CN208166034U - A kind of turnover box intelligence pickup robot gripper - Google Patents
A kind of turnover box intelligence pickup robot gripper Download PDFInfo
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- CN208166034U CN208166034U CN201820554580.2U CN201820554580U CN208166034U CN 208166034 U CN208166034 U CN 208166034U CN 201820554580 U CN201820554580 U CN 201820554580U CN 208166034 U CN208166034 U CN 208166034U
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- turnover box
- shovel
- connecting rod
- robot gripper
- connector
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Abstract
The utility model discloses a kind of turnover box intelligence pickup robot grippers, including：Support shovel, support shovel includes the connecting rod of two shovel arm of two shovel arms and connection, and the middle part of connecting rod is equipped with flange connector；Fastening screw is equipped with several fastening screws on each shovel arm；Wedge block is adjusted, is equipped with several adjustable wedge blocks on each shovel arm；Shutoff device, shutoff device are rotatably connected with two shovel arms, and the side of the nearly connecting rod of two shovel arm rests is arranged in shutoff device；The side of the nearly connecting rod of a shovel arm rest is arranged in rotating device, rotating device, and rotating device drives shutoff device rotation.The utility model can carry out geometric match and positioning according to turnover box by fastening screw, adjustable wedge block, eliminate turnover box deformation error and increase crawl precision.
Description
Technical field
The utility model relates to the technical field of robot hand more particularly to a kind of turnover box pickup robot grippers.
Background technique
As logistic industry human cost is gradually increasing and the introduction of standardization process, industrial robot is in object
Popular industry has obtained more and more applications.Storage for smallclothes material generallys use standardization logistic turnover box and carries out list
First formula storage, robot crawl turnover box then need to design corresponding gripper.
The intelligent requirements of logistics hardware are also current industrial trend, thus the robot hand applied in corresponding scene
It is also required to have intelligentized function.Robot hand not only needs to have reliable, accurate crawl, perhaps will be to crawl position
Product is grabbed needed for whether having, and whether is grabbed and successfully determined.
In warehouse logistics and electric business industry, often there are form variations in turnover box in the application, and manually on material frame
It places turnover box position to be not fixed, and the problem of due to artificial or bucket management, expects whether multiple bit of storage have turnover box on frame
Sometimes it is also difficult to judge.These reasons can all bring great difficulty to robot automation's systematic difference.Robot system
Movement is exceedingly fast, and grabbing loosely often occurs in existing turnover box graping chaw, the problems such as falling in robot kinematics.
Utility model content
In view of this, the purpose of this utility model is to provide a kind of turnover box intelligence pickup robot grippers, it is intended to solve
Certainly turnover box gripper is difficult to compatible error turnover box error, grabs unstable problem in the prior art.
To achieve the goals above, the technical solution that the utility model is taken is：
A kind of turnover box intelligence pickup robot gripper, wherein including：Support shovel, the support shovel include two shovel arms and connection
The connecting rod of the two shovel arms, and the middle part of the connecting rod is equipped with flange connector；Fastening screw is equipped on each shovel arm
Several fastening screws；Wedge block is adjusted, is equipped with several adjustable wedge blocks on each shovel arm；Shutoff device, it is described
Shutoff device is rotatably connected with the two shovel arms, and the one of the two shovel closely described connecting rods of arm rest is arranged in the shutoff device
Side；The side of a shovel closely described connecting rod of arm rest is arranged in rotating device, the rotating device, and the rotating device drives institute
State shutoff device rotation.
Above-mentioned turnover box intelligence pickup robot gripper, wherein further include：Padlock positioning and detection device, the button
Locking bit and detection device are fixed between the connecting rod and the shutoff device；Turnover box detector, the turnover box detection
The end of another shovel arm is arranged in device；Grab detector, institute close in another shovel arm rest is arranged in the crawl detector
State the side of connecting rod.
Above-mentioned turnover box intelligence pickup robot gripper, wherein further include：Signal processing for monitoring signals state
Unit, the signal processing unit position and detection device, the turnover box detector and the crawl respectively at the padlock
Detector signal connection.
Above-mentioned turnover box intelligence pickup robot gripper, wherein the shutoff device includes：Lock；Connecting shaft, it is described
One end of connecting shaft is connected with the lock, and the other end of the connecting shaft is connected in the rotating device；Shaft, it is described
One end of shaft is connected with the lock, and the other end of the shaft is connected with another shovel arm, the shaft setting
In the side of another shovel closely described connecting rod of arm rest.
