A robot automatic loading and unloading gripper

Abstract

The utility model relates to robot gripper technical field, concretely is a kind of robot automatic feeding and discharging is used gripper, including the U-shaped plate fixed connection in the installation seat bottom end, selection mechanism is located between the both arms of the U-shaped plate, and the selection mechanism includes two round plates. In the utility model, by starting electric push rod, make two U-shaped rod drive adjacent L-shaped rod to move up, make L-shaped rod use pull rope to drive adjacent slider to move up, make the multiple sliders inside two annular clamping grooves concentrate to adjacent positioning block, then move U-shaped plate to make material be located between two round plates, use electric push rod to drive two U-shaped rod to move down, make U-shaped rod upper L-shaped rod short arm along adjacent arc-shaped guide plate slide, and make L-shaped rod short arm use pull rope to drive connected slider to move down, make multiple sliders between annular clamping groove because of the pull of connecting rope and circumferential distribution will material surround, to reduce the contact contact to material, reduce the damage to material.

Description

Technical Field

[0001] This utility model relates to the field of robot gripper technology, specifically a gripper for automatic loading and unloading of materials by a robot. Background Technology

[0002] Generally, robot grippers typically use grippers to hold materials or suction cups to pick up and transport them. However, when loading and unloading agricultural products, such as potatoes and tomatoes, which are spherical in shape and may have uneven surfaces, conventional suction cup methods are difficult to use. Even if agricultural products are sorted and similar in size, there are still differences in shape and size between two different products, making it difficult for them to be completely identical. This results in discrepancies between the data of some agricultural products and the predetermined data when the robot uses gripping methods, leading to excessive gripping force and damage to the agricultural products, which is quite inconvenient. Utility Model Content

[0003] The purpose of this invention is to provide a gripper for automatic loading and unloading of materials by a robot, so as to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, this utility model provides the following technical solution:

[0005] A robotic gripper for automatic loading and unloading includes:

[0006] The system includes a mounting base that can be installed on a robot, a U-shaped plate, a selection mechanism for picking up soft materials, and two drive mechanisms. The U-shaped plate is fixedly connected to the bottom end of the mounting base. The selection mechanism is located between the two arms of the U-shaped plate. The selection mechanism includes two circular plates, with opposite sides of the two circular plates fixedly connected to the two arms of the U-shaped plate. Each circular plate has an annular groove on its outer wall. Multiple sliders are slidably engaged inside each annular groove. Guide ropes are fixedly connected between two parallel sliders located in the two annular grooves. The two drive mechanisms are located at the two circular plates respectively.

[0007] Furthermore, each annular slot has a fixedly connected positioning block at its top, and each annular slot has a fixedly connected connecting rope between the two adjacent sliders except for the two bottom sliders. Each positioning block has a circular hole on one side, and each circular hole is fixedly connected to the middle of the adjacent connecting rope.

[0008] Furthermore, the driving mechanism includes:

[0009] The system consists of a U-shaped rod, two L-shaped rods connected to sliders by pull ropes, and an arc-shaped guide plate. One end of each arm of the U-shaped rod penetrates the inner top surface of the U-shaped plate, and a rectangular hole is provided at one end of each arm. The long arms of the two L-shaped rods are slidably fitted into the two rectangular holes. The short arms of the two L-shaped rods correspond one-to-one with the two sliders located at the bottom of the adjacent annular grooves. Each short arm of the L-shaped rod is fixedly connected to the corresponding slider by a pull rope. One end of each long arm of the L-shaped rod is fixedly connected to the side wall of the adjacent U-shaped rod by a tension spring. The arc-shaped guide plate is located below the adjacent circular plate, and one side of the arc-shaped guide plate is fixedly connected to the inner side wall of the adjacent U-shaped plate.

[0010] Furthermore, both arms of any U-shaped rod are fixedly connected to a sleeve frame, and the long arm of any L-shaped rod is slidably sleeved inside the adjacent sleeve frame.

[0011] Furthermore, both ends of the U-shaped plate are fixedly connected to electric push rods, and the movable ends of the two electric push rods are fixedly connected to the top of the adjacent U-shaped rods through support plates, and multiple support rods are fixedly connected between the two U-shaped rods.

[0012] Furthermore, a pad is fixedly connected to one side of each circular plate.

