A logistics handling anthropomorphic robot handling gripper

Abstract

The utility model provides a kind of logistics carrying anthropomorphic robot carrying gripper, before clamping the article to be carried, the detection module in the detection groove is scanned in advance to be clamped and contacted the surface of carrying and holding, when the contact surface of the article to be carried is scanned as curved surface or other irregular present surface, control module will control double-shaft motor operation, drive fixed sleeve rotation to make extension holding and the article to be carried abut, make extension holding tightly adhere to the surface of article, so as to increase the contact range of the carrying gripper with the surface of the goods carried, and then improve the stability when carrying goods, reduce the condition that the clamping type carrying gripper is not firm in carrying process, leading to article falling or tilting, improve carrying effect.

Description

Technical Field

[0001] This utility model relates to the field of handling gripper technology, and in particular to a humanoid robot handling gripper for logistics handling. Background Technology

[0002] With the development of intelligent technology, robotics has become increasingly mature. Humanoid robots are no longer the subject of science fiction from decades ago, but have become practical mechanical devices. Humanoid robots mimic human body structure and replicate human behavior to perform human tasks. Humanoid robots have numerous uses, but simply replicating human hands cannot guarantee the professionalism of their work. Therefore, the design of grippers for humanoid robots is an important topic.

[0003] In the existing technology, most of the handling grippers of humanoid robots are block-shaped clamping grippers. This type of handling gripper is only convenient for handling objects with flat surfaces. When the surface of the object is circular or other irregular shapes, the contact area between the block-shaped clamping gripper and the object will be reduced. The flat part of the block cannot fully contact the object, which will cause the clamping gripper to not hold firmly during the handling process, resulting in the object falling off or tilting, thus affecting the handling effect. Utility Model Content

[0004] To address the shortcomings of existing technologies, this utility model provides a humanoid robot handling gripper for logistics handling. This solves the problem that most existing handling grippers are block-shaped clamping grippers, which are only convenient for handling objects with flat surfaces. When the object's surface is circular or has other irregular shapes, the contact area between the block-shaped clamping gripper and the object decreases, and the flat block cannot fully contact the object. This results in the gripper not holding the object securely during handling, causing the item to fall off or tilt, thus affecting the handling efficiency.

[0005] This utility model provides a humanoid robot handling gripper for logistics handling, including:

[0006] The gripper body has a connecting bracket on its top, which is fixedly connected to one end of the gripper connecting end. The bottom of the gripper body has a detection groove, and the inside of the detection groove is equipped with a detection module and a control module that are electrically connected. The two ends inside the gripper body are also equipped with dual-axis motors that are electrically connected to the control module.

[0007] The two ends of the dual-axis motor are fixedly connected to fixed sleeves. A telescopic frame is movably connected to the top of the fixed sleeve. The end of the telescopic frame away from the fixed sleeve is movably connected to one end of an L-shaped frame. A movable groove is provided at the connection between the L-shaped frame and the telescopic frame. An extension gripper is movably connected to the other end of the L-shaped frame. A fixed piece is fixedly connected to one end of the L-shaped frame corresponding to the extension gripper. The upper and lower ends of the extension gripper near the fixed piece are respectively fixedly connected to the fixed piece by elastic pieces. A first extension strip is fixedly connected to the outer wall of the fixed sleeve. A second extension strip is fixedly connected to the outer wall of the L-shaped frame corresponding to the first extension strip. The first extension strip and the second extension strip are connected by an electric push rod. The electric push rod is electrically connected to the control module.

[0008] Optionally, the gripping body includes:

[0009] Its bottom end is provided with symmetrical contact strips and contact bumps.

[0010] Optionally, the extended gripper includes:

[0011] It is equipped with a contact plate, which is designed to be concave arc-shaped.

[0012] Optionally, the contact plate includes:

[0013] Its surface is covered with an anti-slip friction layer.

[0014] Optionally, both the contact strip and the contact bump are made of anti-slip rubber.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] Before clamping the item to be transported, the detection module inside the detection groove can scan the surface that the transport gripper will contact in advance. When the scan detects that the contact surface of the item to be transported is a curved surface or other irregular linear surface, the control module will control the dual-axis motor to run, driving the fixed sleeve to rotate so that the extended gripper comes into contact with the item to be transported, making the extended gripper stick tightly to the surface of the item. This increases the contact range between the transport gripper and the surface of the transported goods, thereby improving the stability when transporting goods and reducing the possibility of the gripper not clamping firmly during the transport process, which may cause the item to fall off or tilt, thus improving the transport efficiency. Attached Figure Description

[0017] Figure 1 This is a front structural diagram of the present invention;

[0018] Figure 2 This is a bottom view of the structure of this utility model;

[0019] Figure 3This is a schematic diagram of any part of the overall structure of this utility model;

[0020] Figure 4 This is a schematic diagram of another part of the overall structure of this utility model;

[0021] Figure 5 This is a schematic diagram of another part of the overall structure of this utility model.

