WO2020211211A1 - 一种距离可调的玻璃瓶夹具 - Google Patents

一种距离可调的玻璃瓶夹具 Download PDF

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Publication number
WO2020211211A1
WO2020211211A1 PCT/CN2019/097675 CN2019097675W WO2020211211A1 WO 2020211211 A1 WO2020211211 A1 WO 2020211211A1 CN 2019097675 W CN2019097675 W CN 2019097675W WO 2020211211 A1 WO2020211211 A1 WO 2020211211A1
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WO
WIPO (PCT)
Prior art keywords
guide rod
movable
side plate
movable claw
assembly
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Application number
PCT/CN2019/097675
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English (en)
French (fr)
Inventor
罗习达
陈优飞
吴娟娥
王忠岐
Original Assignee
科达制造股份有限公司
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Application filed by 科达制造股份有限公司 filed Critical 科达制造股份有限公司
Publication of WO2020211211A1 publication Critical patent/WO2020211211A1/zh

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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
    • 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
    • B65B21/14—Introducing or removing groups of bottles, for filling or emptying containers in one operation
    • B65B21/18—Introducing or removing groups of bottles, for filling or emptying containers in one operation using grippers engaging bottles, e.g. bottle necks
    • 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
    • B65B59/00—Arrangements to enable machines to handle articles of different sizes, to produce packages of different sizes, to vary the contents of packages, to handle different types of packaging material, or to give access for cleaning or maintenance purposes

Definitions

  • the invention relates to the field of clamps, in particular to a glass bottle clamp with adjustable distance.
  • the existing glass bottle packing machine uses a set of glass bottle clamps installed at the front end of the mechanical arm, and the front end of the clamp is equipped with movable claws.
  • the glass bottle clamps move downward with the mechanical arm. Grab the glass bottle on the conveyor line, then lift the glass bottle and place it in the packing box.
  • the existing glass bottle clamps can only be applied to one type of glass bottle specification, and the number of glass bottles in the box is uniform. When the glass bottle specification changes or the packing specification changes, the operation needs to be stopped and manual replacement meets the requirements Glass bottle fixture.
  • the present invention provides a glass bottle clamp with adjustable distance, which includes a length direction drive assembly and a width direction drive assembly.
  • the length direction drive assembly includes a length direction servo motor, a length direction screw rod and a detent assembly
  • the width direction drive assembly includes a width direction servo motor and a width direction screw rod; the length direction screw rod is driven by the length direction servo motor to rotate to realize the adjustable distance between the movable claws in the length direction; the width direction is driven by the width direction servo motor The rotation of the screw can realize the adjustable distance between the movable jaws in the width direction.
  • a distance-adjustable glass bottle clamp including a frame, a length direction drive assembly, a width direction drive assembly, a clamping jaw assembly and a detent assembly;
  • the length direction drive assembly includes a length direction servo motor, a length direction screw rod and a detent pin Assembly;
  • the detent assembly is sleeved on the length direction screw;
  • the width direction drive assembly includes a width direction servo motor, a width direction screw rod, a plurality of guide rod shafts and a first movable pawl mounting side plate, a second The movable jaw mounting side plate and the third movable jaw mounting side plate;
  • the clamping jaw assembly includes a plurality of movable jaw mounting seats;
  • the number of guide rod shafts is equal to the number of rows of the movable jaw mounting seats; each guide The rod shaft passes through the first movable claw installation side plate, a row of movable claw installation seats, and the third movable claw installation side plate in sequence, and can be moved along the first
  • the frame slides in the length direction; the first movable claw installation side plate and the third movable claw installation side plate are sleeved on the width direction screw rod, and the second movable claw installation side plate is fixedly connected with the frame,
  • the second row of movable pawl mounting seats are slidably connected with the second movable pawl mounting side plate; the detent assembly is used to move the sliding pawl mounting seats of the second row.
  • the second movable claw installation side plate is L-shaped, including side walls and a bottom; a slide rail is provided at the bottom of the second movable claw installation side plate, and each movable claw in the second row is installed
  • the seat is fixedly connected with the corresponding sliding block, and the sliding block slides on the sliding rail.
  • the glass bottle clamp further includes a plurality of ejector pin assemblies; the number of the ejector pin assemblies is equal to the number of rows of the movable claw mounting seat; the ejector pin assembly includes a slider mounting seat, an ejector pin rod, and a spring And the top pin plate, the slider mounting seat is U-shaped, including two side walls and a bottom, the two side walls are divided into a first side wall and a second side wall, and the first side wall is provided with A first mounting hole, a second mounting hole is provided on the second side wall, the top pin plate is disposed between the first side wall and the second side wall, and the spring is disposed on the top pin Between the plate and the second side wall, the top pin plate abuts against the second movable pawl mounting side plate, and the top pin rod passes through the mounting hole and the top pin plate on the first side wall in sequence , The spring and the mounting hole on the second side wall, and are fixedly connected with the top pin plate, and the detent pin assembly is
  • the ejector pin assembly can fix the movable pawl mounting seat of each row at any position along the length direction of the frame.
