CN220077855U - Jack catch device for transfer robot - Google Patents

Abstract

The utility model belongs to the technical field of transfer devices, and particularly relates to a claw device for a transfer robot. According to the utility model, the inflatable hose is utilized to inflate the inflatable air bag, so that the volume of the inflatable air bag is increased, the inflatable air bag is attached to the inner peripheral wall of the hollow roller core, and a radial outward acting force is applied to the inner peripheral wall of the hollow roller core, so that the raw material roller is tensioned from the inner side of the raw material roller, and the raw material roller is transported. In addition, the contact area between the utility model and the inner peripheral wall of the hollow roller core is large, the hollow roller core is uniformly stressed, the hollow roller core and raw materials are not easy to damage, the hollow roller core can be reused, and the problem that the claw of the traditional transfer robot is easy to damage the raw material roller is effectively solved.

Description

Jack catch device for transfer robot

Technical Field

The utility model belongs to the technical field of transfer devices, and particularly relates to a claw device for a transfer robot.

Background

In the production process of food packaging bags, raw material rollers (such as film rollers, tin paper rollers and the like) need to be conveyed from a storage place to equipment for feeding. Since the raw material roll is formed by winding raw material (such as film, tinfoil, etc.) around the hollow roll core, the raw material roll is usually placed vertically when stored in order to avoid extrusion damage to the raw material. When the traditional transfer robot transfers the raw material roller, if the grippers/clamping claws of the traditional transfer robot directly grab the periphery of the raw material roller, the raw material can be scratched; if the grippers/claws of the raw material extracting device extend into the hollow roller core and exert radially outward acting force on the inner peripheral wall of the hollow roller core, the raw material extracting device extracts the raw material roller, and the raw material roller is not scratched by the operation, but the hollow roller core is damaged due to uneven stress of the hollow roller core due to small contact area between the grippers/claws and the inner peripheral wall of the hollow roller core, and even the raw material roller is possibly deformed to damage the raw material. Therefore, a new gripper structure for a transfer robot is required.

Disclosure of Invention

The utility model aims to provide a claw device for a transfer robot, which aims to solve the problem that a claw of a traditional transfer robot is easy to damage a raw material roller when transferring the raw material roller.

In order to achieve the above purpose, the scheme of the utility model is as follows: the claw device for the transfer robot comprises a claw body, wherein the claw body is rod-shaped, an expansion air bag is fixedly connected to the peripheral wall of the claw body, and an inflation hose is communicated with the expansion air bag.

The working principle and the beneficial effects of the scheme are as follows: in this scheme, utilize the inflation hose to aerify in to the inflation gasbag for the internal pressure increase of inflation gasbag, with the laminating of the inner peripheral wall of cavity roller core and apply radial outside effort to the inner peripheral wall of well roller core after the volume increase of inflation gasbag, thereby follow the inboard tensioning raw materials roller of raw materials roller, realize the transportation of raw materials roller. In addition, in the scheme, the contact area between the expanded air bag and the inner peripheral wall of the hollow roller core is large, the hollow roller core is uniformly stressed, the hollow roller core and the raw materials are not easy to damage, and the hollow roller core can be reused.

Optionally, a plurality of rubber sheets are fixedly connected to the outer wall of the expansion air bag.

In this scheme, the coefficient of friction between the inner peripheral wall of rubber sheet and cavity roller core is big, can increase the static friction that cavity roller core received to more steadily carry the raw materials roller.

Optionally, the bottom of jack catch body is equipped with the disc, the diameter of disc is less than or equal to the internal diameter of cavity roller core, radial logical groove has been seted up to the inside of disc, radial logical inslot fixedly connected with electro-magnet, electro-magnet divide into first spout and second spout with radial logical groove, sliding connection has first iron plate in the first spout, sliding connection has the second iron plate in the second spout, the equal fixedly connected with elastic component of first iron plate and second iron plate, the one end that the elastic component is close to the electro-magnet and electro-magnet fixed connection.

