CN111114880A - Robot paw for transferring beverage bottles - Google Patents
Robot paw for transferring beverage bottles Download PDFInfo
- Publication number
- CN111114880A CN111114880A CN202010024840.7A CN202010024840A CN111114880A CN 111114880 A CN111114880 A CN 111114880A CN 202010024840 A CN202010024840 A CN 202010024840A CN 111114880 A CN111114880 A CN 111114880A
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- China
- Prior art keywords
- gear
- bottle
- clamping blocks
- base
- pawl
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B21/00—Packaging or unpacking of bottles
- B65B21/02—Packaging or unpacking of bottles in or from preformed containers, e.g. crates
- B65B21/08—Introducing or removing single bottles, or groups of bottles, e.g. for progressive filling or emptying of containers
- B65B21/12—Introducing or removing single bottles, or groups of bottles, e.g. for progressive filling or emptying of containers using grippers engaging bottles, e.g. bottle necks
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a robot gripper for transferring a beverage bottle, which comprises a robot body and a gripper arranged at the tail end of the robot body and used for gripping the beverage bottle, wherein the beverage bottle comprises a bottle neck, the upper end of the bottle neck is in threaded connection with a bottle cap, a flange is formed in the middle of the bottle neck, the gripper comprises a base fixedly connected with the tail end of the robot body, a sleeve hole matched with the flange and a rectangular hole penetrating through the sleeve hole in the left-right direction are formed in the lower end of the base, two clamping blocks which are symmetrically arranged in the left-right direction are sleeved in the rectangular hole, and the clamping blocks are inserted and sleeved on the bottle neck and positioned below the flange; the two clamping blocks are provided with automatic driving mechanisms for driving the clamping blocks to approach or separate from each other. The beverage bottle boxing device can ensure that the beverage bottle does not deflect in the transfer process through the limiting action of the two clamping blocks and the sleeve hole, and the two clamping blocks can automatically approach or separate from each other, so that the beverage bottle is conveniently grabbed and put down, and the boxing efficiency is improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot claw for transferring beverage bottles.
Background
The filling of bottled beverages is generally completed on an automatic filling production line, a certain amount of beverages are firstly quantitatively filled into beverage bottles, then bottle caps are screwed on the bottle mouths of the beverages, and the beverage bottles are taken down from the filling production line after all the beverages are filled, and subsequent boxing and other work are carried out. Beverage bottle is when fitment work, generally adopts the robot to vanning, because the bottle is softer, two the general centre gripping of the clamping jaw that can be close to each other of robot are in the neck or the bottle lid department of beverage bottle, nevertheless because bottleneck and bottle lid are circular, and the clamping jaw of robot takes place the deflection easily when shifting the beverage bottle to order about the robot and can not be accurate quick putting into specific position at the vanning in-process, thereby reduce vanning efficiency.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a robot claw for transferring beverage bottles, which can ensure that the beverage bottles do not deflect in the transferring process through the limiting action of two clamping blocks and sleeve holes, and the two clamping blocks can automatically approach or separate from each other, so that the beverage bottles can be conveniently grabbed and put down, and the boxing efficiency is improved.
The scheme for solving the technical problems is as follows:
a robot gripper for transferring beverage bottles comprises a robot body and a gripper arranged at the tail end of the robot body and used for gripping beverage bottles, wherein the beverage bottles comprise bottle necks, bottle caps are screwed at the upper ends of the bottle necks, flanges are formed in the middle of the bottle necks, the gripper comprises bases fixedly connected with the tail ends of the robot body, sleeve holes matched with the flanges and rectangular holes penetrating through the sleeve holes in the left and right directions are formed in the lower ends of the bases, two clamping blocks which are symmetrically arranged left and right are sleeved in the rectangular holes, and the clamping blocks are inserted and sleeved on the bottle necks and located below the flanges; the two clamping blocks are provided with automatic driving mechanisms for driving the clamping blocks to approach or separate from each other.
A waist-shaped hole is formed at the outer end of the clamping block;
the automatic driving mechanism comprises driving rods which are respectively inserted and sleeved on the kidney-shaped holes of the two clamping blocks, each driving rod is fixed on the back of the tooth of a corresponding first bevel gear, the first bevel gears are hinged in the base through first gear shafts, and the driving rods and the first gear shafts are eccentrically arranged; each first bevel gear is meshed with two second bevel gears, the two second bevel gears are respectively fixed at two ends of a second gear shaft, a third gear is sleeved at the middle of the second gear shaft, one end of the third gear is fixedly connected with a driving wheel, a pawl is arranged on the driving wheel and connected with a ratchet wheel, the ratchet wheel is fixed on the second gear shaft, a lifting rack capable of automatically resetting is meshed with the third gear, the lower end of the lifting rack is pressed on a bottle cap, the lifting rack is slidably connected onto a rack seat, the rack seat is fixed inside a base, and a supporting sleeve is formed at the other end of the third gear and hinged in the base.