  • the ejector plate is pushed by the air cylinder, and then the push rod of the air cylinder abuts on the slider mounting seat, so that the entire ejector plate assembly can follow the air cylinder Movement and movement to adjust the distance of the jaws along the length of the frame.
  • each of the guide rod shaft assemblies includes a first guide rod shaft and a second guide rod shaft, and the first guide rod shaft and the second guide rod shaft are parallel and opposite in direction. Is provided with two shoulders, the first movable pawl mounting side plate is provided between the two shoulders of the first guide rod shaft; the second guide rod shaft is provided with two shoulders, so The third movable pawl mounting side plate is arranged between the two shoulders of the second guide rod shaft.
  • the number of the width direction screw rods is two, which are respectively arranged at the front and rear ends of the frame, and the two width direction screw rods are connected by a timing belt.
  • the length direction driving assembly further includes a length direction guide rod, and the detent assembly is sleeved on the length direction guide rod.
  • the length direction guide rod plays a guiding role, so that the length direction screw rod of the detent assembly is more stable when it slides.
  • the detent assembly includes a cylinder and a cylinder push rod.
  • the length direction screw rod can be driven to rotate by the length direction servo motor to realize the adjustable distance between the movable claws in the length direction; the width direction screw rod can be driven to rotate by the width direction servo motor to realize the adjustable distance between the width direction movable claws; the present invention
  • the disclosed glass bottle clamp with adjustable distance has simple structure and beautiful appearance; it has fast running speed, high space utilization rate and precise control. It is suitable for different specifications of glass bottles and packing specifications, and realizes automatic intelligent packing. Claim.
  • Figure 1 is a first view of a glass bottle holder with adjustable distance according to the present invention
  • FIG. 2 is a second direction view of a glass bottle holder with adjustable distance according to the present invention.
  • Figure 3 is a structural diagram of the guide rod shaft of the present invention.
  • Figure 4 is a structural diagram of the ejector pin assembly of the present invention.
  • Figure 5 is a structural diagram of the shift pin assembly of the present invention.
  • a glass bottle holder with adjustable distance includes a frame 2, a length direction drive assembly 1, a width direction drive assembly 3, a clamping jaw assembly 4 and a detent assembly 5.
  • the clamping jaw assembly 4 includes a plurality of movable jaw mounting seats 4.1.
  • the movable jaw mounting seats 4.1 are arranged in a matrix.
  • the width direction of 2 is the number of columns of the movable jaw mounting seat 4.1.
  • the number of rows of the movable jaw mounting seat 4.1 is 12 rows and the number of columns is 3 columns.
  • the length direction drive assembly includes a length direction servo motor 1.1, a length direction screw 1.2 and a pin assembly 5; the length direction servo motor 1.1 is used to drive the length direction screw 1.2 to rotate, and the lock pin assembly 5 is set in The length direction screw rod 1.2 is on, so the detent assembly 5 can slide on the length direction screw rod 1.2.
  • the length direction driving assembly further includes a length direction guide rod 1.3, the detent assembly 5 is also sleeved on the length direction guide rod 1.3, and the length direction guide rod 1.3 plays a guiding role so that the detent assembly 5 is more stable when sliding on the screw rod in the length direction.
  • the detent assembly 5 includes an air cylinder.
  • the width direction drive assembly includes a width direction servo motor 3.1, a width direction screw 3.3, a number of guide rod shaft assemblies 3.4, a first movable claw mounting side plate 3.5, a second movable claw mounting side plate 3.6, and a third movable claw mounting side Plate 3.7, the width direction servo motor 3.1 is used to drive the width direction screw 3.3 to rotate, the number of the width direction screw 3.3 is two, which are respectively arranged at the front and rear ends of the frame 2, two The threaded rods 3.3 in the width direction are connected by a timing belt 3.2.
  • the length direction of the frame 2 is the front and back direction, and the width direction of the frame 2 is the left and right direction.
  • the two width direction screw rods 3.3 are connected by a timing belt 3.2, so the two width direction screw rods 3.3 can be in one Simultaneous movement under the drive of the width direction servo motor 3.1. Both ends of the first movable claw mounting side plate 3.5 are respectively sleeved on the two width direction screw rods 3.3, and both ends of the third movable claw installation side plate 3.7 are respectively sleeved on the two width direction screws On the rod 3.3, the thread directions of the upper and lower parts of the width direction screw 3.3 are opposite, so when the width direction screw 3.3 rotates, the first movable jaw mounting side plate 3.5 and the third movable jaw mounting side plate 3.7 The direction of movement is opposite.