Above-mentioned turnover box intelligence pickup robot gripper, wherein the locating location and detection device include：Connection
Part, one end of the connector are fixedly connected with the connecting rod, and the other end of the connector is right against the lock；Upper detection
Device, the upper detection device are fixedly connected with the connector；Lower detection device, the lower detection device and the connector
It is fixedly connected；Positioning bolt, the positioning bolt are arranged on the connector.
Above-mentioned turnover box intelligence pickup robot gripper, wherein the connector is in " Qian " font.
Above-mentioned turnover box intelligence pickup robot gripper, wherein be provided with a positioning on each shovel arm
Bolt and the two adjustable wedge blocks, each fastening screw shoveled on arm are respectively positioned on the two adjustable wedge blocks
Between.
Above-mentioned turnover box intelligence pickup robot gripper, wherein the flange connector is connected with robot flange.
Above-mentioned turnover box intelligence pickup robot gripper, wherein have between two joint faces of the flange connector
Angle.
Due to using above-mentioned technology, the good effect for being allowed to have compared with prior art is the utility model：
(1) the utility model by fastening screw, adjustable wedge block can carry out geometry according to turnover box
With with positioning, eliminate turnover box deformation error simultaneously increase crawl precision.
(2) turnover box is fixed on support shovel by the utility model using rotating device, shutoff device, guarantees robot motion
Turnover box does not deviate, falls in the process.
(3) rotating device of the utility model is correspondingly provided with padlock positioning and detection device, real-time monitoring rotating device
State, guarantee crawl reliability.
(4) the utility model has crawl detector, real-time detection is carried out to the turnover box grabbed, if falling
It can timely feedback.
Detailed description of the invention
Fig. 1 is the perspective view of the turnover box intelligence pickup robot gripper of the utility model.
Fig. 2 is the enlarged drawing of the turnover box intelligence pickup robot gripper of the utility model.
Fig. 3 is the side view of the turnover box intelligence pickup robot gripper of the utility model.
Fig. 4 is the turnover box crawl schematic diagram of the turnover box intelligence pickup robot gripper of the utility model.
In attached drawing：1, support shovel；2, fastening screw；3, wedge block is adjusted；4, rotating device；5, shutoff device；501, even
Spindle；502, it latches；503, shaft；6, padlock positioning and detection device；601, upper detector；602, lower detector；603, fixed
Position bolt；604, connector；7, flange connector；8, turnover box detector；9, detector is grabbed.
Specific embodiment
The utility model is described in further detail in the following with reference to the drawings and specific embodiments, but not as the utility model
It limits.
Fig. 1 is the perspective view of the turnover box intelligence pickup robot gripper of the utility model, and Fig. 2 is the week of the utility model
The enlarged drawing of turnning box intelligence pickup robot gripper, Fig. 3 are the sides of the turnover box intelligence pickup robot gripper of the utility model
View, Fig. 4 are the turnover box crawl schematic diagrames of the turnover box intelligence pickup robot gripper of the utility model, referring to Figure 1 extremely
Shown in Fig. 4, a kind of turnover box intelligence pickup robot gripper of preferred embodiment is shown, including：Support shovel 1, support shovel 1 include two
The connecting rod of two shovel arm of arm and connection is shoveled, and the middle part of connecting rod is equipped with flange connector 7.
In addition, as a kind of preferred embodiment, turnover box intelligence pickup robot gripper further includes：Fastening screw 2, often
Several fastening screws 2 are equipped on one shovel arm.
In addition, as a kind of preferred embodiment, turnover box intelligence pickup robot gripper further includes：Adjustable wedge block
3, several adjustable wedge blocks 3 are equipped on each shovel arm.
Further, as a kind of preferred embodiment, turnover box intelligence pickup robot gripper further includes：Shutoff device 5,
Shutoff device 5 is rotatably connected with two shovel arms, and the side of the nearly connecting rod of two shovel arm rests is arranged in shutoff device 5.Shutoff device 5 can
Relative to two shovel arm rotations.
Further, as a kind of preferred embodiment, turnover box intelligence pickup robot gripper further includes：Rotating device
4, the side of the nearly connecting rod of a shovel arm rest is arranged in rotating device 4, and rotating device 4 drives shutoff device 5 to rotate.
Further, as a kind of preferred embodiment, turnover box intelligence pickup robot gripper further includes：Padlock positioning
And detection device 6, padlock positioning and detection device 6 are fixed between connecting rod and shutoff device 5.Padlock positioning and detection device are used
Whether moved in place in monitoring shutoff device.
