Paper tube clamp

Abstract

The utility model relates to a paper tube clamp which comprises a base and a hook claw installed on the base. The base is used for connecting a mechanical arm. And the plurality of hook claws are arranged around the center of the base. Each hook claw comprises a sliding base connected to the base in a sliding mode, a first driver connected with the sliding base, a lateral pressing rod installed on the sliding base, a supporting plate hinged to the lateral pressing rod and a second driver connected with the supporting plate. The lateral pressing rod is arranged in the vertical direction, and one end of the lateral pressing rod is connected to the sliding base. The supporting plate is located at the other end of the lateral pressing rod. The first driver is used for driving the sliding seat to slide so as to force the lateral pressing rod to translate. The second driver is used for driving the supporting plate to turn over. The lateral pressing rod is used for clamping the peripheral side of the paper tube, lateral positioning is achieved, friction force needed for lifting the paper tube is generated, then the bottom end of the paper tube is supported through the supporting plate, and therefore the purpose of stably grabbing the paper tube is achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot design technical field, in particular to a paper tube clamp. BACKGROUND

[0002] In industrial production, material grabbing and transferring is an indispensable link. In order to improve production efficiency, different materials need to adapt to different material grabbing clamps. The traditional material grabbing clamp of mechanical hand has a jaw, a vacuum suction cup and a magnetic suction cup. For paper tubes, the adaptability of the above traditional material grabbing clamp is not high, and the reason is that the paper tube is cylindrical and both ends are non-planar, the stability of the jaw is insufficient (the outer surface of the paper tube cannot be scratched), the vacuum suction cup cannot find a suitable plane, and the magnetic suction cup cannot work due to material problems.

[0003] Therefore, it is necessary to develop a material grabbing clamp that can be adapted for the above-mentioned cylindrical and non-magnetic materials. SUMMARY

[0004] Therefore, the utility model provides a paper tube clamp, which uses a lateral pressure rod to clamp the outer circumferential side of the paper tube, realizes lateral positioning and generates the friction force required to lift the paper tube, and then lifts the bottom end of the paper tube through a supporting plate, thereby achieving the purpose of stably grabbing the paper tube.

[0005] A paper tube clamp, comprising:

[0006] A base, the base is used for connecting a mechanical arm, and

[0007] A hook claw mounted on the base, the number of hook claws is multiple and arranged around the center of the base, each hook claw comprises a sliding seat slidingly connected to the base, a first driver connected to the sliding seat, a lateral pressure rod mounted on the sliding seat, a supporting plate hingedly connected to the lateral pressure rod, and a second driver connected to the supporting plate, the lateral pressure rod is arranged in a vertical direction and one end is connected to the sliding seat, the supporting plate is located at the other end of the lateral pressure rod, the first driver is used to drive the sliding seat to slide to force the lateral pressure rod to translate, and the second driver is used to drive the supporting plate to overturn.

[0008] The paper tube gripper is used for stable grasping of the paper tube. The paper tube gripper comprises a base, a plurality of lateral pressing rods, a plurality of sliding seats, a first driver, a plurality of clamping hooks, a second driver and a plurality of supporting plates. The base is vertically arranged and is provided with a plurality of clamping hooks. The plurality of clamping hooks are arranged on the base in a staggered manner. The plurality of lateral pressing rods are arranged on the plurality of sliding seats. The plurality of sliding seats are arranged on the plurality of clamping hooks. The first driver is arranged on the base. The plurality of supporting plates are arranged on the plurality of clamping hooks. The second driver is arranged on the plurality of clamping hooks. The base is driven by a mechanical arm to move to the upper side of the paper tube to be grasped. Then, the base is driven by the mechanical arm to move downward until the lateral pressing rods are arranged on the outer circumferential side of the paper tube. Then, the first driver drives the sliding seats to move to force the lateral pressing rods to move inward to clamp the outer circumferential side of the paper tube. Then, the base is driven by the mechanical arm to move upward to lift the paper tube by the friction between the lateral pressing rods and the outer circumferential side of the paper tube. Finally, the second driver drives the supporting plates to turn to support the bottom end of the paper tube to play a role of supporting and preventing the paper tube from falling off, so that the paper tube is stably grasped.

[0009] In one of the embodiments, the clamping hook further comprises an elastic rubber sleeve sleeved on the outer circumferential side of the lateral pressing rod. The elastic rubber sleeve can play a role of buffering and can be elastically deformed when the paper tube is pressed, so that the elastic rubber sleeve can better fit the outer circumferential side of the paper tube to play a role of anti-skid and improve the stability of grasping.