  • the number of the guide rod shaft assembly 3.4 is equal to the number of rows of the movable pawl mounting seat 4.1, and each guide rod shaft assembly 3.4 passes through the first movable pawl mounting side plate 3.5, a row of movable pawl mounting seat 4.1,
  • the third movable pawl is installed with the side plate 3.7, the guide rod shaft assembly 3.4 is fixedly connected with the first row of movable pawl mounting seats 4.1 and the third row of movable pawl mounting seats, and the guide rod shaft assembly 3.4 is installed with the second row of movable pawls
  • the seat 4.1 is movably connected; and each of the guide rod shaft assemblies 3.4 includes a first guide rod shaft 3.4.1 and a second guide rod shaft 3.4.2, and the first guide rod shaft 3.4.1 and the second guide rod shaft 3.4.2 Parallel and opposite in direction, two shoulders 3.8 are provided on the first guide rod shaft 3.4.1, and the first movable claw mounting side plate 3.5 is provided on the first guide rod shaft 3.4.1 Between the two shoulders
  • Each guide rod shaft assembly 3.4 can slide along the length direction on the first movable claw mounting side plate 3.5 and the third movable claw mounting side plate 3.7, due to the first movable claw mounting side plate 3.5 and the third movable claw mounting side plate 3.5
  • the side plates 3.7 are respectively clamped in the shaft shoulder 3.8, so when the width direction screw 3.3 rotates, the first movable claw mounting side plate 3.5 can drive the first row of movable claw mounting seats 4.1 to move along the width direction of the frame 2.
  • the third movable claw mounting side plate 3.7 can drive the third row of movable claw mounting seats 4.1 to move along the width direction of the frame 2.
  • the first guide rod shaft 3.4.1 is fixedly connected to the movable claw mounting seat of the first row, and the first guide rod shaft 3.4.1 is movably connected to the movable pawl mounting seat of the third row;
  • the second The guide rod shaft 3.4.2 is fixedly connected with the movable claw mounting seat of the third row, and the second guide rod shaft 3.4.2 is movably connected with the movable pawl mounting seat of the first row; when the first row When the movable pawl mounting seat moves along the width direction of the frame 2, the second guide shaft 3.4.2 plays a guiding role, when the movable pawl mounting seat of the third row moves along the width direction of the frame 2 At this time, the first guide rod shaft 3.4.1 plays a guiding role.
  • the second movable claw mounting side plate 3.6 is fixedly connected to the frame 2, and the second movable claw mounting side plate is L-shaped, including side walls and a bottom, and a slide rail is provided at the bottom of the mounting side plate 3.6 (Not shown in the figure), a slider mounting seat 9.4 is provided between the second movable jaw mounting side plate 3.6 and the second row of movable jaw mounting seats 4.1, and each movable jaw mounting seat in the second row 4.1 It is fixedly connected with the sliding block mounting base 9.4, and a sliding block 8 is fixedly arranged on each sliding block mounting base, and the sliding block 8 slides on the sliding rail.
  • the glass bottle clamp also includes a number of ejector pin assemblies 9, the number of the ejector pin assemblies 9 is equal to the number of rows of the movable jaw mounting seat 4.1, that is, each movable jaw mounting seat 4.1 in the second column corresponds to one
  • the slider mounting seat is U-shaped, including two side walls and a bottom 9.4.3, the two side walls are divided into a first side wall 9.4.1 and a second side wall 9.4.2, A first mounting hole is provided on the first side wall 9.4.1, a second mounting hole is provided on the second side wall 9.4.2, and the top pin plate 9.3 is provided on the first side wall 9.4.1 and the second side wall 9.4.2, the spring 9.2 is arranged between the top pin plate 9.3 and the second side wall 9.4.2, the top pin
  • the top pin plate 9.3 protrudes from the first side wall 9.4.1 along the length of the second movable pawl mounting side plate 3.6, so the push rod of the cylinder can be pushed after passing through the sliding groove 7
  • the compression force of the spring 9.2 pushes the top pin plate 9.3 against the second movable claw mounting side plate 3.6 to fix each row
  • the cylinder moves, the cylinder push rod extends, pushes the top pin plate 9.3 and then compresses the spring 9.2, thereby moving the movable pawl mounting seat 4.1 of each row from the second movable
  • the claw mounting side plate 3.6 is loosened, and then the push rod of the cylinder abuts against the side of the first side wall 9.4.1 of the slider mounting seat 9.4.
  • the cylinder moves, it can drive each row The movable claw mounting seat 4.1 moves to adjust the distance in the length direction.
  • the top pin plate 9.3 extends out of the left and right sides of the first side wall 9.4.1 at the same time, and the left and right sides of the top pin plate 9.3 mean along the second movable claw Install both sides of the side plate 3.6 in the length direction.
  • the top pin plate 9.3 simultaneously extends out of the left and right sides of the first side wall 9.4.1 so that the cylinder can push the cylinder on the left or right side.
  • the top pin plate 9.3 can drive the movable claw mounting seat 4.1 of each row to move forward or backward along the length direction.
  • a push rod groove is provided on the side of the first side wall 9.4.1, and the push rod of the cylinder is clamped in the push rod groove, and the movable claw mounting seat of each row can be easily pushed.