In this scheme, the elastic component is in natural state, and the radial logical groove of one end extension of electromagnet is kept away from to first iron plate and second iron plate. The electromagnet generates magnetism after being electrified, and applies magnetic attraction force to the first iron block and the second iron block, so that the first iron block and the second iron block overcome the elastic force of the elastic piece and retract into the radial through groove, and the disc can smoothly pass through the hollow roller core. Moreover, after the disc passes through the hollow roller core, the electromagnet is powered off, the first iron block and the second iron block stretch out the radial through groove again under the action of the elastic restoring force of the elastic piece, and after the raw material roller slides downwards relative to the claw body, the raw material roller is supported, so that the raw material roller is prevented from falling off in the carrying process, and the safety is improved.

Optionally, the electromagnet is located at the middle part of the radial through groove.

In this scheme, when the electro-magnet is located radial logical groove's middle part, the size of first spout is the same with the second spout to ensure that first iron plate and second iron plate homoenergetic stretch out the disc, realize the support to the raw materials roller.

Optionally, the electromagnetic iron is connected with a first switch for controlling the electromagnet to be powered on or off, and the inner parts of the disc and the claw body are provided with wiring channels.

In this scheme, when first switch was closed, the electro-magnet was circular telegram, and when first switch was disconnected, the electro-magnet was outage to realize the break-make electricity of electro-magnet. And the wiring channels inside the disc and the claw bodies are used for wiring lines, so that the lines are prevented from being exposed outside and clamped between the expansion air bag and the inner peripheral wall of the hollow roller core.

Optionally, the electromagnetic iron is connected with a second switch for controlling the electromagnet to be powered on or off, the second switch is connected with the first switch in series, and the second switch is a relay.

In this scheme, after the first switch is closed, the relay is worked under the control of controller to realize automatic control electro-magnet switching on and off, need not artifical manual control.

Optionally, the expansion air bag is also communicated with an exhaust hose, a one-way valve for guiding gas into the expansion air bag is arranged on the inflation hose, and a gas valve for controlling the on-off of the exhaust hose is arranged on the exhaust hose.

In the scheme, the one-way valve on the inflatable hose enables the gas to flow into the inflatable air bag in one way; when the inflatable air bag needs to be exhausted, a gas valve on the exhaust hose is opened, and the gas in the inflatable air bag is exhausted by the exhaust hose, so that the raw material roller is released.

Optionally, an inflator pump is connected to one end of the inflation hose away from the inflatable airbag.

In this scheme, utilize the pump to inflate the inflation gasbag, avoid manual air inflation.

Optionally, the device further comprises a mechanical arm, and the inflator pump is fixedly arranged at one end, close to the claw body, of the mechanical arm.

In this scheme, the pump is installed on robotic arm to the pump can move along with it.

Optionally, the gas valve is a solenoid valve.

In the scheme, when the gas valve is an electromagnetic valve, the controller can control the electromagnetic valve to work, so that the automatic air leakage of the expansion air bag is realized.

Drawings

Fig. 1 is a perspective view of a jaw device for a transfer robot according to a first embodiment of the present utility model;

FIG. 2 is an enlarged schematic view of FIG. 1A;

FIG. 3 is a front view of a jaw body according to a first embodiment of the utility model;

FIG. 4 is a partial cross-sectional view taken along the direction A-A in FIG. 3;

fig. 5 is a perspective view of a gripper device for a transfer robot according to a second embodiment of the present utility model.

Detailed Description

The following is a further detailed description of the embodiments:

the labels in the drawings of this specification include: the mechanical arm comprises a mechanical arm 1, a claw body 2, an inflatable airbag 3, a rubber sheet 4, an inflatable hose 5, an exhaust hose 6, a one-way valve 7, an air valve 8, an inflator pump 9, a disc 10, a radial through groove 11, a first sliding groove 111, a second sliding groove 112, an electromagnet 12, a first iron block 13, a second iron block 14, an elastic piece 15, a first switch 16, a wiring channel 17 and a relay 18.

