CN114851228A - Carrying mechanical claw for robot - Google Patents

Abstract

The invention discloses a carrying mechanical claw for a robot, which comprises a fixed plate, a first clamping jaw, a second clamping jaw and a third clamping jaw, wherein the first clamping jaw, the second clamping jaw and the third clamping jaw are rotatably connected to the fixed plate through a first rotary table; and a driving mechanism for driving the first rotary table, the second rotary table and the third rotary table to synchronously swing is further arranged on the fixing plate, and the driving mechanism drives the first clamping jaw and the third clamping jaw to synchronously approach or keep away from the second clamping jaw. The problem of adjust drinking cup at present when needs change the transport efficiency low between spaced process is solved, carry out interval adjustment in step during the transport, very big improvement production efficiency.

Description

Carrying mechanical claw for robot

Technical Field

The invention relates to the field of material handling, in particular to a mechanical handling claw for a robot.

Background

In the beverage production link, often several rows of beverage bottles or beverage cups are conveyed simultaneously, so as to improve conveying and production efficiency, but in different production processes, the distances between the beverage bottles or the beverage cups are unequal, for example, in the filling link, the beverage bottles or the beverage cups are tightly attached, so as to reduce the adjacent distances, and more fully utilize the space, but in the packaging link, in order to prevent mutual extrusion deformation, gaps can be left between the adjacent beverage bottles or the beverage cups, so that a plurality of beverage bottles or beverage cups can be carried between the processes at the same time, a device is also added to pull the distances between the beverage bottles or the beverage cups apart, and the production efficiency is greatly influenced.

Disclosure of Invention

The invention aims to provide a conveying mechanical claw for a robot, which can effectively solve the problem of low efficiency in conveying beverage bottles or beverage cups between processes requiring interval change.

In order to solve the technical problems, the invention is realized by the following technical scheme: the robot carrying mechanical claw comprises a fixing plate, a first clamping jaw, a second clamping jaw and a third clamping jaw, wherein the first clamping jaw, the second clamping jaw and the third clamping jaw are rotatably connected to the fixing plate and are sequentially arranged in a straight line shape; the fixed plate is further provided with a driving mechanism for driving the first rotary table, the second rotary table and the third rotary table to synchronously swing, and the driving mechanism drives the first clamping jaw and the third clamping jaw to synchronously approach or keep away from the second clamping jaw.

Preferably, actuating mechanism is including driving actuating cylinder, connecting rod and three actuating levers, and every revolving stage equal fixedly connected with is one the actuating lever, every the actuating lever all rotates to be connected on the connecting rod, it includes cylinder body and piston to drive actuating cylinder, the cylinder body setting that drives actuating cylinder is in on the fixed plate, the piston that drives actuating cylinder rotates with one of them actuating lever to be connected. A driving cylinder drives three driving rods to rotate by utilizing a connecting rod, so that three rotary tables rotate synchronously, the structure of a driving mechanism is simplified, and synchronous change of the distance between three beverage bottles or beverage cups can be stably realized.

Preferably, the first rotary table, the second rotary table and the third rotary table are all provided with rotary columns, the upper portions of the rotary columns penetrate through the fixed plate, rolling bearings are arranged between the rotary columns and the fixed plate, and one ends of the driving rods are fixedly connected with the upper portions of the rotary columns. Rotation through the column spinner between reality revolving stage and the fixed plate is connected, and is more smooth and easy when letting the revolving stage rotate to be connected through actuating lever and column spinner, the direct control revolving stage rotates, and is more accurate to the turned angle control of revolving stage.

Preferably, the one end of actuating lever is opened has the through-hole with the upper portion looks adaptation of column spinner, the one end of actuating lever has still opened vertical pass the expansion joint of through-hole, the one end of actuating lever still is fixed with the bolt of control expansion joint size. Let the column spinner of the different diameters of actuating lever adaptation through the expansion joint, error in the time of also can offsetting the column spinner preparation utilizes the bolt to pass the expansion joint, adjusts the expansion joint size and makes and not have a actuating lever can both press from both sides tight column spinner, avoids the condition of skidding to appear between the two.

Preferably, the cylinder body of the driving cylinder is arranged in the middle of the fixing plate, and the piston of the driving cylinder is rotatably connected with the driving rod connected with the first rotary table. The cylinder body of the driving cylinder is arranged in the middle of the fixing plate, and the length range of the whole fixing plate cannot be exceeded in the operation process of the driving cylinder, so that adjacent mechanical claws can be more compact.

