A cup-taking claw hand

Abstract

The present invention discloses a cup-picking gripper that is compatible with the grasping operations of various cups. The gripper includes pneumatic fingers, clamps, and a clamping distance limiting assembly. The two clamps are arranged at a 180-degree interval along the circumference of the pneumatic fingers, and the pneumatic fingers drive the two clamps to form an opening and closing movement; the clamping distance limiting assembly includes a limiting turntable that is arranged below the pneumatic fingers and can rotate relative to the pneumatic fingers. The limiting turntable has at least two limiting width parts with different widths along the circumference, and the width of each limiting width part has two side surfaces corresponding to the two clamps for limiting.

Description

Technical field

[0001] The invention belongs to the technical field of packaging equipment, and in particular relates to a cup-taking gripper. [Background Technology]

[0002] Gripper-type grippers are a common tool for handling workpieces in automation design. These grippers are characterized by their simple structure and easy design changes, resulting in a wide range of applications and strong versatility. Typically, the gripper's specific structure is determined based on the object's physical characteristics, often resulting in a single gripper designed specifically for a specific type of object.

[0003] The beverage / dairy industry is rapidly developing, with frequent innovations not only in taste but also in packaging. This is most evident in container design. While manufacturers retain containers for classic and essential products, they are also designing new shapes that will be popular in the future based on current or innovative trends. Consequently, a variety of containers are used to fill beverages / dairy products within a single production plant. For example, cups come in square, round, oval, and triangular shapes, as well as various sizes based on these shapes. Filling inevitably involves the transport and handling of cups, necessitating the use of cup-handling grippers, often incorporating gripper-type components.

[0004] Furthermore, because the factory's production lines are designed to accommodate a wide range of products, only the cup gripper needs to be replaced when filling products with different cup shapes. Therefore, the wide variety of cup shapes requires a large number of different cup grippers. This large number of cup grippers inevitably increases operating costs. [Summary of the invention]

[0005] In view of the deficiencies in the prior art, the technical problem to be solved by the present invention is to provide a cup-picking gripper that is compatible with the grasping operations of multiple cups.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0007] A cup-picking gripper comprises a pneumatic finger, a splint and a clamping distance limiting assembly, wherein the two splints are arranged at 180-degree intervals along the circumference of the pneumatic finger, and the pneumatic finger drives the two splints to form an opening and closing movement; the clamping distance limiting assembly comprises a limit turntable arranged below the pneumatic finger and rotatable relative to the pneumatic finger, an elastic component is provided between the limit turntable and the pneumatic finger, and the limit turntable has at least two limit width parts with different widths along the circumference, and the width sides of each limit width part correspond to the two splints for limit cooperation.

[0008] Preferably, the limit turntable is provided with at least two limit slots corresponding to at least two limit width parts, and the pneumatic finger is provided with a locking rod, which locks the relative angle of the limit turntable through the cooperation between the locking rod and the limit slot, so that the two width sides corresponding to the limit width part are limited and cooperate with the two splints.

[0009] Preferably, the locking rod includes a limiting portion and an operating portion perpendicular to the limiting portion. The connecting position of the limiting portion and the operating portion is hinged to the pneumatic finger through a pin shaft. In a natural state, the limiting portion is embedded in the limiting groove under the action of its own weight.

[0010] Preferably, the lower end of the splint is provided with a folding portion folded inward, and the folding portion is provided with an arc-shaped notch.

[0011] Preferably, the elastic component includes a spring and a bolt, the bolt moves through the limit turntable and is fixed to the pneumatic finger, the spring is sheathed on the bolt, and the upper end of the spring is connected to the pneumatic finger and the lower end is connected to the limit turntable.

[0012] Preferably, a spring positioning groove cooperating with the upper end of the spring is provided at the bottom of the pneumatic finger, an upwardly protruding boss is provided at the center of the limiting turntable, and a spring positioning step cooperating with the lower part of the spring is provided on the boss.

[0013] Preferably, a recess is provided at the bottom center of the limiting turntable, and the head of the bolt is disposed in the recess.

[0014] Preferably, a groove is provided in the central area of ​​the bottom surface of the limiting turntable.

[0015] Preferably, the bottom surface of the limiting turntable is provided with a concave and / or convex structure matching the shape of the top surface of the cup cover.