[0022] Explanation of icon numbers:

[0023] 1. Grab body; 2. Connecting bracket; 3. Grab connection end; 4. Detection groove; 5. Dual-axis motor; 6. Fixing sleeve; 7. Telescopic frame; 8. L-shaped frame; 9. Movable groove; 10. Extended gripper; 11. Fixing plate; 12. Elastic plate; 13. First extension strip; 14. Second extension strip; 15. Electric push rod; 16. Contact strip; 17. Contact protrusion; 18. Anti-slip friction layer.

[0024] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0025] To make the objectives, technical solutions, and beneficial effects of this utility model clearer, the technical solutions of this utility model are further described below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of this utility model and are not intended to limit it.

[0026] See Figures 1 to 5 This utility model provides a humanoid robot handling gripper for logistics handling, comprising:

[0027] The gripping body 1 has a connecting bracket 2 on its top, which is fixedly connected to one end of the gripper connecting end 3. The bottom of the gripping body 1 has a detection groove 4, and the detection groove 4 has an electrically connected detection module and a control module inside. The two ends inside the gripping body 1 are also equipped with dual-axis motors 5 that are electrically connected to the control module.

[0028] The two ends of the dual-axis motor 5 are fixedly connected to the fixing sleeves 6. The top of the fixing sleeves 6 is movably connected to the telescopic frame 7. The end of the telescopic frame 7 away from the fixing sleeves 6 is movably connected to one end of the L-shaped frame 8. The connection between the L-shaped frame 8 and the telescopic frame 7 is provided with a movable groove 9. The other end of the L-shaped frame 8 is movably connected to the extension gripper 10. The L-shaped frame 8 is fixedly connected to the end of the extension gripper 10 with a fixing piece 11. The upper and lower ends of the extension gripper 10 near the fixing piece 11 are fixedly connected to the fixing piece 11 by elastic pieces 12. The outer wall of the fixing sleeve 6 is fixedly connected to the first extension strip 13. The outer wall of the L-shaped frame 8 is fixedly connected to the first extension strip 13 with the second extension strip 14. The first extension strip 13 and the second extension strip 14 are connected by an electric push rod 15. The electric push rod 15 is electrically connected to the control module.

[0029] See Figures 1 to 5 In this embodiment, the humanoid robot handling gripper is used in conjunction with the humanoid robot. Its detection module and power supply can be provided by the power module of the humanoid robot body through wires. After the gripper connection end 3 of the humanoid robot handling gripper is connected to the arm part of the humanoid robot, the two handling grippers on the humanoid robot's arms clamp the goods to be transported, and the extension gripper 10 is rotated by the fixing sleeve 6 so that it comes into contact with the item to be transported, so that the extension gripper 10 is tightly attached to the surface of the item, thereby increasing the contact range between the extension gripper 10 and the surface of the transported goods. The electric push rod 15 applies pressure to the extension gripper 10 to ensure that the extension gripper 10 is tightly attached, thereby improving the stability when transporting goods and reducing the situation where the gripper is not firmly clamped during the transport process, which may cause the item to fall off or tilt, thus improving the transport effect.

[0030] See Figures 1 to 5 In another embodiment, specifically, before the transport gripper clamps the item to be transported, the detection module inside the detection groove 4 can scan the surface that the transport gripper will clamp in advance. When the scan detects that the contact surface of the item to be transported is a curved surface or other irregular surface, the control module will control the dual-axis motor 5 to run, driving the fixed sleeve 6 to rotate so that the extended gripper 10 abuts against the item to be transported, making the extended gripper 10 tightly attached to the surface of the item. This increases the contact range between the transport gripper and the surface of the transported goods, thereby improving the stability when transporting goods and reducing the situation where the clamping transport gripper is not firmly clamped during the transport process, causing the item to fall off or tilt, thus improving the transport effect.