Preferably, the first clamping jaw, the second clamping jaw and the third clamping jaw have the same structure, the first clamping jaw comprises a support, a clamping cylinder and at least two jaw bodies, the support is fixedly connected with the bottom of the corresponding rotary table, the clamping cylinder is fixed on the support, the jaw bodies are rotatably connected to the support, and the clamping cylinder drives all the jaw bodies to open and close. Snatch beverage bottle or goblet through all claw bodies of die clamping cylinder simultaneous control open and shut, snatch more firmly reliable to die clamping cylinder and claw body all set up on the support, support and revolving stage fixed connection, consequently die clamping cylinder and claw body do not all receive the revolving stage to rotate the influence.

Preferably, the bottom surface of the bracket is provided with a gland capable of sliding along the vertical direction, and all the claw bodies surround the outer side of the gland. When grabbing beverage bottles or beverage cups, the pressing cover can tightly press the cup cover and the cup body, so that the cup cover and the cup body are firmly connected.

Preferably, the gland is connected with the support in a sliding mode through a sliding rod, and a pressure spring is sleeved on the sliding rod. The pressure spring can be adapted to beverage bottles or beverage cups with different heights, so that the cup covers and the cup bodies of the beverage bottles or the beverage cups within a certain height range can be pressed in place.

Compared with the prior art, the invention has the advantages that: set both sides clamping jaw to the off-axis state and drive the swing by actuating mechanism through the setting, solve the problem that adjustment drinking cup efficiency is low when needs change the transport of spaced process, set up first clamping jaw and first revolving stage off-axis, third clamping jaw and third revolving stage off-axis, when actuating mechanism drives first revolving stage and third revolving stage rotation, first clamping jaw and third clamping jaw will be close to in step or keep away from the second clamping jaw, thereby after snatching three beverage bottle or drinking cup, control the interval change between the three, also be exactly change the three interval simultaneously in handling, this demand to beverage bottle or drinking cup interval between the different processes has not only been realized, utilize simultaneously when carrying to carry out interval adjustment in step, consequently not increase consuming time on whole production time, very big improvement production efficiency.

Drawings

Fig. 1 is a first perspective view of a transfer gripper for a robot according to the present invention;

FIG. 2 is a second perspective view of the transfer robot gripper of the present invention;

fig. 3 is a front view of a transfer robot gripper of the present invention;

fig. 4 is a schematic structural view of the robot handling gripper of the present invention after gripping a beverage cup.

The reference signs are:

a fixing plate 100;

the clamping device comprises a first clamping jaw 200, a first rotary table 210, a rotary column 211, a rolling bearing 220, a bracket 230, a clamping cylinder 240, a claw body 250, a gland 260, a sliding rod 270 and a pressure spring 280;

a second jaw 300, a second turntable 310;

a third jaw 400, a third turntable 410;

the driving cylinder 510, the cylinder body 511, the piston 512, the connecting rod 520, the driving rod 530, the through hole 531, the expansion joint 532 and the thread through hole 533;

a cup body 610 and a cup cover 620.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be considered as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be interconnected within two elements or in a relationship where two elements interact with each other unless otherwise specifically limited. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Referring to fig. 1 to 3, an embodiment of a robot handling robot for handling three beverage bottles or beverage cups at the same time is shown, in which the embodiment takes a beverage cup as an example, the robot handling robot includes a fixing plate 100 and a first jaw 200, a second jaw 300 and a third jaw 400 rotatably connected to the fixing plate 100, the three jaws are sequentially arranged in a straight line, in fig. 1, the first jaw 200 is at the leftmost side, the second jaw 300 is in the middle, the third jaw 400 is at the rightmost side, the first jaw 200 is rotatably connected to the fixing plate 100 through a first turntable 210, and the rotation axis of the first jaw 200 is off-axis from the rotation axis of the first turntable 210, so that when the first turntable 210 rotates, the first jaw 200 swings relative to the rotation axis of the first turntable 210; the second clamping jaw 300 is rotatably connected to the fixing plate 100 through a second rotary table 310, the rotation axis of the second clamping jaw 300 is coaxial with the rotation axis of the second rotary table 310, and when the second rotary table 310 rotates, the second clamping jaw 300 also rotates around the axis thereof; the third jaw 400 is rotatably coupled to the fixed plate 100 by a third turntable 410, and the rotation axis of the third jaw 400 is offset from the rotation axis of the third turntable 410. similarly, when the third turntable 410 rotates, the third jaw 400 swings with respect to the axis of the third turntable 410. And a driving mechanism is arranged on the fixing plate 100 and drives the first rotating platform 210 and the third rotating platform 410 to rotate, so that the first clamping jaw 200 and the third clamping jaw 400 are controlled to synchronously approach or separate from the second clamping jaw 300. Since the driving means rotate in the same direction when driving the first turntable 210 and the third turntable 410 to rotate, for this control purpose, the rotation axes of the three turntables are located in the same vertical plane, and when the first clamping jaw 200 and the third clamping jaw 400 are mounted, the first clamping jaw 200 and the third clamping jaw 400 are located on both sides of the vertical plane in the initial position.