A stop is formed at the upper end of the lifting rack, the distance between the stop and the rack seat is L1, the circumference of a reference circle of the third gear is L2, and L2 is equal to four times of L1.
The gear ratio of the second bevel gear to the first bevel gear is 2: 1.
The lifting rack is formed with a spring hole with an opening at the upper side, a spring is sleeved in the spring hole, and the upper end of the spring is pressed against the inner wall of the upper side of the base.
The ratchet wheel is characterized in that a plurality of rectangular grooves are uniformly distributed in the outer wall of the ratchet wheel, the pawl is in a rectangular strip shape, an inclined plane is formed at the inner end of the pawl, one side, opposite to the inclined plane, of the pawl is pressed in one of the rectangular grooves, the outer end of the pawl is inserted in a second rectangular hole of the driving wheel in a sleeved mode, and a pressure spring is clamped between the bottom surface of the second rectangular hole and the pawl.
And a limiting hole matched with the outer diameter of the bottle cap is formed in the upper bottom surface of the trepanning.
And a friction block is fixed on the tooth back of the second bevel gear, and the friction surface of the friction block is pressed against the inner side wall of the base.
The invention has the following outstanding effects: compared with the prior art, the beverage bottle packing device has the advantages that the beverage bottle can be prevented from deflecting in the transfer process through the limiting effect of the two clamping blocks and the sleeve hole, the two clamping blocks can be automatically close to each other or be away from each other, the beverage bottle can be conveniently grabbed and put down, and accordingly the packing efficiency is improved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an enlarged view of a portion of FIG. 1;
FIG. 3 is a partial enlarged view of FIG. 2 with respect to B;
FIG. 4 is a cross-sectional view of FIG. 2 taken about C-C;
FIG. 5 is a cross-sectional view of FIG. 2 taken about D-D;
fig. 6 is a cross-sectional view of fig. 3 taken about E-E.
Detailed Description
In an embodiment, as shown in fig. 1 to 6, a robot gripper for transferring a beverage bottle comprises a robot body 1 and a gripper 2 arranged at the end of the robot body 1 and used for gripping the beverage bottle 9, wherein the beverage bottle 9 comprises a bottle neck 91, a bottle cap 92 is screwed on the upper end of the bottle neck 91, a flange 93 is formed in the middle of the bottle neck 91, the gripper 2 comprises a base 21 fixedly connected with the end of the robot body 1, a sleeve hole 211 matched with the flange 93 and a rectangular hole 212 penetrating through the sleeve hole 211 in the left-right direction are formed in the lower end of the base 21, two clamping blocks 22 symmetrically arranged in the left-right direction are sleeved in the rectangular hole 212, and the clamping blocks 22 are inserted and sleeved on the bottle neck 91 and are positioned below the flange 93; the two blocks 22 are provided with an automatic driving mechanism 3 for driving them to approach or move away from each other.
Furthermore, the outer end of the latch 22 is formed with a kidney-shaped hole 221;
the automatic driving mechanism 3 comprises driving rods 31 respectively inserted and sleeved on the kidney-shaped holes 221 of the two fixture blocks 22, each driving rod 31 is fixed on the back of the corresponding first bevel gear 32, the first bevel gear 32 is hinged in the base 21 through a first gear shaft 33, and the driving rods 31 and the first gear shaft 33 are eccentrically arranged; each first bevel gear 32 is engaged with a second bevel gear 34, the two second bevel gears 34 are respectively fixed at two ends of a second gear shaft 35, a third gear 36 is sleeved at the middle part of the second gear shaft 35, one end of the third gear 36 is fixedly connected with a driving wheel 37, a pawl 38 is arranged on the driving wheel 37, the pawl 38 is connected with a ratchet wheel 39, the ratchet wheel 39 is fixed on the second gear shaft 35, the third gear 36 is engaged with a lifting rack 30 capable of automatically resetting, the lower end of the lifting rack 30 is pressed on a bottle cap 92, the lifting rack 30 is slidably connected on a rack seat 23, the rack seat 23 is fixed inside the base 21, a support sleeve 361 is formed at the other end of the third gear 36, and the support sleeve 361 is hinged in the base 21.
More specifically, a stopper 301 is formed at the upper end of the lifting rack 30, the distance between the stopper 301 and the rack holder 23 is L1, the circumference of the reference circle of the third gear 36 is L2, and L2 is equal to four times of L1.
