuration, the bin gripping device provided by this utility model has a more compact and reasonable spatial distribution of the two gripper units in a single gripping structure 2, which can ensure the balance of the center of gravity of the gripping structure 2, avoid deviation or instability caused by the increase in the number of bins gripped, and improve the safety of bin handling. When the two gripper units in a single gripping structure 2 are in the fully open state, the gripping arms 21 of the two gripper units are adjacent, occupying less space in the gripping direction, and can more accurately extend between two adjacent bins. It can better accommodate the spacing deviation between two adjacent bins, reduce the positioning difficulty during gripping, avoid collisions with bins or materials in bins, and achieve stable and reliable synchronous gripping of two adjacent bins. It can increase the number of bins gripped at one time without increasing the number of robots, reduce robot setup costs and robot round trips, and improve bin handling efficiency. Moreover, the two gripper units in a single gripping structure 2 drive their gripping arms 21 and 22 to move through their respective drive mechanisms. Each gripper unit can be adjusted independently to adapt to the gripping of adjacent bins of different sizes, making it more versatile.

[0022] The driving mechanism includes a lead screw 25 and a rotary drive component 26. The lead screw 25 is rotatably mounted on the mounting base 1, and the rotary drive component 26 is fixedly mounted on the mounting base 1. The rotary drive component 26 is connected to one end of the lead screw 25 and is used to drive the lead screw 25 to rotate. The threads at both ends of the lead screw 25 are in opposite directions, and both ends of the lead screw 25 are threaded with nuts. Clamping arm 1 21 is fixed to the nut at one end of the lead screw 25, and clamping arm 22 is fixed to the nut at the other end of the lead screw 25. Based on this configuration, clamping arm 1 21 and clamping arm 22 can be driven to move simultaneously by a single rotary drive component 26, reducing the number of rotary drive components 26 and thus reducing the overall weight of the material box gripping device. Specifically, the rotary drive component 26 is a servo motor, which is electrically connected to an external control system.

[0023] The first clamping arm 21 is mounted on the first fixing plate 23, and the second clamping arm 22 is mounted on the second fixing plate 24. The first fixing plate 23 is fixed to a nut at one end of the lead screw 25, and the second fixing plate 24 is fixed to a nut at the other end of the lead screw 25, so that the first clamping arm 21 and the second clamping arm 22 are correspondingly fixed to the nuts at both ends of the thread. Based on this arrangement, the installation position of the lead screw 25 on the mounting base 1 is less restricted, which is beneficial for arranging the lead screw 25 in a position other than below the first clamping arm 21 and the second clamping arm 22.

[0024] One end of the fixing plate 23 extends obliquely to form an extension section 231, and the clamping arm 21 is located at the end of the extension section 231. Based on this arrangement, a clearance zone can be formed between the side of the extension section 231 and the other end of the fixing plate. When the two gripper units in a single clamping structure 2 are in the maximum open state, interference between the clamping arms 21 of the two gripper units in a single clamping structure 2 can be avoided.

[0025] In a single gripper unit, there is one gripper arm 21 and two gripper arms 22, both of which are mounted on the same fixed plate 24. The use of two gripper arms 22 improves the gripping stability of the gripper unit. Both gripper arms 21 and 22 have transversely oriented bosses at their ends. When gripper arms 21 and 22 grip the material box, they hold the upper sides of the material box, with the bosses located below the upper edge of the material box, acting as a limiting mechanism to prevent the material box from sliding downwards.

[0026] The lead screw 25 and the rotary drive 26 are located on one side of the first clamping arm 21 and the second clamping arm 22. They do not occupy the space below the first clamping arm 21 and the second clamping arm 22. Since the two clamping jaw units are centrally symmetrically arranged, the drive mechanisms in the two clamping jaw units are located on different sides, further optimizing the spatial distribution of the clamping structure 2, making it more compact and reasonable.

[0027] Both clamping arms 21 and 22 are slidably connected to the mounting base 1 to ensure the stability of their movement. Specifically, the mounting base 1 is provided with a guide rail 3, which is located below the fixing plate 23 and the fixing plate 24. Both the fixing plate 23 and the fixing plate 24 are provided with sliders 4 at their bottoms, and the sliders 4 are slidably engaged with the guide rail 3.