[0013] Furthermore, a guide rod is fixedly connected between the two arms of the U-shaped plate, and the guide rod is equipped with multiple rubber plates. Each rubber plate has a sleeve hole at its top, and each sleeve hole is fixedly sleeved with the outer wall of the guide rod.

[0014] Compared with the prior art, the beneficial effects of this utility model are:

[0015] By connecting the mounting base to the robot's robotic arm, and then activating the electric push rod, two U-shaped rods move adjacent L-shaped rods upward. The L-shaped rods then use pull ropes to move adjacent sliders upward, causing multiple sliders inside the two annular slots to converge at adjacent positioning blocks. The robotic arm then moves the U-shaped plate to position the material between the two circular plates. Subsequently, the electric push rod moves the two U-shaped rods downward, causing the short arms of the L-shaped rods on the U-shaped rods to slide along adjacent arc-shaped guide plates. The short arms of the L-shaped rods then use pull ropes to move the connected sliders downward. Due to the pull of the connecting ropes, the multiple sliders inside the annular slots are circumferentially distributed to surround the material, thereby reducing contact with the material and minimizing damage. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0017] Figure 2 This is a schematic diagram of the selected mechanism and rubber sheet structure in this utility model;

[0018] Figure 3 This is a schematic diagram showing the positional relationship between the driving mechanism and the selection mechanism in this utility model;

[0019] Figure 4 This is a side view showing the positional relationship between the slider and the L-shaped rod in this utility model.

[0020] In the diagram: 100, mounting base; 200, U-shaped plate; 210, guide rod; 220, rubber plate; 300, selection mechanism; 310, circular plate; 311, pad block; 320, slider; 321, connecting rope; 322, guide rope; 330, positioning block; 400, drive mechanism; 410, U-shaped rod; 411, support rod; 420, L-shaped rod; 421, pull rope; 422, tension spring; 430, sleeve frame; 440, arc-shaped guide plate; 450, electric push rod. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0022] Please see Figure 1-4 In this embodiment of the present invention, a gripper for automatic loading and unloading of materials by a robot includes:

[0023] The system includes a mounting base 100, a U-shaped plate 200, a selection mechanism 300 for picking up soft materials, and two drive mechanisms 400, all of which can be mounted on a robot. The U-shaped plate 200 is fixedly connected to the bottom of the mounting base 100. The selection mechanism 300 is located between the two arms of the U-shaped plate 200. The selection mechanism 300 includes two circular plates 310, and the two circular plates 310 are fixedly connected to the two arms of the U-shaped plate 200 on opposite sides. Each circular plate 310 has an annular groove on its outer side wall. Multiple sliders 320 are slidably engaged inside each annular groove. Guide ropes 322 are fixedly connected between two parallel sliders 320 located in the two annular grooves. The two drive mechanisms 400 are located at the two circular plates 310 respectively.

[0024] Specifically, the mounting base 100 is used to connect with the robot's robotic arm. The number of sliders 320 inside the two annular slots is equal, and the number of sliders 320 inside any one annular slot is always even. The number of sliders 320 located on opposite sides of adjacent positioning blocks 330 inside any one annular slot is equal. The guide rope 322 is a soft rope, which can be made of soft rubber or other materials. During use, the robot moves the U-shaped plate 200, and then pre-slides the sliders 320 inside the two annular slots upwards, concentrating them at the adjacent positioning blocks 330. This ensures that the lower half of the two circular plates 310 is not obstructed by the guide rope 322. Then, the robot moves the U-shaped plate 200 so that the material to be picked up is positioned between the two circular plates 310. Finally, the sliders 320 inside the annular slots slide, causing the annular slots to... Multiple sliders 320 are evenly distributed inside the annular slot, so that multiple guide ropes 322 are arranged in a circle between two circular plates 310. Some of the guide ropes 322 wrap around to the bottom of the material to be picked up and push the material. The material can be a spherical or fragile product such as a tomato, potato, or peach. The soft guide ropes 322 can naturally scrape the material into the space between the multiple guide ropes 322 along the spherical surface of the material. The circumferentially distributed guide ropes 322 are used to wrap the material to be picked up, thereby reducing the damage to the material by using soft material to contact the material and reducing the contact area of ​​the material. This makes it easier for the user to use the robot to transport fragile materials. The diameter between the multiple circumferentially distributed guide ropes 322 is larger than the diameter of the material, and the gap between two adjacent guide ropes 322 is smaller than the diameter of the material, so that the material is not easy to fall off the multiple circumferentially arranged guide ropes 322.