  • a third mounting hole is further provided on the first side wall 9.4.1, the cylinder push rod passes through the third mounting hole and pushes the top pin plate 9.3, and
  • the third mounting hole is provided with a guiding structure, so that the cylinder push rod can easily extend into the third mounting hole.
  • the frame is installed on a mechanical arm, and a movable claw is connected to the movable claw mounting seat 4.1, and the movable claw can complete the grabbing of the glass bottle.
  • the mechanical arm moves downwards, the movable claw grabs the glass bottle on the conveyor line, and then lifts the glass bottle and places it in the packing box to realize automatic intelligent packing.
  • the working steps of the adjustable distance glass bottle clamp of the present invention are as follows:
  • the program sends instructions.
  • the lengthwise servo motor 1.1 drives the lengthwise screw 1.2 to rotate, and drives the detent assembly 5 to move along the lengthwise guide rod 1.3.
  • the detent assembly 5 includes a cylinder and a cylinder push rod.
  • the pin assembly 5 reaches the position of the single movable pawl mounting seat 4.1 in the second row, the cylinder moves and the cylinder push rod extends to push out the ejector pin plate on the ejector pin assembly 9, compressing the spring, so the ejector pin
  • the assembly 9 can be released from the second movable claw mounting side plate, and the push rod of the cylinder abuts on the sliding block mounting seat, so when the cylinder moves, it can drive a single movable claw mounting seat 4.1 to move.
  • a row of movable jaw mounting seats 4.1 are connected in series on the guide rod shaft, so the movement of a single movable jaw mounting seat 4.1 can drive a row of movable jaw mounting seats to move; realize the distance change between two adjacent movable jaw mounting seats, when the distance is satisfied
  • the cylinder push rod retracts, the ejector pin assembly 9 springs back to fix the movable pawl mounting seat, and the detent pin assembly 5 goes to the position of the next movable pawl mounting seat 4.1 to continue the above action until the length direction Complete the requirements of the program instructions.