In order to realize that the first clamping jaw 200 and the third clamping jaw 400 are close to or far away from the second clamping jaw 300 synchronously, the driving mechanism comprises a driving cylinder 510, a connecting rod 520 and three driving rods 530, and therefore, the three driving rods 530 are arranged, and in addition to driving the first clamping jaw 200 and the third clamping jaw 400 to rotate, the second clamping jaw 300 is driven to rotate, so that the three grabbed beverage cups rotate at the same angle, and for the situation that suction pipes are adhered to the beverage cups, the three beverage cups rotate at the same angle, which is beneficial to subsequent packaging. Thus, each driving rod 530 is correspondingly and fixedly connected with one turntable, the connecting rod 520 is rotationally connected with the three driving rods 530, and the three driving rods 530 can be controlled to synchronously swing by driving the driving cylinder 510 as long as the driving rod 520 is driven to swing, so that the synchronous motion of the three clamping jaws is ensured.

The driving cylinder 510 includes a cylinder 511 and a piston 512, the cylinder 511 is fixed in the middle of the fixing plate 100, the piston 512 extends out to the end of the fixing plate 100 along the length direction of the fixing plate 100, so the length of the driving cylinder 510 does not exceed the length range of the whole fixing plate 100, when the driving cylinder 510 works, the adjacent transportation gripper operation is not affected, the piston 512 can be directly connected to the driving rods 530 at both ends, in this embodiment, the piston 512 is rotatably connected to the other end of the driving rod 530 connected to the third turntable 410, and when the piston 512 pushes the driving rod 530 to swing, the piston is rotatably connected to the other ends of the other two driving rods 530 through the connecting rod 520, so as to drive the first turntable 210 and the second turntable 310 to rotate. One end of each driving rod 530 is fixedly connected to the corresponding turntable, the first turntable 210, the second turntable 310 and the third turntable 410 have the same structure, taking the first turntable 210 as an example, a rotating column 211 is arranged on the first turntable 210, the upper part of the rotating column 211 penetrates through the fixed plate 100, a rolling bearing 220 is arranged between the rotating column 211 and the fixed plate 100 to reduce friction between the rotating column 211 and the fixed plate 100, and one end of the corresponding driving rod 530 is fixedly connected to the rotating column 211 extending out of the fixed plate 100. The connection mode of the specific one end of the driving rod 530 and the rotating column 211 is that a through hole 531 matched with the rotating column 211 is formed at one end of the driving rod 530, but due to the influence of the machining error of the rotating column 211, in order to facilitate assembly and offset the machining error of the rotating column 211, an expansion joint 532 is formed at one end of the driving rod 530 along the length direction of the driving rod 530, the expansion joint 532 vertically penetrates through the driving rod 530 and is communicated with the through hole 531, a transverse threaded through hole 533531 is formed at one end of the driving rod 530, the expansion distance of the expansion joint 532 is controlled through the matching of a bolt and the threaded through hole 533531, so that after the rotating column 211 is inserted into the through hole 531, the distance of the expansion joint 532 is reduced by using the bolt, the rotating column 211 is clamped, and the fixed connection of the driving rod 530 to the rotating column 211 is completed.

The first clamping jaw 200, the second clamping jaw 300 and the third clamping jaw 400 have the same structure, but the three clamping jaws are slightly different in position when being mounted on the corresponding turntable, in this embodiment, the first clamping jaw 200 is taken as an example to describe the specific structure of the clamping jaws, the first clamping jaw 200 includes a support 230, a clamping cylinder 240 and two jaw bodies 250, the number of the jaw bodies 250 can be increased appropriately according to the weight and the structure of a beverage cup to be gripped, the top of the support 230 is fixedly connected with the bottom of the corresponding turntable, and the fixing mode can be a bolt connection mode or a welding mode. The clamping cylinder 240 is vertically arranged and fixed in the bracket 230, the claw body 250 is rotatably connected to the bottom of the bracket 230, the upper end of the claw body 250 is connected with the piston of the clamping cylinder 240, and the opening and closing of the claw body 250 are controlled by the clamping cylinder 240. When a beverage cup is grabbed, the cup body 610 of the beverage cup is clamped by a folded frame body, but generally, the cup body 610 of the beverage cup is buckled with the cup cover 620, the cup cover 620 should be tightly buckled with the cup body 610, a pressing cover 260 capable of sliding in the vertical direction is installed on the bottom surface of the support 230, the claw bodies 250 surround the outer sides of the pressing cover 260, when the claw bodies 250 grab the cup body 610 of the beverage cup, the pressing cover 260 is used for pressing the cup cover 620, and if the cup cover 620 and the cup body 610 are not buckled, the cup cover 620 and the cup body 610 can be further pressed together through the pressing cover 260. Further, the pressing cover 260 is slidably connected with the bracket 230 through a sliding rod 270, a pressure spring 280 is sleeved on the sliding rod 270, and a certain downward pressure is provided for the pressing cover 260 through the pressure spring 280, so that the cup cover 620 and the cup body 610 can be pressed tightly.