[0025] Example 1

[0026] like Figure 2-4 As shown, in this embodiment, a positioning block 330 is fixedly connected to the top of any annular slot. A connecting rope 321 is fixedly connected to the interior of any annular slot, except between the two bottommost sliders 320 and between the other two adjacent sliders 320. A circular hole is opened on one side of any positioning block 330, and the interior of any circular hole is fixedly sleeved with the middle of the adjacent connecting rope 321.

[0027] In this embodiment, except for the area between the two lowest sliders 320 inside any annular slot, all other adjacent sliders 320 are connected by connecting ropes 321 of equal length. When it is necessary to concentrate multiple sliders 320 inside any annular slot to the adjacent positioning block 330, the lowest slider 320 inside the annular slot can be slid upwards, causing the two lowest sliders 320 to contact the other sliders 320 and concentrate them to the adjacent positioning block 330. This ensures that the lower half of the space between the two circular plates 310 is not obstructed by the guide ropes 322. When it is necessary to evenly distribute multiple sliders 320 inside the annular slot, the two lowest sliders 320 inside the annular slot can be slid downwards, causing these two sliders 320 to pull the other sliders 320 to move synchronously through the connecting ropes 321. This ensures that multiple sliders 320 inside the annular slot are evenly distributed, and the guide ropes 322 move from top to bottom to surround the material, making it less likely that the spherical material will be affected by lateral forces and cause the agricultural product to roll off.

[0028] like Figure 3-4 As shown, in this embodiment, the drive mechanism 400 includes:

[0029] A U-shaped rod 410, two L-shaped rods 420 connected to sliders 320 by pull ropes 421, and an arc-shaped guide plate 440. One end of each arm of the U-shaped rod 410 penetrates the inner top surface of the U-shaped plate 200. A rectangular hole is opened at one end of each arm of the U-shaped rod 410. The long arms of the two L-shaped rods 420 are slidably fitted into the two rectangular holes. The short arms of the two L-shaped rods 420 correspond one-to-one with the two lowermost sliders 320 inside the adjacent annular grooves. Each short arm of the L-shaped rod 420 is fixedly connected to the corresponding slider 320 by a pull rope 421. One end of each long arm of the L-shaped rod 420 is connected to the adjacent... A tension spring 422 is fixedly connected between the side walls of the U-shaped rod 410. The arc-shaped guide plate 440 is located below the adjacent circular plate 310. One side of the arc-shaped guide plate 440 is fixedly connected to the inner side wall of the adjacent U-shaped plate 200. Both arms of any U-shaped rod 410 are fixedly connected to a sleeve frame 430. The long arm of any L-shaped rod 420 is slidably sleeved inside the adjacent sleeve frame 430. Both ends of the U-shaped plate 200 are fixedly connected to electric push rods 450. The movable ends of the two electric push rods 450 are fixedly connected to the top of the adjacent U-shaped rod 410 through support plates. Multiple support rods 411 are fixedly connected between the two U-shaped rods 410.

[0030] In practical implementation, two electric push rods 450 are simultaneously activated by a one-to-two controller, causing the two electric push rods 450 to drive two U-shaped rods 410 to move synchronously via support rods 411. When the two U-shaped rods 410 move upward, the two L-shaped rods 420 on any U-shaped rod 410 can pull the two lowest sliders 320 inside the adjacent annular groove upward via pull ropes 421, thereby concentrating multiple sliders 320 inside the annular groove at the adjacent positioning block 330, and can be driven by activating the electric push rods 450. The two U-shaped rods 410 move downwards, causing the short arms of the two L-shaped rods 420 on any one of the U-shaped rods 410 to move along the adjacent arc-shaped guide plate 440. This causes the L-shaped rod 420 to pull the two lowest sliders 320 inside the adjacent annular groove downwards via the pull rope 421, so that the multiple sliders 320 inside the adjacent annular groove are arranged in a circle. The tension spring 422 can keep the L-shaped rod 420 in contact with the adjacent arc-shaped guide plate 440 when it is driven upwards by the U-shaped rod 410. The sleeve frame 430 can make the L-shaped rod 420 more stable when sliding.

