CN111776314B

CN111776314B - Can-clamping type grabber

Info

Publication number: CN111776314B
Application number: CN202010681314.8A
Authority: CN
Inventors: 贾志闻; 陈落根; 吴茂敏; 赵振; 句秋月; 朱俏俏; 余益君; 周东
Original assignee: Hangzhou Wahaha Precision Machinery Co ltd
Current assignee: Wencheng Wahaha Hongzhen Food Technology Co ltd
Priority date: 2020-07-15
Filing date: 2020-07-15
Publication date: 2022-04-15
Anticipated expiration: 2040-07-15
Also published as: CN111776314A

Abstract

The invention discloses a tank clamping type grabber, which comprises a fixed frame, a supporting frame and a clamping mechanism, wherein the fixed frame is connected with the supporting frame, the clamping mechanism comprises an air claw and two clamping plates, the air claw is fixed with the supporting frame, the clamping plates are respectively fixed by two movable claws of the air claw, and the positions of the inner side wall of each clamping plate, which are close to two ends, are respectively provided with a clamping block; the clamping blocks of the two clamping plates on the same side are oppositely arranged, and the two clamping plates form a V-shaped structure. The invention provides a can-clamping type grabber, which can grab canned products and can grab multiple rows of products at the same time.

Description

Can-clamping type grabber

Technical Field

The invention relates to the technical field of box filling machines, in particular to a can clamping type grabber.

Background

The existing canned products are generally sent out through the discharge end of the production line after being sealed and conveyed to a packaging line through opposite feeding devices, and the traditional manual boxing mode is low in efficiency and high in labor intensity and is gradually eliminated. The manipulator is operated instead, however, the manipulator can only extract one row of cans at a time and load the cans into the box body, so that the manipulator needs to go back and forth for many times when one can is filled, the production efficiency is very low, the existing box filling machine generally uses a sucking disc to grab the cans, and some canned products cannot be grabbed in a sucking mode due to irregular shapes of tops or heavy weights. Therefore, it is desirable to design a can gripper that can grip canned products while simultaneously gripping multiple rows of products.

Chinese patent application publication No. CN105035402B, the publication date is 2017, 09.19.a, the name is "canned beverage many sucking discs vanning mechanism", a canned beverage many sucking discs vanning mechanism is disclosed, including main body frame, telescopic machanism, sucking disc subassembly and flange, telescopic machanism sets up on main body frame and extends the setting to the main body frame below, flange sets up the intermediate position of frame face on main body frame and is connected with the series robot, sucking disc subassembly sets up below telescopic machanism and is connected with telescopic machanism, sucking disc subassembly is provided with the multiunit side by side, multiunit sucking disc subassembly synchronous operation, sucking disc subassembly realizes once concentrating the vacuum through outside pneumatic control device and snatchs and separately vanning simultaneously through telescopic machanism control vanning interval. However, the boxing mechanism still adopts a sucker, and the problems still exist.

Disclosure of Invention

The invention provides a can-clamping type grabber, which aims to solve the problem that some canned products cannot be grabbed in a suction mode due to irregular top shapes or heavy weights in the prior art, can realize grabbing actions on the canned products and can grab a plurality of rows of products at the same time.

In order to achieve the purpose, the invention adopts the following technical scheme:

the utility model provides a press from both sides pot-type grabber, includes mount, support frame and clamping mechanism, and the mount is connected with the support frame, and clamping mechanism includes gas claw and two splint, and the gas claw is fixed with the support frame, and two removal claws of splint gas claw respectively are fixed, respectively are equipped with a clamp splice on the splint inside wall is close to the position at both ends.

Among the above-mentioned technical scheme, two relative splint draw close each other, and two splint are four clamp splices altogether, press from both sides two canned product tightly in the centre, and two splint are in the relative setting of clamp splice with one side, and two splint form V type structure, and V type structure provides two strong points, and two canned product contacts and forms the third strong point. The canned product is positioned and clamped through three-point positioning. The technical scheme realizes the grabbing action of the canned products, and the size and the shape error of the can body can be contained due to the movable clamping plate.

Preferably, the sliding mechanism comprises a sliding rail, a sliding block and a telescopic cylinder, the sliding rail is fixed to the fixing frame, the sliding block is fixed to the supporting frame and is connected with the sliding rail in a sliding mode, the telescopic cylinder is fixed to the fixing frame, and a telescopic rod of the telescopic cylinder is fixed to the sliding block. The sliding mechanism can enable different supporting frames to move relatively, so that the grabber can adjust the distance between the grabber and the product grabbing port, the separation in the box and the separation between the boxes are realized, and the subsequent boxing operation is facilitated.