[0010] In one of the embodiments, the first driver is a linear extension cylinder mounted on the base. The linear extension cylinder has a simple control mode, high reliability and low cost.

[0011] In one of the embodiments, the end of the lateral pressing rod is provided with a receiving groove for receiving the second driver; and the second driver is a linear extension cylinder mounted in the receiving groove and hinged to the supporting plate. The linear extension cylinder has a simple control mode, high reliability and low cost.

[0012] In one of the embodiments, each sliding seat is provided with a plurality of lateral pressing rods. The plurality of lateral pressing rods are driven by one sliding seat to move, so that the synchronization is high, the structure is simple and the cost of the equipment can be reduced.

[0013] In one of the embodiments, each lateral pressing rod is provided with a supporting plate. The supporting plate can effectively share the load required for supporting the paper tube to improve the stability of grasping the material.

[0014] In one of the embodiments, the clamping hook further comprises an electromagnet mounted on one end of the lateral pressing rod close to the supporting plate; and the supporting plate is a metal plate. When the supporting plate is in a posture of supporting the paper tube, the electromagnet can be used for adsorption locking to play a role of safety lock.

[0015] In one of the embodiments, the base comprises a bottom plate and a top plate erected on the bottom plate; an overhead layer for accommodating the hook is formed between the bottom plate and the top plate; and the top plate is used for connecting the mechanical arm. The overhead layer formed by the bottom plate and the top plate can protect the first driver and the sliding seat, avoid the first driver and the sliding seat from colliding with the mechanical arm when in action, and improve the operation safety. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 A perspective view of a paper tube clamp according to one embodiment of the present application;

[0017] Figure 2 A perspective view of the paper tube clamp from another angle as shown in the figure; Figure 1

[0018] Figure 3 A partial view of the paper tube clamp as shown in the figure; Figure 1

[0019] Figure 4 A perspective view of the hook in the paper tube clamp as shown in the figure; Figure 3

[0020] Figure 5 A perspective view of the hook from another angle as shown in the figure; Figure 4

[0021] Figure 6 An exploded view of the lateral pressing rod, the elastic rubber sleeve, the supporting plate, and the second driver in the hook as shown in the figure; Figure 5

[0022] Figure 7 A combined view of the supporting plate and the second driver as shown in the figure; Figure 6

[0023] Figure 8 A use state diagram of the paper tube clamp as shown in the figure. Figure 1 Meanings of the reference numerals in the drawings are as follows:

[0024] 100 - paper tube clamp;

[0025] 10 - base, 11 - bottom plate, 12 - top plate, 121 - connecting shaft;

[0026] 20 - hook, 21 - sliding seat, 22 - first driver, 23 - lateral pressing rod, 231 - accommodating groove, 24 - supporting plate, 25 - second driver, 26 - elastic rubber sleeve;

[0027] 200 - paper tube.

[0028] DETAILED DESCRIPTION

[0029] ​​​​​​​In order to make the above object, characteristics and advantages of the present application more apparent, concrete embodiments of the present application will be described in detail with reference to the drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be practiced in a number of different manners without departing from the spirit of the present application. Those skilled in the art will appreciate the scope of the present application and can make similar modifications without departing from the spirit of the present application. Therefore, the present application is not limited by the embodiments disclosed below.

[0030] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0031] In addition, the terms "first" and "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first" and "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0032] In the present application, unless otherwise specifically defined and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise specifically limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0033] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0034] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on another element or there can be a middle element. When an element is considered to be "connected" to another element, it can be directly connected to another element or there can be a middle element. The terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used herein are for illustrative purposes only and are not the only embodiment.

[0035] As shown in Figures 1 to 8 , it is a paper tube clamp 100 of an embodiment of the present application.

[0036] As shown in Figure 1 and Figure 2 , the paper tube clamp 100 comprises a base 10 and a hook 20 mounted on the base 10. Among them, the base 10 is the carrier of the hook 20, and is used to connect the mechanical arm to drive the hook 20 to realize multi-dimensional motion by the mechanical arm. The hook 20 is used to grab the paper tube, and the grabbing mode is a composite action of lateral clamping and bottom supporting.

[0037] In the following, the above-mentioned paper tube clamp 100 is further described in conjunction with Figures 1 to 8 .

[0038] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0039] For example, as shown in Figure 1As shown, in the present embodiment, the base 10 comprises a bottom plate 11 and a top plate 12 erected on the bottom plate 11. An overhead layer for accommodating the claws 20 is formed between the bottom plate 11 and the top plate 12. The top plate 12 is used for connecting the mechanical arm (for example, a connecting shaft 121 for docking the mechanical arm is provided on the top plate 12 in the present embodiment). The overhead layer formed by the bottom plate 11 and the top plate 12 can protect the claws 20 (for example, the first drivers 22 and the sliding seats 21 below can move in the overhead layer, and the existence of the overhead layer can avoid the first drivers 22 and the sliding seats 21 from colliding with the mechanical arm when in action), thereby improving the safety of operation.