On the other hand, as a kind of preferred embodiment, turnover box intelligence pickup robot gripper further includes：Turnover box is visited
Device 8 is surveyed, the end of another shovel arm is arranged in turnover box detector 8.Turnover box detector 8 for detect turnover box crawl position,
And whether turnover box has been picked up on detection support shovel 1.
Further, as a kind of preferred embodiment, turnover box intelligence pickup robot gripper further includes：Grab detector
9, the side of the nearly connecting rod of another shovel arm rest is arranged in crawl detector 9.Crawl detector 9 for supervising turnover box in real time
It surveys, when turnover box is fallen, crawl detector 9 is timely feedbacked.
Further, as a kind of preferred embodiment, turnover box intelligence pickup robot gripper further includes：For monitoring
The signal processing unit (not shown) of signal condition, signal processing unit is respectively at padlock positioning and detection device 6, turnover
Case detector 8 is connected with crawl 9 signal of detector.
The foregoing is merely the utility model preferred embodiment, be not intended to limit the embodiments of the present invention and
Protection scope.
The utility model also has on the basis of the above is implemented as follows mode：
In the further embodiment of the utility model, continuing with referring to FIG. 1 to FIG. 4, shutoff device 5 includes：Connection
One end of axis 501 and lock 502, connecting shaft 501 is connected with lock 502, and the other end of connecting shaft 501 is in 4 phase of rotating device
Connection.Lock 502 is for realizing mutually fastening and locking with turnover box.
In the further embodiment of the utility model, shutoff device 5 includes：Shaft 503, one end of shaft 503 and lock
502 are connected, and the other end of shaft 503 is connected with another shovel arm, and the one of the nearly connecting rod of another shovel arm rest is arranged in shaft 503
Side.
In the further embodiment of the utility model, locating location and detection device 6 include：Connector 604, connector
604 one end is fixedly connected with connecting rod, and the other end of connector 604 is right against lock 502.
In the further embodiment of the utility model, locating location and detection device 6 include：Upper detection device 601, upper spy
Device 601 is surveyed to be fixedly connected with connector 604.Upper detection device 601 is for detecting whether lock 502 moves in place.
In the further embodiment of the utility model, locating location and detection device 6 include：Lower detection device 602, test
Device 601 is surveyed to be fixedly connected with connector 604.Lower detection device 602 is for detecting whether lock 502 moves in place.
In the further embodiment of the utility model, locating location and detection device 6 include：Positioning bolt 603 positions spiral shell
Bolt 603 is arranged on connector 604.Positioning bolt 603 is for carrying out stopping positioning to lock 502.
In the further embodiment of the utility model, the longitudinal section of connector 604 is in " Qian " font.
In the further embodiment of the utility model, a fastening screw 2 and all right one way or the other is preferably provided on each shovel arm
Wedge block 3 is adjusted, the fastening screw 2 on each shovel arm is respectively positioned between two adjustable wedge blocks 3.
In the further embodiment of the utility model, a joint face of flange connector 7 is connected with connecting rod, flanged joint
Another joint face of part 7 is connected with robot flange (not shown).
It is parallel between two joint faces of flange connector 7 in the further embodiment of the utility model, in another situation
Under, there is angle between two joint faces of flange connector 7.When having angle between two joint faces of flange connector 7, energy
Enough avoid robot singular point.
Illustrate the application method of the utility model below：
Step 1：It is detected by position of the turnover box detector 8 to required crawl, such as there is turnover box, then carried out
Crawl.
Step 2：Fastening screw 2 is inserted into the side of turnover box, adjusting adjustable wedge block 3 pastes adjustable wedge block 3
Close the side of turnover box.
Step 3：Whether turnover box is picked up on the detection support of turnover box detector 8 shovel 1, if so, step 4 is executed, if
Otherwise return step one.
Step 4：Rotating device 4 drives shutoff device 5 that turnover box is fastened on support shovel 1, the lower monitoring of detector 602 lock
Button 502 to lock 502 moves in place, completes turnover box and picks up.
Step 5：Robot carries turnover box and is moved to designated position.
Step 6：Rotating device 4 drives shutoff device 5 to check card, and 603 pairs of positioning bolt locks 502 carry out stopping positioning, on
Detection device monitoring lock 502 to movement in place.
Step 7：The side that adjustable wedge block 3 makes adjustable wedge block 3 leave turnover box is adjusted, fastening screw 2 exits
The side of turnover box, support shovel 1 is at a distance.
Step 8：The detection of turnover box detector 8 is completed turnover box and is placed less than turnover box.