[0028] The clamping structure 2 is provided in two sets, corresponding to both ends of the mounting base 1. In both sets of clamping structures 2, the two gripper units located at both ends of the mounting base 1 are used to grip the same material box. That is... Figure 2 From this perspective, the upper gripper unit and the lower gripper unit are used to grasp the same material box to accommodate the grasping of material boxes with larger length dimensions. The area on the mounting base 1 located between the two clamping structures 2 is used to connect with the robot to ensure the robot's center of gravity is balanced when the material box grasping device is in use.

[0029] This utility model also provides a handling robot equipped with the aforementioned bin gripping device. This avoids deviation or instability caused by an increase in the number of bins gripped, improving the safety of bin handling. The gripping arms 21 of the two gripper units in a single clamping structure 2 are adjacent, allowing for more precise insertion between two adjacent bins. This better accommodates spacing deviations between adjacent bins, reduces positioning difficulty during gripping, avoids collisions with bins or materials within them, and enables stable and reliable synchronous gripping of two adjacent bins. This increases the number of bins gripped in a single operation without increasing the number of robots, reducing robot setup costs and the number of robot round trips, thus improving bin handling efficiency. Each gripper unit is independently adjustable to adapt to gripping adjacent bins of different sizes, resulting in greater versatility.

[0030] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of protection of this application is limited to these examples; within the framework of this application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of one or more embodiments of this application as described above, which are not provided in detail for the sake of brevity.

[0031] One or more embodiments in this application are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of this application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of one or more embodiments in this application should be included within the protection scope of this application.

Claims

1. A bin gripping device, characterized in that, The device includes a mounting base (1) and a clamping structure (2) disposed on the mounting base (1). The clamping structure (2) includes two gripper units for correspondingly gripping two adjacent material boxes. Each gripper unit includes a first gripper arm (21), a second gripper arm (22), and a driving mechanism. The first gripper arm (21) and the second gripper arm (22) are arranged opposite to each other and staggered. The driving mechanism is used to drive the first gripper arm (21) and the second gripper arm (22) to move closer to each other or further away from each other. The two gripper units are centrally symmetrically arranged on the mounting base (1). When the first gripper arm (21) and the second gripper arm (22) in the two gripper units are in the maximum open state, the first gripper arm (21) in the two gripper units are adjacent in their own width direction.

2. The bin gripping device as described in claim 1, characterized in that, The driving mechanism includes a lead screw (25) and a rotary drive (26) for driving the lead screw (25) to rotate. The threads at both ends of the lead screw (25) are opposite in direction, and both ends of the lead screw (25) are threaded with nuts. Clamping arm one (21) and clamping arm two (22) are fixed on the nuts at both ends of the lead screw (25).

3. The bin gripping device as described in claim 2, characterized in that, The first clamping arm (21) is mounted on the first fixing plate (23), and the second clamping arm (22) is mounted on the second fixing plate (24). The first fixing plate (23) and the second fixing plate (24) are fixed to the nuts at both ends of the screw (25) so that the first clamping arm (21) and the second clamping arm (22) are fixed to the nuts at both ends of the thread.

4. The bin gripping device as described in claim 3, characterized in that, One end of the fixing plate (23) extends obliquely to form an extension section (231), and the clamping arm (21) is located at the end of the extension section (231).

5. The bin gripping device as described in claim 3, characterized in that, In a single gripper unit, there is one gripper arm (21) and two gripper arms (22), and the two gripper arms (22) are mounted on the same fixing plate (24).

6. The bin gripping device as described in any one of claims 2-5, characterized in that, The lead screw (25) and the rotary drive (26) are located on one side of the clamping arm one (21) and the clamping arm two (22).

7. The bin gripping device as described in any one of claims 2-5, characterized in that, Both clamping arm one (21) and clamping arm two (22) are slidably connected to the mounting base (1).

8. The bin gripping device as described in any one of claims 1-5, characterized in that, The clamping structure (2) is provided in two sets, which are respectively set at both ends of the mounting base (1). In the two sets of clamping structures (2), the two gripper units located at both ends of the mounting base (1) are used to grip the same material box.

9. The bin gripping device as described in claim 8, characterized in that, The area on the mounting base (1) located between the two clamping structures (2) is used for connection with the robot.

10. A transport robot, characterized in that, The device is equipped with a bin gripping device as described in any one of claims 1-9.

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