Preferably, one support frame positioned on the outermost side is in sliding connection with the fixed frame through the sliding block and the sliding rail, the telescopic rod of the telescopic cylinder is fixed with the sliding block on the support frame, and the other support frame positioned on the outermost side is fixed with the fixed frame; the middle support frame is connected with the fixing frame in a sliding mode through the sliding block and the sliding rail, the two adjacent support frames are connected through the limiting block, the limiting block is fixed with one support frame, the limiting block is provided with a limiting groove, and the other support frame sliding block is provided with a limiting column matched with the limiting groove. The limiting column can be a screw, a pin shaft and other structures, and can also be a structure integrally processed with the sliding block. Among the above-mentioned technical scheme, realized the adjustment of four support frame intervals promptly through a telescopic cylinder, practiced thrift the cost, simplified structure makes overall structure more reliable and more stable. When needing to make support frame interval grow, telescopic cylinder's telescopic link stretches out, drives the support frame in the outside and removes, and when the extreme position of spout was removed to spacing post, drive the stopper and remove, and the stopper drives another support frame and removes, adjusts each support frame interval to maximum position in proper order. When the supporting frame interval needs to be reduced, the telescopic rod of the telescopic cylinder retracts to drive the supporting frame on the outermost side to move, when the limiting column moves to the limit position of the sliding groove, the limiting block is driven to move, the limiting block drives the other supporting frame to move, and the supporting frame interval is adjusted to the minimum position in sequence.

Preferably, the moving direction of the two moving claws of the gas claw is perpendicular to the moving direction of the slider. The structure can ensure that the products are arranged neatly after being grabbed

Preferably, the clamping block is made of an elastic material. The structure can ensure that the clamping block has certain elasticity, is convenient for clamping a product, and is not easy to damage the outer wall of the product. The elastic material can be epoxy resin, rubber and the like.

Preferably, the clamping block is provided with a telescopic block and a telescopic spring, the telescopic block is in sliding connection with the clamping block, one end of the telescopic spring is connected with the telescopic block, and the other end of the telescopic spring is connected with the clamping block. The flexible piece can stretch out and draw back when the contact product, avoids, makes the filling product that the grabber can the various certain diameter within range of adaptation.

Preferably, the clamping block is provided with a sliding groove, the telescopic spring is arranged in the sliding groove, and one end of the telescopic block is arranged in the sliding groove. The structure can ensure the stability of the sliding structure.

Preferably, the expansion spring is in a pre-compressed state when the expansion block extends to the outermost side. The telescopic spring is in a pre-compression state, so that the telescopic block rod can be guaranteed to have enough clamping force when contacting with a product, and the clamping stability is guaranteed.

Preferably, the limit extension and retraction distance of the extension and retraction block is less than or equal to half the distance that the extension and retraction spring is pre-compressed. The structure can guarantee that flexible piece is when sliding, and the clamp force amplitude of change is no longer than half of minimum clamp force, also can further limit the ratio of flexible distance and the distance of expanding spring precommpression as required, and the ratio is less, and the clamp force amplitude of change is less, and the control clamp force of being convenient for avoids the too big bad product of clamp force clamp, also can avoid the clamp force undersize to make the product break away from.

Preferably, the telescopic block is provided with a contact block made of an elastic material. The structure can guarantee that the contact block has certain elasticity, is convenient for clamp tightly the product, and is difficult to damage the outer wall of the product.

Preferably, the contact block is provided with friction stripes. The structure may increase friction.

Preferably, the included angle between the telescopic direction of the telescopic block and the moving direction of the two moving claws is 60-65 degrees. the value of tan63 ° is equal to about 2, and when the telescopic block is moved, by one unit length in the moving direction of the moving jaw and by two unit lengths in the direction perpendicular to the moving direction of the moving jaw, the gripper grips two juxtaposed products. When the product diameter changes, the length variation value in the direction of juxtaposition is twice the length variation value in the moving direction of the movable claw, therefore, the structure can ensure that products of different diameters can contact with the telescopic block at the middle position, and the grabbing stability is ensured.

The invention has the beneficial effects that: (1) the grabbing action of the canned products is realized, and the size and shape errors of the can body can be contained; (2) the distance between the product grabbing ports of the grabber can be adjusted; (3) the adjustment of the space between the four support frames is realized through one telescopic cylinder, so that the cost is saved, the structure is simplified, and the whole structure is more stable and reliable; (4) the smaller the change range of the clamping force of the telescopic block is when the telescopic block slides, the product is prevented from being damaged by the overlarge clamping force, and the product can be prevented from being separated by the undersize clamping force.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of a partial structure of the present invention;

fig. 3 is a partial structural schematic diagram of embodiment 2.