More specifically, the gear ratio of the second bevel gear 34 to the first bevel gear 32 is 2: 1.
Further, the lifting rack 30 is formed with a spring hole 302 opened at an upper side, the spring 41 is received in the spring hole 302, and an upper end of the spring 41 is pressed against an upper inner wall of the base 21.
Furthermore, a plurality of rectangular grooves 391 are uniformly formed in the outer wall of the ratchet wheel 39, the pawl 38 is in a rectangular strip shape, an inclined surface 381 is formed at the inner end of the pawl 38, a surface opposite to the inclined surface 381 is pressed in one of the rectangular grooves 391, the outer end of the pawl 38 is inserted in a second rectangular hole 371 of the driving wheel 37, and a pressure spring 42 is clamped between the bottom surface of the second rectangular hole 371 and the pawl 38.
Furthermore, a limiting hole 213 matching with the outer diameter of the bottle cap 92 is formed on the upper bottom surface of the trepan bore 211.
Furthermore, a friction block 43 is fixed on the tooth back of the second bevel gear 34, and the friction surface of the friction block 43 is pressed against the inner side wall of the base 21.
The working principle is as follows: the grabbing process of the beverage bottle: the base 21 is moved to the right above the beverage bottle 9 to be grabbed through the robot body 1, then the base 21 is driven to move downwards, the trepanning 211 of the base 21 is sequentially inserted into the bottle cap and the flange, when the lower bottom surface of the fixture block 22 moves to the lower side of the upper bottom surface of the flange, at the moment, the lifting rack 30 is pressed against the fixed surface of the bottle cap 92, along with the continuous downward movement of the base 21, the lifting rack 30 pushes up under the reaction of the bottle cap 92, the lifting rack 30 drives the third gear 36 to rotate anticlockwise, when the upward movement distance of the lifting rack 30 is L1, the base 21 stops moving downwards, the third gear 36 just rotates by a quarter of a circle, the third gear 36 drives the driving wheel 37 to rotate through rotation, the driving wheel 37 drives the ratchet wheel 39 to rotate through the pawl 38, the ratchet wheel 39 drives the two second bevel gears 34 to simultaneously rotate and rotate by a quarter of a circle through the second gear shaft 35, the second bevel gears 34 respectively drive the, because the gear ratio of the second bevel gear 34 to the first bevel gear 32 is 2: 1, the first bevel gear rotates half a turn, the first bevel gear drives the driving rod 31 to rotate 180 degrees, the driving rod 31 drives the fixture blocks 22 to move inwards through the waist-shaped holes 221, the two fixture blocks 22 approach each other and are clamped at the bottleneck, and the state is shown in fig. 2;
beverage bottle transfer process: the robot body 1 lifts the base 21 upwards, the base drives the clamping plate 22 to move upwards, so that the clamping plate 22 is erected on the lower side of the flange 93, the beverage bottle is lifted upwards, the bottle cap is inserted in the limiting hole 213, so that the beverage bottle cannot be turned over, the lifting rack 30 automatically moves downwards under the action of the spring 41 to reset, the lifting rack 30 moves downwards to drive the third gear 36 to rotate reversely, the third gear 36 drives the driving wheel 37 to rotate reversely, and the driving wheel 37 cannot drive the ratchet wheel to rotate in the reverse rotation process due to the inclined surface 381 of the pawl 38;
the beverage bottle putting down process: when placing the beverage bottle in required position, the robot drives base 21 and moves down, lifting rack 30 is pushed up to the upside once more, lifting rack drives third gear 36 again and rotates a quarter circle, third gear 36 passes through the drive wheel, the pawl, the ratchet and the second gear axle drives two second bevel gears to rotate a quarter circle, second bevel gear 34 drives corresponding first bevel gear respectively and rotates a half circle, first bevel gear drives actuating lever 31 to rotate 180 degrees and returns to the original position, actuating lever 31 drives fixture block 22 to move inwards and retract into the rectangular hole, make it break away from the bottleneck, then the robot drives base 21 to move up, make it break away from the beverage bottle.
Finally, the above embodiments are only for illustrating the present invention and not for limiting the present invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, so that all equivalent technical solutions also belong to the scope of the present invention, and the scope of the present invention should be defined by the claims.