[0040] As shown in Figure 1 and Figure 2 , the number of claws 20 is multiple and arranged around the center of the base 10. For example, in the present embodiment, the number of claws 20 is two and symmetrically arranged on the base 10.

[0041] As shown in Figure 3 and Figure 4 , in the present embodiment, each claw 20 comprises a sliding seat 21 slidingly connected to the base 10, a first driver 22 connected to the sliding seat 21, a lateral pressing rod 23 mounted on the sliding seat 21, a supporting plate 24 hinged to the lateral pressing rod 23, and a second driver 25 connected to the supporting plate 24. The lateral pressing rod 23 is arranged in a vertical direction and one end thereof is connected to the sliding seat 21 (i.e. the top end of the lateral pressing rod 23 is connected to the sliding seat 21 as shown in Figure 4 ). The supporting plate 24 is located at the other end of the lateral pressing rod 23 (i.e. the end of the lateral pressing rod 23 away from the sliding seat 21, or the bottom end of the lateral pressing rod 23 as shown in Figure 4 ). The first driver 22 is used to drive the sliding seat 21 to slide to force the lateral pressing rod 23 to translate. The second driver 25 is used to drive the supporting plate 24 to overturn. In operation, the first driver 22 can drive the sliding seat 21 to slide towards the center of the base 10, thereby driving the lateral pressing rod 23 to translate inward until abutting against the outer circumferential side of the paper tube. The supporting plate 24 follows the lateral pressing rod 23 to translate, and at the same time when the lateral pressing rod 23 abuts against the outer circumferential side of the paper tube, the supporting plate 24 overturns to a horizontal state to support the bottom of the paper tube.

[0042] As shown in Figure 4 , in the present embodiment, a plurality of lateral pressing rods 23 are provided on each sliding seat 21. Using one sliding seat 21 to drive a plurality of lateral pressing rods 23 to act, the synchronization is high, the structure is simple, and the cost of the equipment can be reduced. For example, as shown in Figure 3 , in the present embodiment, the paper tube clamp 100 is provided with two claws 20, and each claw 20 is provided with two lateral pressing rods 23, so that the paper tube clamp 100 has four lateral pressing rods 23.

[0043] In the present scheme, at least one lateral pressing rod 23 is provided with a supporting plate 24, which can basically meet the supporting function required for grabbing the paper tube. In order to make the paper tube bear force evenly to ensure the stability of the paper tube during the transfer, and to evenly distribute the load force generated by supporting the paper tube, as shown in Figure 2 In the present embodiment, each lateral pressing rod 23 is provided with a supporting plate 24. The provision of the supporting plate 24 on each lateral pressing rod 23 can effectively distribute the load force required for supporting the paper tube, and improve the stability of the material grabbing.

[0044] As shown in Figure 4 In the present embodiment, the first driver 22 is a linear telescopic cylinder mounted on the base 10. The linear telescopic cylinder has a simple control mode, strong reliability, and low cost.

[0045] In combination with Figure 5 and Figure 6 In the present embodiment, the end of the lateral pressing rod 23 is provided with a receiving groove 231 for accommodating the second driver 25. The second driver 25 is a linear telescopic cylinder mounted in the receiving groove 231 and hinged to the supporting plate 24. The linear telescopic cylinder has a simple control mode, strong reliability, and low cost. For example, Figure 4 and Figure 7 One end of the supporting plate 24 is hinged to the end of the lateral pressing rod 23, and at the same time, the middle region of the supporting plate 24 is hinged to the second driver 25. When the second driver 25 linearly telescopes, it will drive the supporting plate 24 to flip (the flipping amplitude is 0-90 degrees, corresponding to the movement between the horizontal state and the vertical state).

[0046] Brief description of working principle:

[0047] As shown in Figure 8 During operation, the paper tube 200 to be grabbed is placed vertically, and the base 10 is moved to the upper side of the paper tube 200 under the driving of the mechanical arm. Then, under the driving of the mechanical arm, the base 10 is lowered until the lateral pressing rods 23 on the claws 20 are arranged around the outer circumferential side of the paper tube 200. Then, the first driver 22 drives the sliding movement to force the lateral pressing rods 23 to translate inward, and the paper tube 200 is clamped by the plurality of lateral pressing rods 23. Then, under the driving of the mechanical arm, the base 10 is raised, and the paper tube is lifted by the friction force between the lateral pressing rods 23 and the outer circumferential side of the paper tube 200. Finally, the second driver 25 drives the supporting plate 24 to flip to support the bottom end of the paper tube 200 (if the bottom end of the paper tube 200 is in a suspended state when the paper tube 200 is in the loading station, the supporting plate 24 can be flipped when the lateral pressing rods 23 clamp the paper tube 200), thereby playing a supporting and anti-dropping role, and realizing stable grabbing of the paper tube.