  • the width direction servo motor 3.1 moves, and the two width direction screw rods 3.3 are driven to rotate at the same time through the timing belt 3.2, so the first movable claw installs the side plate 3.5 and the third movable claw
  • the claw mounting side plate 3.7 can move up and down on the screw 3.3 at the same time.
  • the first movable claw mounting side plate 3.5 and the third movable claw The movement direction of the claw installation side plate 3.7 is opposite, that is, it moves toward the second movable claw installation side plate 3.6 at the same time or moves away from the second movable claw installation side plate 3.6; the first movable claw installation side plate 3.5 drives The movable jaw mounting seat 4.1 of the first row moves; the third movable jaw mounting side plate 3.7 drives the movable jaw mounting seat 4.1 of the third row to move, so as to realize the change of the distance between the clamps in the width direction.
  • the servo motor 3.1 stops moving.

Abstract

一种距离可调的玻璃瓶夹具，包括框架（2）、长度方向驱动组件（1）、宽度方向驱动组件（3）、夹爪组件（4）以及拨销组件（5）；长度方向驱动组件（1）包括长度方向伺服电机（1.1）、长度方向丝杆（1.2），宽度方向驱动组件（3）包括宽度方向伺服电机（3.1）、宽度方向丝杆（3.3）、若干导杆轴组件（3.4）；通过长度方向伺服电机（1.1）驱动长度方向丝杆（1.2）转动能实现长度方向活动爪之间的距离可调；通过宽度方向伺服电机（3.1）驱动宽度方向丝杆（3.3）转动能实现宽度方向活动爪之间的距离可调。

Description

一种距离可调的玻璃瓶夹具 技术领域
本发明涉及夹具领域，尤其涉及一种距离可调的玻璃瓶夹具。
背景技术
现有玻璃瓶装箱机，即将玻璃瓶放置在包装箱中的机械，是采用机械臂的前端安装一套玻璃瓶夹具，夹具前端安装有活动爪，玻璃瓶夹具随机械臂向下运动，活动爪抓取输送线上的玻璃瓶，然后提起玻璃瓶放置在包装箱中。现有的玻璃瓶夹具只能适用于一种玻璃瓶规格，且装箱玻璃瓶数量统一的玻璃瓶装箱，当玻璃瓶规格改变，或者装箱规格改变时，则需要停止作业，人工更换满足要求的玻璃瓶夹具。此方法虽然能够实现不同规格玻璃瓶的装箱，但是费时费力，增加了人工成本；且需要准备多套夹具，增加了材料成本；人工更换夹具时间长，降低了装箱效率，没有实现全自动化。
发明内容
为解决上述问题，本发明提供了一种距离可调的玻璃瓶夹具，包括长度方向驱动组件和宽度方向驱动组件，所述长度方向驱动组件包括长度方向伺服电机、长度方向丝杆以及拨销组件；所述宽度方向驱动组件包括宽度方向伺服电机、宽度方向丝杆；通过长度方向伺服电机驱动长度方向丝杆转动能实现长度方向活动爪之间的距离可调；通过宽度方向伺服电机驱动宽度方向丝杆转动能实现宽度方向活动爪之间的距离可调，具体内容如下：
一种距离可调的玻璃瓶夹具，包括框架、长度方向驱动组件、宽度方向驱动组件、夹爪组件以及拨销组件；所述长度方向驱动组件包括长度方向伺服电机、长度方向丝杆以及拨销组件；所述拨销组件套设在所述长度方向丝杆上；所述宽度方向驱动组件包括宽度方向伺服电机、宽度方向丝杆、若干导杆轴以及第一活动爪安装侧板、第二活动爪安装侧板、第三活动爪安装侧板；所述夹爪组件包括若干活动爪安装座；所述导杆轴的数量与所述活动爪安装座的行数相等；每个所述导杆轴依次穿过第一活动爪安装侧板、一行活动爪安装座、第三活动爪安装侧板，并能够在所述第一活动爪安装侧板以及第三活动爪安装侧板上沿着所述框架长度方向上滑动；第一活动爪安装侧板与第三活动爪安装侧板套设在所述宽度方向丝杆上，所述第二活动爪安装侧板与所述框架固定连接，所述第二列活动爪安装座与所述第二活动爪 安装侧板滑动连接；所述拨销组件用于拨动所述第二列的滑动爪安装座。