[0031] Example 2

[0032] Based on Example 1, material collisions are reduced by setting up pad 311 and rubber plate 220.

[0033] like Figure 1-2 As shown, in this embodiment, a pad 311 is fixedly connected to one side of any circular plate 310, a guide rod 210 is fixedly connected between the two arms of the U-shaped plate 200, and the guide rod 210 is equipped with a plurality of rubber plates 220. Each rubber plate 220 has a sleeve hole at its top end, and each sleeve hole is fixedly sleeved with the outer wall of the guide rod 210.

[0034] In practice, the pad 311 is made of soft rubber, and the sleeve hole on the rubber plate 220 is small. The user can manually stretch the sleeve hole and then pull the rubber plate 220 to slide on the guide rod 210 to adjust the distance between the rubber plates 220. Then, the sleeve hole can naturally recover due to the rubber's resilience and get stuck on the guide rod 210, making it difficult to move. When picking up multiple materials, a single material can be placed between two rubber plates 220, so that the material only comes into contact with the guide rope 322, the rubber plate 220 or the pad 311 during the robot's transportation process, reducing damage to the material.

[0035] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0036] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A gripper for automatic loading and unloading of materials by a robot, characterized in that, include: Mounting base (100); The U-shaped plate (200) is fixedly connected to the bottom end of the mounting base (100); The selection mechanism (300) is located between the two arms of the U-shaped plate (200). The selection mechanism (300) includes two circular plates (310), and the two circular plates (310) are fixedly connected to the two arms of the U-shaped plate (200) on opposite sides. An annular groove is provided on the outer wall of each circular plate (310), and multiple sliders (320) are slidably engaged inside each annular groove. Guide ropes (322) are fixedly connected between two sliders (320) located in the two annular grooves and parallel to each other. Two drive mechanisms (400) are located at the two circular plates (310), respectively.

2. The robotic gripper for automatic loading and unloading according to claim 1, characterized in that, A positioning block (330) is fixedly connected to the top of any annular slot. A connecting rope (321) is fixedly connected to the interior of any annular slot, except between the two bottom sliders (320) and between the other two adjacent sliders (320). A circular hole is opened on one side of any positioning block (330), and the interior of any circular hole is fixedly sleeved with the middle of the adjacent connecting rope (321).

3. The robotic gripper for automatic loading and unloading according to claim 1, characterized in that, A pad (311) is fixedly connected to one side of any circular plate (310).

4. The robotic gripper for automatic loading and unloading according to claim 1, characterized in that, A guide rod (210) is fixedly connected between the two arms of the U-shaped plate (200), and the guide rod (210) is equipped with multiple rubber plates (220). Each rubber plate (220) has a sleeve hole at its top, and each sleeve hole is fixedly sleeved with the outer wall of the guide rod (210).

5. The robotic automatic loading and unloading gripper according to any one of claims 1-4, characterized in that, The drive mechanism (400) includes: The U-shaped rod (410) has one end of each arm penetrating the inner top surface of the U-shaped plate (200), and a rectangular hole is provided at one end of each arm of the U-shaped rod (410). Two L-shaped rods (420) have their long arms slidably fitted into the two rectangular holes. The short arms of the two L-shaped rods (420) correspond one-to-one with the two sliders (320) located at the bottom of the adjacent annular slots. A pull rope (421) is fixedly connected between the short arm of any L-shaped rod (420) and the corresponding slider (320). A tension spring (422) is fixedly connected between one end of the long arm of any L-shaped rod (420) and the side wall of the adjacent U-shaped rod (410). An arc-shaped guide plate (440) is located below an adjacent circular plate (310), and one side of the arc-shaped guide plate (440) is fixedly connected to the inner wall of an adjacent U-shaped plate (200).

6. The robotic automatic loading and unloading gripper according to claim 5, characterized in that, Both arms of any U-shaped rod (410) are fixedly connected to a sleeve frame (430), and the long arm of any L-shaped rod (420) is slidably sleeved inside the adjacent sleeve frame (430).

7. The robotic gripper for automatic loading and unloading according to claim 5, characterized in that, Both ends of the U-shaped plate (200) are fixedly connected to electric push rods (450), and the movable ends of the two electric push rods (450) are fixedly connected to the top of the adjacent U-shaped rods (410) through support plates. Multiple support rods (411) are fixedly connected between the two U-shaped rods (410).

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