Claims (8)
1. The utility model provides a robot tongs for shifting beverage bottle, includes robot (1) and sets up at terminal tongs (2) that are used for snatching beverage bottle (9) of robot (1), beverage bottle (9) are including bottleneck (91), and the upper end spiro union of bottleneck (91) has bottle lid (92), and the middle part shaping of bottleneck (91) has flange (93), its characterized in that: the gripper (2) comprises a base (21) fixedly connected with the tail end of the robot body (1), a sleeve hole (211) matched with the flange (93) and a rectangular hole (212) penetrating through the sleeve hole (211) in the left-right direction are formed in the lower end of the base (21), two clamping blocks (22) which are symmetrically arranged left and right are sleeved in the rectangular hole (212), and the clamping blocks (22) are inserted and sleeved on the bottle neck (91) and are positioned below the flange (93); the two clamping blocks (22) are provided with automatic driving mechanisms (3) for driving the clamping blocks to approach or separate from each other.
2. A robotic paw for transferring beverage bottles as in claim 1 wherein: waist-shaped holes (221) are formed at the outer ends of the clamping blocks (22);
the automatic driving mechanism (3) comprises driving rods (31) which are respectively inserted and sleeved on waist-shaped holes (221) of the two fixture blocks (22), each driving rod (31) is fixed on the tooth back of a corresponding first bevel gear (32), the first bevel gears (32) are hinged in the base (21) through first gear shafts (33), and the driving rods (31) and the first gear shafts (33) are eccentrically arranged; each first bevel gear (32) is engaged with a second bevel gear (34), the two second bevel gears (34) are respectively fixed at two ends of a second gear shaft (35), a third gear (36) is sleeved in the middle of the second gear shaft (35), one end of the third gear (36) is fixedly connected with a driving wheel (37), a pawl (38) is arranged on the driving wheel (37), the pawl (38) is connected with a ratchet wheel (39), the ratchet wheel (39) is fixed on the second gear shaft (35), the lifting bottle cap is characterized in that the third gear (36) is meshed with a lifting rack (30) capable of automatically resetting, the lower end of the lifting rack (30) is pressed on the bottle cap (92), the lifting rack (30) is connected to a rack seat (23) in a sliding mode, the rack seat (23) is fixed inside the base (21), a supporting sleeve (361) is formed at the other end of the third gear (36), and the supporting sleeve (361) is hinged into the base (21).
3. A robotic paw for transferring beverage bottles as in claim 2 wherein: a stop block (301) is formed at the upper end of the lifting rack (30), the distance between the stop block (301) and the rack seat (23) is L1, the circumference of a reference circle of the third gear (36) is L2, and L2 is equal to four times of L1.
4. A robotic paw for transferring beverage bottles as in claim 3 wherein: the gear ratio of the second bevel gear (34) to the first bevel gear (32) is 2: 1.
5. A robotic paw for transferring beverage bottles as in claim 1 wherein: the lifting rack (30) is formed with a spring hole (302) with an opening at the upper side, a spring (41) is sleeved in the spring hole (302), and the upper end of the spring (41) is pressed against the inner wall of the upper side of the base (21).
6. A robotic paw for transferring beverage bottles as in claim 2 wherein: a plurality of rectangular grooves (391) are uniformly distributed on the outer wall of the ratchet wheel (39), the pawl (38) is in a rectangular strip shape, an inclined plane (381) is formed at the inner end of the pawl (38), one surface opposite to the inclined plane (381) is pressed in one of the rectangular grooves (391), the outer end of the pawl (38) is inserted in a second rectangular hole (371) of the driving wheel (37), and a pressure spring (42) is clamped between the bottom surface of the second rectangular hole (371) and the pawl (38).
7. A robotic paw for transferring beverage bottles as in claim 1 wherein: and a limiting hole (213) matched with the outer diameter of the bottle cap (92) is formed in the upper bottom surface of the trepanning (211).
8. A robotic paw for transferring beverage bottles as in claim 2 wherein: a friction block (43) is fixed on the tooth back of the second bevel gear (34), and the friction surface of the friction block (43) is pressed against the inner side wall of the base (21).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010024840.7A CN111114880A (en) | 2020-01-10 | 2020-01-10 | Robot paw for transferring beverage bottles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010024840.7A CN111114880A (en) | 2020-01-10 | 2020-01-10 | Robot paw for transferring beverage bottles |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111114880A true CN111114880A (en) | 2020-05-08 |
Family
ID=70488511
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010024840.7A Withdrawn CN111114880A (en) | 2020-01-10 | 2020-01-10 | Robot paw for transferring beverage bottles |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111114880A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115108514A (en) * | 2022-07-11 | 2022-09-27 | 陈培根 | A spiral cover machine for food processing |
-
2020
- 2020-01-10 CN CN202010024840.7A patent/CN111114880A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115108514A (en) * | 2022-07-11 | 2022-09-27 | 陈培根 | A spiral cover machine for food processing |
| CN115108514B (en) * | 2022-07-11 | 2023-12-19 | 榴莲先生(广东)实业有限公司 | A spiral cover machine for food processing |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20200508 |