优选的，所述第二活动爪安装侧板呈L型，包括侧壁和底部；在所述第二活动爪安装侧板的底部设置有滑轨，第二列的每个所述活动爪安装座与相应的滑块固定连接，所述滑块均在所述滑轨上滑动。
优选的，所述玻璃瓶夹具还包括若干顶销组件；所述顶销组件的数量与所述活动爪安装座的行数相等；所述顶销组件包括滑块安装座、顶销杆、弹簧以及顶销板，所述滑块安装座呈U型，包括两个侧壁和一个底部，两个侧壁分为第一侧壁和第二侧壁，在所述第一侧壁上设置有第一安装孔，在所述第二侧壁上设置有第二安装孔，所述顶销板设置在所述第一侧壁和第二侧壁之间，所述弹簧设置在所述顶销板和第二侧壁之间，所述顶销板抵靠在所述第二活动爪安装侧板上，所述顶销杆依次穿过所述第一侧壁上的安装孔、顶销板、弹簧和第二侧壁上的安装孔，并与所述顶销板固定连接，所述拨销组件用于拨动所述顶销组件。所述顶销组件能够使得所述每一行的活动爪安装座在沿框架的长度方向的任一位置固定。当需要调节夹爪沿所述框架的长度方向的距离时，通过气缸推动顶销板，然后气缸的推杆抵靠在所述滑块安装座上，使得整个顶销板组件能够随着气缸的运动而运动，从而调节夹爪沿所述框架的长度方向的距离。
优选的，每个所述导杆轴组件均包括第一导杆轴和第二导杆轴，并且第一导杆轴与第二导杆轴平行且方向相反，在所述第一导杆轴上设置有两个轴肩，所述第一活动爪安装侧板设置在所述第一导杆轴的两个轴肩之间；所述第二导杆轴上设置有两个轴肩，所述第三活动爪安装侧板设置在所述第二导杆轴的两个轴肩之间。
优选的，所述宽度方向丝杆的数量为两个，分别设置在所述框架的前后两端，两个所述宽度方向丝杆之间通过同步带连接。
优选的，所述长度方向驱动组件还包括长度方向导杆，所述拨销组件套设在所述长度方向导杆上。所述长度方向导杆起到导向作用，使得所述拨销组件的长度方向丝杆上滑动时更稳定。
优选的，所述拨销组件包括气缸和气缸推杆。
本发明的有益效果为：
通过长度方向伺服电机驱动长度方向丝杆转动能实现长度方向活动爪之间的距离可调；通过宽度方向伺服电机驱动宽度方向丝杆转动能实现宽度方向活动爪之间的距离可调；本发明所公开的一种距离可调的玻璃瓶夹具结构简单、外形美观；并且运行速度快，空间利用率高，控制精准，适用于不同规格玻璃瓶及装箱规格要求，实现全自动智能化装箱要求。
附图说明
图1为本发明一种距离可调的玻璃瓶夹具的第一方向视图；
图2为本发明一种距离可调的玻璃瓶夹具的第二方向视图；
图3为本发明导杆轴的结构图；
图4为本发明顶销组件的结构图；
图5为本发明拨销组件的结构图。
图中各附图标记所指代的技术特征如下：
1、长度方向驱动组件；2、框架；3、宽度方向驱动组件；4、夹爪组件；5、拨销组件；1.1、长度方向伺服电机；1.2、长度方向丝杆；1.3、长度方向导杆；3.1、宽度方向伺服电机；3.2、同步带；3.3、宽度方向丝杆；3.4、导杆轴组件；3.5、第一活动爪安装侧板；3.6、第二活动爪安装侧板；3.7、第三活动爪安装侧板；3.8、轴肩；3.4.1、第一导杆轴；3.4.2、第二导杆轴；4.1、活动爪安装座；7、滑行槽；8、滑块；9、顶销组件；9.1、顶销杆；9.2、弹簧；9.3、顶销板；9.4、滑块安装座；9.4.1、第一侧壁；9.4.2、第二侧壁；9.4.3、底部。
具体实施方式
下面结合附图对本发明的具体实施方式作进一步说明：
如图1所示的一种距离可调的玻璃瓶夹具，包括框架2、长度方向驱动组件1、宽度方向驱动组件3、夹爪组件4以及拨销组件5。所述夹爪组件4包括若干个活动爪安装座4.1，所述活动爪安装座4.1呈矩阵排列，沿着所述框架2的长度方向为活动爪安装座4.1的行数，沿着所述框架2的宽度方向为活动爪安装座4.1的列数，在本实施例中，所述活动爪安装座4.1的行数为12行，列数为3列。
如图2所示，长度方向驱动组件包括长度方向伺服电机1.1、长度方向丝杆1.2以及拨销组件5；长度方向伺服电机1.1用于驱动长度方向丝杆1.2旋转，拨销组件5套设在所述长度方向丝杆1.2上，所以拨销组件5能够在所述长度方向丝杆1.2滑动。所述长度方向驱动组件还包括长度方向导杆1.3，所述拨销组件5同时还套设在长度方向导杆1.3上，所述长度方向导杆1.3起到导向作用，使得所述拨销组件5的长度方向丝杆上滑动时更稳定。如图5所示，拨销组件5包括气缸。
所述宽度方向驱动组件包括宽度方向伺服电机3.1、宽度方向丝杆3.3、若干导杆轴组件 3.4以及第一活动爪安装侧板3.5、第二活动爪安装侧板3.6、第三活动爪安装侧板3.7，所述宽度方向伺服电机3.1用于驱动所述宽度方向丝杆3.3旋转，所述宽度方向丝杆3.3的数量为两个，分别设置在所述框架2的前后两端，两个所述宽度方向丝杆3.3之间通过同步带3.2连接。沿框架2的长度方向为前后方向，沿框架2的宽度方向为左右方向，两个所述宽度方向丝杆3.3之间通过同步带3.2连接，所以两个所述宽度方向丝杆3.3能够在一个宽度方向伺服电机3.1的驱动下同时运动。所述第一活动爪安装侧板3.5的两端分别套设在两个所述宽度方向丝杆3.3上，第三活动爪安装侧板3.7的两端分别套设在两个所述宽度方向丝杆3.3上，所述宽度方向丝杆3.3的上下两部分的螺纹方向相反，所以当述宽度方向丝杆3.3转动时，所述第一活动爪安装侧板3.5与第三活动爪安装侧板3.7的运动方向相反。