Example 1

This embodiment is basically as shown in fig. 1 and 2: the clamping jaw device for the transfer robot comprises a mechanical arm 1 and a clamping jaw body 2, wherein the clamping jaw body 2 is fixedly connected with the mechanical arm 1. The claw body 2 is the shaft-like, fixedly connected with inflation gasbag 3 on the outer peripheral wall of claw body 2, fixedly connected with a plurality of sheet rubber 4 on the outer wall of inflation gasbag 3, in this embodiment, sheet rubber 4 bonds on the outer wall of inflation gasbag 3. The inflation air bag 3 is communicated with the inflation hose 5 and the exhaust hose 6, the one-way valve 7 for guiding the gas into the inflation air bag 3 is arranged on the inflation hose 5, the gas valve 8 for controlling the on-off of the exhaust hose 6 is arranged on the exhaust hose 6, in the embodiment, the exhaust hose 6 is arranged along the side edge of the mechanical arm 1, the gas valve 8 is positioned at one end, far away from the inflation air bag 3, of the exhaust hose 6, namely, the gas valve 8 is positioned at the bottom of the mechanical arm 1, and the operation of workers is facilitated. One end of the inflatable hose 5, which is far away from the inflatable airbag 3, is connected with an inflator pump 9, and the inflator pump 9 is fixedly arranged at one end of the mechanical arm 1, which is close to the claw body 2.

The bottom of the jaw body 2 is provided with a disc 10, and in this embodiment, the disc 10 and the jaw body 2 are integrally formed. The diameter of the disc 10 is less than or equal to the inner diameter of the hollow roll core, in this embodiment the diameter of the disc 10 is less than 5mm. As shown in fig. 3 and 4, a radial through groove 11 is formed in the disc 10, an electromagnet 12 is fixedly connected in the radial through groove 11, and the electromagnet 12 is positioned in the middle of the radial through groove 11; the electromagnet 12 divides the radial through slot 11 into a first runner 111 and a second runner 112. The first runner 111 is connected with the first iron block 13 in a sliding manner, the second runner 112 is connected with the second iron block 14 in a sliding manner, the first iron block 13 and the second iron block 14 are fixedly connected with the elastic piece 15, and one end, close to the electromagnet 12, of the elastic piece 15 is fixedly connected with the electromagnet 12. The elastic member 15 is in a natural extension state, and one end of the first iron block 13 and the second iron block 14, which is far away from the electromagnet 12, extends out of the radial through groove 11. In this embodiment, the elastic member 15 is a spring.

The electromagnet 12 is electrically connected with a first switch 16 for controlling the electromagnet 12 to be powered on and off, and the disc 10 and the inner part of the claw body 2 are provided with a wiring channel 17 so as to be electrically connected with the electromagnet 12 through wires. In this embodiment, the first switch 16 is located at an end of the robot arm 1 remote from the jaw body 2 for a worker to operate.

When the electromagnetic iron is used, a worker closes the first switch 16, so that the electromagnet 12 is electrified to generate magnetism, the first iron block 13 and the second iron block 14 are subjected to magnetic adsorption force exerted by the electromagnet 12, and the first iron block 13 and the second iron block 14 slide towards the direction of the electromagnet 12 against the elastic force of the elastic piece 15, so that the first iron block 13 and the second iron block 14 retract into the radial through groove 11.