[0031] See Figures 1 to 5In another embodiment, specifically, the movable connection between the extended gripper 10 and the L-shaped frame 8 facilitates accurate contact between the contact surface of the extended gripper 10 and the item. As the fixed sleeve 6 rotates under the control of the dual-axis motor 5, pressure is applied to the extended gripper 10 via the telescopic frame 7 and the L-shaped frame 8, ensuring the elastic extended gripper 10 adheres tightly to the item surface. This prevents the extended gripper 10 from failing to contact the surface of the item due to excessive deviation between its angle and the surface of the item being transported, thus improving the gripping effect of the extended gripper 10. Furthermore, by providing elastic plates 12 in two movable directions of the extended gripper 10, when the extended gripper 10 rotates at an angle with the L-shaped frame 8, the elastic plates 12 undergo elastic deformation. After the extended gripper 10 leaves the item being transported, the elastic restoring force of the elastic plates 12 can reset the extended gripper 10, placing it in a centered position via the two elastic plates 12 for easy reuse.

[0032] Furthermore, when the detection module detects that the surface curvature of the item to be transported is large, the control module can control the electric push rod 15 to retract, reducing the distance between the L-shaped frame 8 and the fixed sleeve 6, and causing the telescopic frame 7 to bend and fold, so that there is a bend between the L-shaped frame 8 and the fixed sleeve 6. This avoids the situation where the telescopic frame 7 first abuts against the item when the dual-axis motor 5 controls the extension gripper 10 to contact the item surface due to the large surface curvature of the item to be transported, causing the extension gripper 10 to be unable to contact the item, thus affecting the gripping stability of the extension gripper 10 on the item. Therefore, this method can improve the gripping stability when transporting items.

[0033] See Figure 2 In another embodiment, the gripping body 1 includes:

[0034] The bottom end is provided with symmetrical contact strips 16 and contact protrusions 17.

[0035] By having the contact strip 16 and contact protrusion 17 closely adhere to the goods to be handled, the friction between the handling gripper and the goods is increased, thereby improving the stability during the handling process.

[0036] See Figure 2 In another embodiment, the extended gripper 10 includes:

[0037] It is equipped with a contact plate, which is designed to be concave arc-shaped.

[0038] The contact plate is designed with a concave arc shape to better clamp irregular surface shapes.

[0039] See Figure 2 In another embodiment, the contact plate includes:

[0040] Its surface is provided with an anti-slip friction layer 18.

[0041] By providing an anti-slip friction layer 18 on the surface of the contact plate, the clamping stability of the handling gripper is further increased.

[0042] See Figure 2 In another embodiment, both the contact strip 16 and the contact bump 17 are made of anti-slip rubber.

[0043] By making the contact strip 16 and contact bump 17 with anti-slip rubber, the extended gripper is used to stabilize the goods to be moved.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this utility model without departing from the spirit and scope of the technical solutions of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A humanoid robot handling gripper for logistics handling, characterized in that, include: The gripping body (1) has a connecting bracket (2) on its top, which is fixedly connected to one end of the gripper connecting end (3). The bottom of the gripping body (1) has a detection groove (4), and the inside of the detection groove (4) is equipped with an electrically connected detection module and a control module. The two ends inside the gripping body (1) are also equipped with dual-axis motors (5) that are electrically connected to the control module. The two ends of the dual-axis motor (5) are fixedly connected to the fixing sleeves (6). The top of the fixing sleeves (6) is movably connected to the telescopic frame (7). The end of the telescopic frame (7) away from the fixing sleeves (6) is movably connected to one end of the L-shaped frame (8). A movable groove (9) is provided at the connection between the L-shaped frame (8) and the telescopic frame (7). The other end of the L-shaped frame (8) is movably connected to the extension gripper (10). A fixing plate is fixedly connected to one end of the L-shaped frame (8) corresponding to the extension gripper (10). (11) The upper and lower ends of the extended gripper (10) near the fixed plate (11) are fixedly connected to the fixed plate (11) by elastic plates (12) respectively. The outer wall of the fixed sleeve (6) is fixedly connected to the first extension strip (13). The outer wall of the L-shaped frame (8) is fixedly connected to the first extension strip (13) and the second extension strip (14) is fixedly connected to the first extension strip (13). The first extension strip (13) and the second extension strip (14) are connected by an electric push rod (15). The electric push rod (15) is electrically connected to the control module.

2. The humanoid robot handling gripper for logistics handling as described in claim 1, characterized in that, The gripping body (1) includes: The bottom end is provided with symmetrical contact strips (16) and contact bumps (17).

3. The humanoid robot handling gripper for logistics handling as described in claim 2, characterized in that, The extended gripper (10) includes: It is equipped with a contact plate, which is designed to be concave arc-shaped.

4. The humanoid robot handling gripper for logistics handling as described in claim 3, characterized in that, The contact plate includes: Its surface is provided with an anti-slip friction layer (18).

5. The humanoid robot handling gripper for logistics handling as described in claim 2, characterized in that, Both the contact strip (16) and the contact bump (17) are made of anti-slip rubber.

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