The foregoing is merely the utility model preferred embodiment, be not intended to limit the embodiments of the present invention and
Protection scope should can appreciate that all in the utility model specification and diagram to those skilled in the art
Hold made equivalent replacement and obviously change obtained scheme, the protection model of the utility model should all be included in
In enclosing.
Claims (9)
1. a kind of turnover box intelligence pickup robot gripper, which is characterized in that including：
Support shovel, the support shovel includes the connecting rod of two shovel arms and the shovel arm of connection two, and the middle part of the connecting rod connects equipped with flange
Fitting；
Fastening screw is equipped with several fastening screws on each shovel arm；
Wedge block is adjusted, is equipped with several adjustable wedge blocks on each shovel arm；
Shutoff device, the shutoff device are rotatably connected with the two shovel arms, and the shutoff device is arranged in the two shovel arms
Close to the side of the connecting rod；
The side of a shovel closely described connecting rod of arm rest, the rotating device driving is arranged in rotating device, the rotating device
The shutoff device rotation.
2. turnover box intelligence pickup robot gripper according to claim 1, which is characterized in that further include：
Padlock positioning and detection device, padlock positioning and detection device be fixed on the connecting rod and the shutoff device it
Between；
The end of another shovel arm is arranged in turnover box detector, the turnover box detector；
Detector is grabbed, the side of another shovel closely described connecting rod of arm rest is arranged in the crawl detector.
3. turnover box intelligence pickup robot gripper according to claim 2, which is characterized in that further include：For monitoring
The signal processing unit of signal condition, the signal processing unit position and detection device, the turnover respectively at the padlock
Case detector is connected with the crawl detector signal.
4. turnover box intelligence pickup robot gripper according to claim 3, which is characterized in that the shutoff device packet
It includes：
Lock；
Connecting shaft, one end of the connecting shaft are connected with the lock, and the other end of the connecting shaft is in the rotating device
It is connected；
Shaft, one end of the shaft are connected with the lock, and the other end of the shaft is connected with another shovel arm,
The side of another shovel closely described connecting rod of arm rest is arranged in the shaft.
5. turnover box intelligence pickup robot gripper according to claim 4, which is characterized in that the locating location and spy
Surveying device includes：
Connector, one end of the connector are fixedly connected with the connecting rod, and the other end of the connector is right against the lock
Button；
Upper detection device, the upper detection device are fixedly connected with the connector；
Lower detection device, the lower detection device are fixedly connected with the connector；
Positioning bolt, the positioning bolt are arranged on the connector.
6. turnover box intelligence pickup robot gripper according to claim 5, which is characterized in that the connector is in " Qian "
Font.
7. turnover box intelligence pickup robot gripper according to claim 1, which is characterized in that on each shovel arm
It is provided with a fastening screw and the two adjustable wedge blocks, the fastening screw on each shovel arm is respectively positioned on two
Between the adjustable wedge block.
8. turnover box intelligence pickup robot gripper according to claim 1, which is characterized in that the flange connector with
Robot flange is connected.
9. turnover box intelligence pickup robot gripper according to claim 1, which is characterized in that the flange connector
There is angle between two joint faces.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820554580.2U CN208166034U (en) | 2018-04-18 | 2018-04-18 | A kind of turnover box intelligence pickup robot gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820554580.2U CN208166034U (en) | 2018-04-18 | 2018-04-18 | A kind of turnover box intelligence pickup robot gripper |
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| Publication Number | Publication Date |
|---|---|
| CN208166034U true CN208166034U (en) | 2018-11-30 |
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ID=64369700
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820554580.2U Active CN208166034U (en) | 2018-04-18 | 2018-04-18 | A kind of turnover box intelligence pickup robot gripper |
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| Country | Link |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108408399A (en) * | 2018-04-18 | 2018-08-17 | 上海发那科机器人有限公司 | A kind of turnover box intelligence pickup robot paw |
| CN115092669A (en) * | 2022-02-22 | 2022-09-23 | 国网江苏省电力有限公司营销服务中心 | Electric energy meter turnover device and using method thereof |
-
2018
- 2018-04-18 CN CN201820554580.2U patent/CN208166034U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108408399A (en) * | 2018-04-18 | 2018-08-17 | 上海发那科机器人有限公司 | A kind of turnover box intelligence pickup robot paw |
| CN115092669A (en) * | 2022-02-22 | 2022-09-23 | 国网江苏省电力有限公司营销服务中心 | Electric energy meter turnover device and using method thereof |
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