Then, the robot arm 1 is actuated so that the jaw body 2 is inserted into the hollow roll core of the raw material roll (placed vertically when the raw material roll is stored), and it is ensured that the disc 10 is protruded from the other end of the hollow roll core after the jaw body 2 is inserted into the hollow roll core from one end of the hollow roll core. Then, the inflator 9 is activated, and the gas flows into the inflatable bag 3 in one direction through the inflation hose 5, so that the inflatable bag 3 is inflated, the gas in the inflatable bag 3 is gradually increased, and the volume of the inflatable bag 3 is increased. Then, the inflated air bladder 3 is fitted to the inner peripheral wall of the hollow roll core and applies a radially outward force to the inner peripheral wall of the hollow roll core, thereby tensioning and clamping the hollow roll core. When the inflatable bladder 3 is attached to the inner peripheral wall of the hollow roll core, the rubber sheet 4 is also attached to the inner peripheral wall of the hollow roll core, thereby increasing the static friction force applied to the hollow roll core.

Then, the mechanical arm 1 lifts the claw body 2 and the raw material roller together, after the raw material roller lifts, the worker turns off the first switch 16, the electromagnet 12 is powered off, the electromagnet 12 does not apply magnetic attraction force to the first iron block 13 and the second iron block 14 any more, the first iron block 13 and the second iron block 14 slide and reset under the action of elastic restoring force of the elastic piece 15, namely, one ends of the first iron block 13 and the second iron block 14, which are far away from the electromagnet 12, stretch out the radial through groove 11 again, and the linear distance between one ends of the first iron block 13 and the second iron block 14, which stretch out of the radial channel, is larger than the inner diameter of the hollow roller core. Thus, if the hollow roller core slides downwards relative to the jaw body 2 in the carrying process (the raw material roller is in a suspended state in the carrying process), the first iron block 13 and the second iron block 14 support and clamp the hollow roller core, so that the raw material roller is prevented from falling, and the transferring safety is improved.

When the raw material roller is transported to a designated position (for example, the raw material roller vertically falls on the raw material frame body), the worker closes the first switch 16 again, so that the electromagnet 12 is electrified to generate magnetism, the first iron block 13 and the second iron block 14 are magnetically adsorbed, and the first iron block 13 and the second iron block 14 are retracted into the radial through groove 11 again; then, the worker opens the gas valve 8 on the exhaust hose 6, the gas in the expansion airbag 3 is discharged through the exhaust hose 6, the volume of the expansion airbag 3 is gradually reduced, and the mechanical arm 1 acts to drive the claw body 2 to vertically move upwards, so that the claw body 2 is separated from the hollow roller core. So far, the transfer of the raw material roller is realized.

To sum up, in this embodiment, after the inflatable airbag 3 is inflated, it is attached to the inner peripheral wall of the hollow roller core and applies a radially outward force to the inflatable airbag, so that the claw body 2 tightens and clamps the raw material roller from the inner side, and the raw material roller is prevented from being damaged, so that the hollow roller core is reused. Moreover, the first iron block 13 and the second iron block 14 are also utilized in the embodiment to prevent the raw material roller from falling off in the transferring process, so that the method is safe and reliable.

Example two

The present embodiment differs from the first embodiment in that: as shown in fig. 5, in this embodiment, the electromagnet 12 is electrically connected with a second switch for controlling the on/off of the electromagnet 12, the second switch is connected in series with the first switch 16, and the second switch is a relay 18, and the relay 18 is fixedly installed at one end of the mechanical arm 1 close to the jaw body 2. The gas valve 8 on the exhaust hose 6 is a solenoid valve. In this embodiment, the inflator 9, the relay 18 and the solenoid valve (gas valve 8) are controlled by a controller which is provided in the transfer robot itself. In addition, the transfer robot further has a camera, and images of the transfer robot arm 1, the claw body 2 and the raw material roller are shot by the camera, shot image information is transmitted to the controller, and the controller controls the robot arm 1 to act, the inflator pump 9 to operate, the relay 18 to operate and the solenoid valve to operate according to the image information.