所述导杆轴组件3.4的数量与所述活动爪安装座4.1的行数相等，每个所述导杆轴组件3.4依次穿过第一活动爪安装侧板3.5、一行活动爪安装座4.1、第三活动爪安装侧板3.7，所述导杆轴组件3.4与第一列活动爪安装座4.1和第三列活动爪安装座固定连接，所述导杆轴组件3.4与第二列活动爪安装座4.1活动连接；并且每个所述导杆轴组件3.4均包括第一导杆轴3.4.1和第二导杆轴3.4.2，并且第一导杆轴3.4.1与第二导杆轴3.4.2平行且方向相反，在所述第一导杆轴3.4.1上设置有两个轴肩3.8，所述第一活动爪安装侧板3.5设置在所述第一导杆轴3.4.1的两个轴肩3.8之间；如图3所示，所述第二导杆轴3.4.2上设置有两个轴肩3.8，所述第三活动爪安装侧板3.7设置在所述第二导杆轴3.4.2的两个轴肩3.8之间。每个导杆轴组件3.4均能够在所述第一活动爪安装侧板3.5和第三活动爪安装侧板3.7上沿长度方向滑动，由于第一活动爪安装侧板3.5和第三活动爪安装侧板3.7分别卡在轴肩3.8内，所以当宽度方向丝杆3.3转动时，所述第一活动爪安装侧板3.5能够带动第一列活动爪安装座4.1沿着框架2的宽度方向移动，所述第三活动爪安装侧板3.7能够带动第三列活动爪安装座4.1沿着框架2的宽度方向移动。
所述第一导杆轴3.4.1与所述第一列的活动爪安装座固定连接，第一导杆轴3.4.1与所述第三列的活动爪安装座活动连接；所述第二导杆轴3.4.2与所述第三列的活动爪安装座固定连接，所述第二导杆轴3.4.2与所述第一列的活动爪安装座活动连接；当所述第一列的活动爪安装座沿着框架2的宽度方向移动时，所述第二导杆轴3.4.2起到导向的作用，当所述第三列的活动爪安装座沿着框架2的宽度方向移动时，所述第一导杆轴3.4.1起到导向的作用。
所述第二活动爪安装侧板3.6与所述框架2固定连接，所述第二活动爪安装侧板呈L型，包括侧壁和底部，在所述安装侧板3.6的底部设置有滑轨(图中未示出)，在所述第二活动爪安装侧板3.6与第二列活动爪安装座4.1之间设置有滑块安装座9.4，第二列的每个所述活动 爪安装座4.1与所述滑块安装座9.4固定连接，在每个所述滑块安装座上固定设置有滑块8，所述滑块8在所述滑轨上滑动。所述玻璃瓶夹具还包括若干顶销组件9，所述顶销组件9的数量与所述活动爪安装座4.1的行数相等，即，第二列的每个活动爪安装座4.1均对应一个顶销组件9，如图4所示，所述顶销组件包括顶销杆9.1、弹簧9.2、顶销板9.3以及滑块安装座9.4，在所述第二活动爪安装侧板3.6上设置有滑行槽7；所述滑块安装座呈U型，包括两个侧壁和一个底部9.4.3，所述两个侧壁分为第一侧壁9.4.1和第二侧壁9.4.2，在所述第一侧壁9.4.1上设置有第一安装孔，在所述第二侧壁9.4.2上设置有第二安装孔，所述顶销板9.3设置在所述第一侧壁9.4.1和第二侧壁9.4.2之间，所述弹簧9.2设置在所述顶销板9.3和第二侧壁9.4.2之间，所述顶销杆9.1依次穿过所述第一侧壁9.4.1上的安装孔、顶销板9.3、弹簧9.2和第二侧壁9.4.2上的安装孔，所述顶销板9.3抵靠在所述第二活动爪安装侧板3.6上，所述顶销杆9.1与所述顶销板9.3固定连接，所述固定连接方式可以为焊接或其他常规固定连接方式。
所述顶销板9.3在沿所述第二活动爪安装侧板3.6的长度方向伸出所述第一侧壁9.4.1，所以所述气缸的推杆穿过所述滑行槽7后能够推动所述顶销板9.3。当不需要调节沿所述框架长度方向的距离时，所述通过所述弹簧9.2的压缩力将所述顶销板9.3顶在所述第二活动爪安装侧板3.6上从而固定所述每一行的活动爪安装座4.1。当需要调节长度方向的距离时，所述气缸动作，所述气缸推杆伸出，推动所述顶销板9.3后压缩弹簧9.2，从而将每一行的所述活动爪安装座4.1从第二活动爪安装侧板3.6上松开，然后所述气缸的推杆抵靠在所述滑块安装座9.4的第一侧壁9.4.1的侧部上，当所述气缸运动时，能带动每一行的活动爪安装座4.1运动，从而调整长度方向的距离。
作为优选，所述顶销板9.3同时伸出所述第一侧壁9.4.1的左侧和右侧，所述顶销板9.3的左侧和右侧是指沿着所述第二活动爪安装侧板3.6的长度方向的两侧，所述顶销板9.3同时伸出所述第一侧壁9.4.1的左侧和右侧是为了所述气缸能够在左侧或者右侧推动所述顶销板9.3，从而能带动每一行的活动爪安装座4.1沿着长度方向向前或向后运动。在所述第一侧壁9.4.1的侧部上设置有推杆槽，所述气缸的推杆卡在所述推杆槽内，能跟容易的推动所述每一行的活动爪安装座。
作为另一种实施方式，在所述第一侧壁9.4.1上还设置有第三安装孔，所述气缸推杆穿过所述第三安装孔后推动所述顶销板9.3，并且在所述第三安装孔上设置有导向结构，使得所述气缸推杆能很容易的伸入所述第三安装孔内。
所述框架安装在机械臂上，在所述活动爪安装座4.1上连接有活动爪，活动爪可完成玻 璃瓶的抓取。装箱时，机械臂向下运动，活动爪抓取输送线上的玻璃瓶，然后提起玻璃瓶放置在包装箱中，实现全自动智能装箱。本发明的一种距离可调的玻璃瓶夹具的工作步骤如下：