As shown in fig. 4, in use, beverage cups on a production line are closely attached together, the carrying gripper of the present invention moves to above three corresponding beverage cups and then moves downwards, the gripper body 250 is located beside the body 610 of the beverage cup, the gripper body 250 is controlled by the clamping cylinder 240 to grip the corresponding beverage cup, the gland 260 presses on the lid 620 of the beverage cup, so that the lid 620 is closely matched with the body 610, then the whole carrying gripper moves upwards and moves towards the next process direction, at this time, the driving cylinder 510 is started to drive the three turntables to rotate, since the first gripper 200 and the first turntable 210 are eccentrically connected, the third gripper 400 and the third turntable 410 are also eccentrically connected, and the second gripper 300 and the second turntable 310 are coaxially connected, therefore, when the three turntables synchronously rotate, the first gripper 200 and the third gripper 400 are synchronously far away from the second gripper 300, that is, the space between the three beverage cups is enlarged, before the three beverage cups are moved to the position of the next working procedure, the distance between the three beverage cups is adjusted, and then the carrying mechanical claw moves downwards to place the three beverage cups in the next working procedure. In the process that the mechanical gripper returns to the previous procedure, the driving cylinder 510 is started again, the operation is carried out in the reverse direction, the distance between the three gripping jaws is controlled to be reduced, and the operation is repeated. By adopting the carrying mechanical claw provided by the scheme of the invention, when beverage cups are carried between two working procedures, the distance between the beverage cups can be adjusted according to the requirements of different working procedures, and the distance adjusting time of the beverage cups does not need to be additionally increased, so that the operation efficiency of a production line is greatly improved.

The above description is only an embodiment of the present invention, but the technical features of the present invention are not limited thereto, and any changes or modifications within the technical field of the present invention by those skilled in the art are covered by the claims of the present invention.

Claims (8)

1. Transport gripper for robot, its characterized in that: the clamping device comprises a fixing plate, a first clamping jaw, a second clamping jaw and a third clamping jaw, wherein the first clamping jaw, the second clamping jaw and the third clamping jaw are rotatably connected to the fixing plate and are sequentially arranged in a straight line shape; the fixed plate is further provided with a driving mechanism for driving the first rotary table, the second rotary table and the third rotary table to synchronously swing, and the driving mechanism drives the first clamping jaw and the third clamping jaw to synchronously approach or keep away from the second clamping jaw.

2. The robot handling gripper according to claim 1, wherein: actuating mechanism is including driving actuating cylinder, connecting rod and three actuating levers, and every revolving stage equal fixedly connected with one the actuating lever, every the actuating lever all rotates to be connected on the connecting rod, it includes cylinder body and piston to drive actuating cylinder, the cylinder body setting that drives actuating cylinder is in on the fixed plate, the piston that drives actuating cylinder rotates with one of them actuating lever to be connected.

3. The robot handling gripper according to claim 2, wherein: the first rotary table, the second rotary table and the third rotary table are all provided with rotary columns, the upper portions of the rotary columns penetrate through the fixed plate, rolling bearings are arranged between the rotary columns and the fixed plate, and one ends of the driving rods are fixedly connected with the upper portions of the rotary columns.

4. The robot handling gripper according to claim 3, wherein: the one end of actuating lever is opened has the through-hole with the upper portion looks adaptation of column spinner, the one end of actuating lever has still opened vertical passing the expansion joint of through-hole, the one end of actuating lever still is fixed with the bolt of control expansion joint size.

5. The robot handling gripper according to claim 2, wherein: the cylinder body of the driving cylinder is arranged in the middle of the fixing plate, and the piston of the driving cylinder is rotatably connected with the driving rod connected with the first rotary table.

6. The robot handling gripper according to claim 1, wherein: the first clamping jaw, the second clamping jaw and the third clamping jaw are identical in structure, the first clamping jaw comprises a support, a clamping cylinder and at least two jaw bodies, the support is fixedly connected with the bottom of the corresponding rotary table, the clamping cylinder is fixed on the support, the jaw bodies are rotatably connected on the support, and the clamping cylinder drives all the jaw bodies to open and close.

7. The robot handling gripper according to claim 6, wherein: the bottom surface of the support is provided with a gland capable of sliding along the vertical direction, and all the claw bodies surround the outer side of the gland.

8. The robot handling gripper according to claim 7, wherein: the gland is connected with the support in a sliding mode through a sliding rod, and a pressure spring is sleeved on the sliding rod.

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