When the novel roller is used, a worker closes the first switch 16, the claw body 2 is positioned above the raw material roller, the controller controls the relay 18 to enable the electromagnet 12 to be electrified to generate magnetism (high current), and the first iron block 13 and the second iron block 14 are magnetically adsorbed to retract into the radial through groove 11 so that the claw body 2 can be inserted into the hollow roller core; when the claw body 2 is inserted into the hollow roller core, the controller controls the inflator pump 9 to work, so that the automatic inflation of the inflatable air bag 3 is realized; when the raw material roller is lifted, the controller controls the relay 18 to enable the electromagnet 12 to be powered off (small current), and the first iron block 13 and the second iron block 14 extend out of the radial through groove 11, so that the raw material roller is prevented from falling; when the raw material roller is placed at the appointed position, the controller controls the relay 18 to electrify the electromagnet 12 again, the first iron block 13 and the second iron block 14 retract into the radial through groove 11 again, meanwhile, the controller controls the electromagnetic valve to be opened, and the gas in the expansion air bag 3 is discharged through the exhaust hose 6, so that the raw material roller is released, and the mechanical arm 1 drives the claw body 2 to be separated from the raw material roller.

In summary, this embodiment can realize automatic inflation and deflation of the inflatable bag 3 and automatic on/off of the electromagnet 12, and has a higher degree of automation than the first embodiment.

The foregoing is merely exemplary embodiments of the present utility model, and specific structures and features that are well known in the art are not described in detail herein. It should be noted that modifications and improvements can be made by those skilled in the art without departing from the structure of the present utility model, and these should also be considered as the scope of the present utility model, which does not affect the effect of the implementation of the present utility model and the practical applicability of the present utility model. The description of the embodiments and the like in the specification can be used for explaining the contents of the claims.

Claims (10)

1. Claw device for transfer robot, including the jack catch body, its characterized in that: the claw body is in a rod shape, an expansion air bag is fixedly connected to the peripheral wall of the claw body, and the expansion air bag is communicated with an inflation hose.

2. The gripper apparatus for a transfer robot according to claim 1, wherein: and a plurality of rubber sheets are fixedly connected to the outer wall of the expansion air bag.

3. The gripper apparatus for a transfer robot according to claim 1 or 2, characterized in that: the bottom of jack catch body is equipped with the disc, the diameter of disc is less than or equal to the internal diameter of cavity roller core, radial logical groove has been seted up to the inside of disc, radial logical inslot fixedly connected with electro-magnet, electro-magnet divide into first spout and second spout with radial logical groove, sliding connection has first iron plate in the first spout, sliding connection has the second iron plate in the second spout, the equal fixedly connected with elastic component of first iron plate and second iron plate, the one end that the elastic component is close to the electro-magnet and electro-magnet fixed connection.

4. A jaw apparatus for a transfer robot according to claim 3, wherein: the electromagnet is positioned in the middle of the radial through groove.

5. A jaw apparatus for a transfer robot according to claim 3, wherein: the electromagnetic iron is connected with a first switch for controlling the electromagnet to be powered on and powered off, and wiring channels are formed in the disc and the claw body.

6. The transfer robot jaw apparatus according to claim 5, wherein: the electromagnetic iron is connected with a second switch for controlling the electromagnet to be powered on and powered off, the second switch is connected with the first switch in series, and the second switch is a relay.

7. The gripper apparatus for a transfer robot according to claim 1, wherein: the inflatable air bag is further communicated with an exhaust hose, a one-way valve for guiding air into the inflatable air bag is arranged on the inflatable hose, and an air valve for controlling the on-off of the exhaust hose is arranged on the exhaust hose.

8. The gripper apparatus for a transfer robot according to claim 7, wherein: one end of the inflatable hose, which is far away from the inflatable air bag, is connected with an inflator pump.

9. The gripper apparatus for a transfer robot according to claim 8, wherein: the mechanical arm is further included, and the inflator pump is fixedly arranged at one end, close to the claw body, of the mechanical arm.

10. The gripper apparatus for a transfer robot according to claim 7, wherein: the gas valve is an electromagnetic valve.