[0048] Based on the working principle, in order to reduce the risk of falling during material transfer, in some embodiments, the hook claw 20 can further include: an electromagnet installed at one end of the lateral pressing rod 23 close to the supporting plate 24. The supporting plate 24 is a metal plate. When the supporting plate 24 enters the posture of supporting the paper tube, the electromagnet can be adsorbed and locked, which plays the role of safety lock.

[0049] In addition, in order to better protect the material, the hook claw 20 can also be improved. For example, in combination with Figure 4 and Figure 6 As shown, the hook claw 20 can further include: an elastic rubber sleeve 26 (such as a silica gel sleeve, a rubber sleeve, etc.) sleeved on the outer circumferential side of the lateral pressing rod 23. The elastic rubber sleeve 26 can play a buffering role and can be elastically deformed when extruding the paper tube, which can better fit the outer circumferential side of the paper tube and play a role of anti-skid to improve the stability of grabbing.

[0050] Furthermore, in order to increase the friction coefficient of the surface of the lateral pressing rod 23, in some embodiments, the surface of the outer circumferential side of the lateral pressing rod 23 can be a frosted surface.

[0051] The above-mentioned paper tube clamp 100 clamps the outer circumferential side of the paper tube by the lateral pressing rod 23, realizes lateral positioning and generates the friction force required to lift the paper tube, and then lifts the bottom end of the paper tube by the supporting plate 24, so as to achieve the purpose of stably grabbing the paper tube.

[0052] It should be noted that the paper tube clamp 100 of the present scheme is not limited to grabbing the paper tube, and can also be applied to grabbing other cylindrical and non-magnetically attracted materials, such as plastic film rolls, cloth rolls, etc.

[0053] The technical features of the above embodiments can be combined arbitrarily. In order to make the description simple, not all possible combinations of the technical features in the above embodiments are described, however, as long as the combination of the technical features does not exist contradictory, it should be considered as the scope of the present application.

[0054] The above embodiments only express the preferred embodiments of the present application, and the description is more specific and detailed, but it cannot be understood as limiting the scope of the patent. It should be noted that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of the present application. Therefore, the protection scope of the present application patent should be subject to the appended claims.

Claims

1. A paper tube clamp characterized by, The utility model relates to a mechanical arm connecting device, including: a base; the base is used for connecting a mechanical arm; and a claw is installed on the base; The number of claws is multiple and is arranged around the center of the base; each claw includes: a sliding seat slidingly connected to the base, a first driver connecting the sliding seat, a lateral pressing rod installed on the sliding seat, a supporting plate hinged to the lateral pressing rod, and a second driver connecting the supporting plate; the lateral pressing rod is arranged in the vertical direction and is connected to the sliding seat at one end; the supporting plate is located at the other end of the lateral pressing rod; the first driver is used to drive the sliding seat to slide to force the lateral pressing rod to translate; the second driver is used to drive the supporting plate to overturn.

2. The paper tube clamp of claim 1, wherein, The claw further includes: a flexible rubber sleeve sleeved on the outer circumferential side of the lateral pressing rod.

3. The paper tube clamp of claim 1, wherein, The first driver is a linear telescopic cylinder installed on the base.

4. The paper tube clamp of claim 1, wherein, The end of the lateral pressing rod is provided with a receiving groove for accommodating the second driver; the second driver is a linear telescopic cylinder installed in the receiving groove and hinged to the supporting plate.

5. The paper tube clamp of claim 1, wherein, Each sliding seat is provided with a plurality of lateral pressing rods.

6. The paper tube clamp of claim 1, wherein, Each lateral pressing rod is provided with a supporting plate.

7. The paper tube clamp of claim 1, wherein, The claw further includes: an electromagnet installed on one end of the lateral pressing rod close to the supporting plate; the supporting plate is a metal plate.

8. The paper tube clamp of any one of claims 1 to 7, wherein, The base includes: a bottom plate and a top plate erected on the bottom plate; an overhead layer for accommodating the claw is formed between the bottom plate and the top plate; the top plate is used for connecting a mechanical arm.

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