1、程序发送指令，长度方向伺服电机1.1驱动长度方向丝杆1.2转动，带动拨销组件5沿着长度方向导杆1.3移动，所述拨销组件5包括气缸和气缸推杆，当所述拨销组件5到达第二列的单个活动爪安装座4.1的位置旁边时，所述气缸动作，气缸推杆伸出，将顶销组件9上的顶销板推出，压缩弹簧，所以所述顶销组件9能够从第二活动爪安装侧板上松开，所述气缸的推杆抵靠在所述滑动块安装座上，所以所述气缸运动时能带动单个活动爪安装座4.1运动，由于每一行的活动爪安装座4.1均串联在导杆轴上，所以单个活动爪安装座4.1运动能带动某一行的活动爪安装座运动；实现相邻两个活动爪安装座的距离变动，当距离满足指令要求时，气缸推杆收回，所述顶销组件9弹回，将活动爪安装座固定，所述拨销组件5去到下一个活动爪安装座4.1的位置附近继续上述动作，直到长度方向全部完成程序指令的要求。
2、当长度方向的距离满足要求后，宽度方向的伺服电机3.1动作，通过同步带3.2，同时驱动两个宽度方向丝杆3.3转动，所以所述第一活动爪安装侧板3.5和第三活动爪安装侧板3.7能够同时在所述丝杆3.3上上下运动，由于所述宽度方向丝杆3.3的上下两部分的螺纹方向相反，所以，所述第一活动爪安装侧板3.5和第三活动爪安装侧板3.7的运动方向相反，即同时朝向所述第二活动爪安装侧板3.6运动或同时背离所述第二活动爪安装侧板3.6运动；所述第一活动爪安装侧板3.5带动第一列的活动爪安装座4.1运动；第三活动爪安装侧板3.7带动第三列的活动爪安装座4.1运动，从而实现宽度方向各夹具之间的距离变化，当距离满足指令要求时，伺服电机3.1停止动作。
以上对本发明所提供的一种距离可调的玻璃瓶夹具实施例进行了详细阐述。本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的核心思想。应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明的原理的前提下，还可以本发明进行若干改进和修饰，这些改进和修饰也落入本发明权利要求的保护范围内。

Claims (7)

  1. 一种距离可调的玻璃瓶夹具，其特征在于：包括框架、长度方向驱动组件、宽度方向驱动组件、夹爪组件以及拨销组件；所述长度方向驱动组件包括长度方向伺服电机、长度方向丝杆以及拨销组件；所述拨销组件套设在所述长度方向丝杆上；所述宽度方向驱动组件包括宽度方向伺服电机、宽度方向丝杆、若干导杆轴组件以及第一活动爪安装侧板、第二活动爪安装侧板、第三活动爪安装侧板；所述夹爪组件包括若干活动爪安装座，所述活动爪安装座呈矩阵排列；所述导杆轴组件的数量与所述活动爪安装座的行数相等；每个所述导杆轴组件依次穿过第一活动爪安装侧板、其中一行活动爪安装座、第三活动爪安装侧板，并能够在所述第一活动爪安装侧板以及第三活动爪安装侧板上沿着所述框架长度方向上滑动；所述导杆轴组件与第一列活动爪安装座和第三列活动爪安装座固定连接，所述导杆轴组件与第二列活动爪安装座活动连接；第一活动爪安装侧板与第三活动爪安装侧板套设在所述宽度方向丝杆上，所述第二活动爪安装侧板与所述框架固定连接，第二列活动爪安装座与所述第二活动爪安装侧板滑动连接；所述拨销组件用于拨动所述第二列的滑动爪安装座。
  2. 如权利要求1所述的一种距离可调的玻璃瓶夹具，其特征在于：所述第二活动爪安装侧板呈L型，包括侧壁和底部；在所述第二活动爪安装侧板的底部设置有滑轨，第二列的每个所述活动爪安装座与相应的滑块固定连接，所述滑块均在所述滑轨上滑动。
  3. 如权利要求2所述的一种距离可调的玻璃瓶夹具，其特征在于：所述玻璃瓶夹具还包括若干顶销组件；所述顶销组件的数量与所述活动爪安装座的行数相等；所述顶销组件包括滑块安装座、顶销杆、弹簧以及顶销板，所述滑块安装座呈U型，包括两个侧壁和一个底部，两个侧壁分为第一侧壁和第二侧壁，在所述第一侧壁上设置有第一安装孔，在所述第二侧壁上设置有第二安装孔，所述顶销板设置在所述第一侧壁和第二侧壁之间，所述弹簧设置在所述顶销板和第二侧壁之间，所述顶销板抵靠在所述第二活动爪安装侧板上，所述顶销杆依次穿过所述第一侧壁上的安装孔、顶销板、弹簧和第二侧壁上的安装孔，并与所述顶销板固定连接，所述拨销组件用于拨动所述顶销组件。
  4. 如权利要求1所述的一种距离可调的玻璃瓶夹具，其特征在于：每个所述导杆轴组件均包括第一导杆轴和第二导杆轴，并且第一导杆轴与第二导杆轴平行且方向相反，在所述第一导杆轴上设置有两个轴肩，所述第一活动爪安装侧板设置在所述第一导杆轴的两个轴肩之间；所述第二导杆轴上设置有两个轴肩，所述第三活动爪安装侧板设置在所述第二导杆轴的两个轴肩之间。
  5. 如权利要求1所述的一种距离可调的玻璃瓶夹具，其特征在于：所述宽度方向丝杆的 数量为两个，分别设置在所述框架的前后两端，两个所述宽度方向丝杆之间通过同步带连接。
  6. 如权利要求1所述的一种距离可调的玻璃瓶夹具，其特征在于：所述长度方向驱动组件还包括长度方向导杆，所述拨销组件套设在所述长度方向导杆上。
  7. 如权利要求3所述的一种距离可调的玻璃瓶夹具，其特征在于：所述拨销组件包括气缸和气缸推杆。
PCT/CN2019/097675 2019-04-19 2019-07-25 一种距离可调的玻璃瓶夹具 WO2020211211A1 (zh)

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