In the figure: the device comprises a fixing frame 1, a supporting frame 2, a clamping mechanism 3, a pneumatic claw 3.1, a clamping plate 3.2, a sliding mechanism 4, a sliding rail 4.1, a sliding block 4.2, a telescopic cylinder 4.3, a limiting block 4.4, a limiting groove 4.5, a limiting column 4.6, a clamping block 5, a sliding groove 5.1, a telescopic block 6, a telescopic spring 7 and a contact block 8.

Detailed Description

The invention is further described with reference to the following figures and specific embodiments.

Example 1:

as shown in fig. 1 and 2, a can clamping type grabber comprises a fixed frame 1, a support frame 2, a clamping mechanism 3 and a sliding mechanism 4, wherein the fixed frame 1 is connected with the support frame 2, the clamping mechanism 3 comprises an air claw 3.1 and two clamping plates 3.2, the air claw 3.1 is fixed with the support frame 2, the clamping plates 3.2 are respectively fixed by two movable claws of the air claw 3.1, and the positions of the inner side wall of each clamping plate 3.2, which are close to two ends, are respectively provided with a clamping block 5; the clamping blocks 5 of the two clamping plates 3.2 on the same side are arranged oppositely, and the two clamping plates 3.2 form a V-shaped structure.

The sliding mechanism 4 comprises a sliding rail 4.1, a sliding block 4.2 and a telescopic cylinder 4.3, the sliding rail 4.1 is fixed with the fixed frame 1, the sliding block 4.2 is fixed on the supporting frames 2, one of the supporting frames 2 positioned at the outermost side is connected with the fixed frame 1 in a sliding way through the sliding block 4.2 and the sliding rail 4.1, the telescopic rod of the telescopic cylinder 4.3 is fixed with the sliding block 4.2 on the supporting frame 2, and the other supporting frame 2 positioned at the outermost side is fixed with the fixed frame 1; middle support frame 2 passes through slider 4.2 and slide rail 4.1 and 1 sliding connection of mount, and two adjacent support frames 2 pass through stopper 4.4 and are connected, and stopper 4.4 is fixed with one of them support frame 2, is equipped with spacing groove 4.5 on the stopper 4.4, is equipped with the spacing post 4.6 with spacing groove 4.5 adaptation on another support frame 2 slider 4.2. The moving direction of the two moving claws of the gas claw 3.1 is perpendicular to the moving direction of the slide block 4.2.

Among the above-mentioned technical scheme, two relative splint 3.2 draw close each other, and two splint 3.2 are totally four clamp splice 5, press from both sides two canned product tightly in the centre, and the V type structure provides two strong points, and two canned product contacts and forms the third strong point. The canned product is positioned and clamped through three-point positioning. Above-mentioned technical scheme has realized snatching the action to canned product, and can contain can body size, shape error because splint 3.2 can remove. Slide mechanism 4 can make different support frame 2 relative movement, makes the grabber can carry out the interval adjustment gripping the product mouth, has realized separating in the case and has separated between the case, is convenient for carry out follow-up vanning operation. Among the above-mentioned technical scheme, realized the adjustment of 2 intervals of four support frames promptly through a telescopic cylinder 4.3, practiced thrift the cost, simplified structure makes overall structure more reliable and more stable. When needing to make 2 intervals of support frame grow, telescopic cylinder 4.3's telescopic link stretches out, drives 2 removals of support frame in the outside, when spacing post 4.6 removed the extreme position of spout 5.1, drives stopper 4.4 and removes, and stopper 4.4 drives another support frame 2 and removes, adjusts the maximum position with 2 intervals of each support frame in proper order. When the distance between the support frames is required to be reduced, the telescopic rod of the telescopic cylinder 4.3 retracts to drive the support frame 2 at the outermost side to move, when the limiting column 4.6 moves to the limit position of the sliding groove 5.1, the limiting block 4.4 is driven to move, the limiting block 4.4 drives the other support frame 2 to move, and the distance between each support frame 2 is adjusted to the minimum position in sequence.

Example 2:

as shown in fig. 3, on the basis of embodiment 1, a telescopic block 6 and a telescopic spring 7 are arranged on the clamping block 5, the telescopic block 6 is slidably connected with the clamping block 5, a sliding groove 5.1 is arranged on the clamping block 5, the telescopic spring 7 is arranged in the sliding groove 5.1, one end of the telescopic block 6 is arranged in the sliding groove 5.1, one end of the telescopic spring 7 is connected with the telescopic block 6, and the other end of the telescopic spring 7 is connected with the clamping block 5. The included angle between the telescopic direction of the telescopic block 6 and the moving direction of the two moving claws is 60-65 degrees. When the telescopic block 6 extends to the outermost side, the telescopic spring 7 is in a pre-compression state, and the limit telescopic distance of the telescopic block 6 is less than or equal to half of the pre-compression distance of the telescopic spring 7. The telescopic block 6 is provided with a contact block 8 made of elastic material, and the contact block 8 is provided with friction stripes.

The telescopic block 6 can be telescopic when contacting products, so that the gripper can adapt to the filling products within various certain diameter ranges. Above-mentioned structure can guarantee flexible piece 6 when sliding, and the clamp force amplitude of change is no longer than half of minimum clamp force, also can further limit the ratio of the distance of stretching out and drawing back and 7 precompresses of expanding spring as required, and the ratio is less, and the clamp force amplitude of change is less, and the control clamp force of being convenient for avoids the too big bad product of clamp force clamp, also can avoid the clamp force undersize to make the product break away from. the value of tan63 ° is equal to about 2, and when the telescopic block 6 is moved, by one unit length in the direction of movement of the moving jaw and by two unit lengths in the direction perpendicular to the direction of movement of the moving jaw, the gripper grips two juxtaposed products. When the product diameter changes, the length variation value in the direction of juxtaposition is twice the length variation value in the moving direction of the moving claw, therefore, the structure can ensure that products of different diameters can contact with the telescopic block 6 at the middle position, and the grabbing stability is ensured.

The invention has the beneficial effects that: the grabbing action of the canned products is realized, and the size and shape errors of the can body can be contained; the distance between the product grabbing ports of the grabber can be adjusted; the adjustment of the space between the four support frames is realized through one telescopic cylinder, so that the cost is saved, the structure is simplified, and the whole structure is more stable and reliable; the smaller the change range of the clamping force of the telescopic block is when the telescopic block slides, the product is prevented from being damaged by the overlarge clamping force, and the product can be prevented from being separated by the undersize clamping force.

Claims

1. A can clamping type grabber is characterized by comprising a fixing frame, a supporting frame and a clamping mechanism, wherein the fixing frame is connected with the supporting frame, the clamping mechanism comprises an air claw and two clamping plates, the air claw is fixed with the supporting frame, the clamping plates are respectively fixed by two movable claws of the air claw, and the positions, close to two ends, of the inner side wall of each clamping plate are respectively provided with a clamping block; the clamping blocks of the two clamping plates on the same side are oppositely arranged, and the two clamping plates form a V-shaped structure;

the clamping block is provided with a telescopic block and a telescopic spring, the telescopic block is connected with the clamping block in a sliding manner, one end of the telescopic spring is connected with the telescopic block, and the other end of the telescopic spring is connected with the clamping block; when the telescopic block extends to the outermost side, the telescopic spring is in a pre-compression state; the limit expansion distance of the expansion block is less than or equal to half of the distance of pre-compression of the expansion spring; the included angle between the telescopic direction of the telescopic block and the moving direction of the two moving claws is 60-65 DEG

When the telescopic block moves, the telescopic block moves by one unit length in the moving direction of the moving claw and moves by two unit lengths in the direction vertical to the moving direction of the moving claw, and the grabber grabs two parallel products; when the product diameter changes, the length variation value in the direction of juxtaposition is twice the length variation value in the moving direction of the movable claw, and when the products with different diameters contact with the telescopic block, the products can both contact at the middle position, and the grabbing stability is guaranteed.

2. The gripper of claim 1, further comprising a sliding mechanism, wherein the sliding mechanism comprises a sliding rail, a sliding block and a telescopic cylinder, the sliding rail is fixed to the fixing frame, the sliding block is fixed to the supporting frame, the sliding block is slidably connected to the sliding rail, the telescopic cylinder is fixed to the fixing frame, and a telescopic rod of the telescopic cylinder is fixed to the sliding block.

3. The can clamping type grabber as claimed in claim 2, wherein one of the supporting frames located at the outermost side is slidably connected with the fixed frame through a sliding block and a sliding rail, a telescopic rod of the telescopic cylinder is fixed with the sliding block on the supporting frame, and the other supporting frame located at the outermost side is fixed with the fixed frame; the middle support frame is connected with the fixing frame in a sliding mode through the sliding block and the sliding rail, the two adjacent support frames are connected through the limiting block, the limiting block is fixed with one support frame, the limiting block is provided with a limiting groove, and the other support frame sliding block is provided with a limiting column matched with the limiting groove.

4. The can gripper of claim 2, wherein the moving direction of the two moving claws of the air claw is perpendicular to the moving direction of the slider.

5. The can gripper of claim 1, 2, 3 or 4, wherein the gripping block is provided with a sliding groove, the retractable spring is arranged in the sliding groove, and one end of the retractable block is arranged in the sliding groove.

6. The can gripper of claim 1, 2, 3 or 4, wherein said telescoping blocks are provided with contact blocks made of an elastic material.