[0016] The present invention adopts the above-mentioned technical solution and is compatible with various cup gripping operations. The two clamping plates are driven by pneumatic fingers to open and close, and the clamping distance between the two clamping plates is limited by a limit dial. Since the limit dial has at least two limit width portions with different widths along the circumference, the width of each limit width portion corresponds to the two clamping plates. Taking the provision of two limit width portions as an example, when the wider limit width portion on the limit dial is positioned between the two clamping plates for position limiting, the minimum distance between the two clamping plates is larger; when the narrower limit width portion on the limit dial is positioned between the two clamping plates for position limiting, the minimum distance between the two clamping plates is smaller. This makes it suitable for gripping operations of at least two different sizes of cups.

[0017] These features and advantages of the present invention will be disclosed in detail in the following specific embodiments and drawings.

Brief Description of the Drawings

[0018] The invention will be further described below with reference to the accompanying drawings:

[0019] Figure 1 This is a schematic diagram of the three-dimensional structure of a cup-taking gripper according to the present invention;

[0020] Figure 2 A bottom view of a cup-taking claw hand according to the present invention;

[0021] Figure 3 This is a front view of a cup-taking gripper according to the present invention;

[0022] Figure 4 This is a side view of a cup-taking gripper according to the present invention;

[0023] Figure 5 for Figure 4 Middle AA section view;

[0024] Figure 6 A top view of a cup-taking gripper according to the present invention;

[0025] Figure 7 for Figure 6 Middle CC section view;

[0026] Figure 8 This is a structural schematic diagram of a cup-picking gripper according to the present invention when it is gripping a cup;

[0027] Figure 9 for Figure 8 Middle AA section view;

[0028] Figure 10 This is a top view of a cup-picking gripper according to the present invention when it is gripping a cup;

[0029] Figure 11 for Figure 10 Middle CC section view.

[0030] Figure numerals: clamping distance limiting assembly 1; limiting turntable 11; groove 111; recess 112; limiting groove 113; spring positioning step 114; bolt 12; spring 13; pneumatic finger 2; locking rod 21; limiting portion 211; operating portion 212; spring positioning groove 22; splint 3; folding portion 31; arc-shaped recess 311; cup 4; convex edge 41. [Specific implementation method]

[0031] The following is an explanation and description of the technical solutions of the embodiments of the present invention in conjunction with the drawings of the embodiments of the present invention. However, the following embodiments are only preferred embodiments of the present invention and are not exhaustive. Based on the embodiments in the implementation manner, other embodiments obtained by those skilled in the art without creative work are all within the scope of protection of the present invention.

[0032] Those skilled in the art will appreciate that, unless there is any conflict, the features in the following embodiments and implementations may be combined with each other.

[0033] The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. For example, terms such as "upper," "lower," "front," "back," "left," and "right" that indicate orientation or positional relationships are based solely on the orientation or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the disclosure. They do not indicate or imply that the device or element referred to must have a specific orientation or be constructed or operated in a specific orientation, and therefore should not be construed as limiting the disclosure.

[0034] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0035] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0036] Reference Figures 1 to 11As shown, a cup-picking gripper for grasping a cup 4 comprises a pneumatic finger 2, a clamping plate 3, and a clamping distance limiting assembly 1. Two clamping plates 3 are arranged 180 degrees apart along the circumference of the pneumatic finger 2 and are hingedly connected to the pneumatic finger 2. The pneumatic finger 2 drives the clamping plates 3 to swing, creating an opening and closing motion between the two clamping plates 3. The clamping distance limiting assembly 1 limits the clamping distance between the two clamping plates 3. The clamping distance limiting assembly 1 includes a limiter dial 11 positioned below the pneumatic finger 2 and rotatable relative to the pneumatic finger. The limiter dial 11 has at least two circumferentially defined limit width sections with different widths. Because the two clamping plates 3 are arranged 180 degrees apart, the width of each limit width section corresponds to the two clamping plates. In this state, the clamping distance between the two clamping plates 3 cannot be further reduced, allowing the cup to be held securely without damage. At the same time, the distances between the two sides of each width limiting portion and the center of the limiting turntable are equal, thereby ensuring that the two splints have the same swing angle when the two sides of each width limiting portion cooperate.

[0037] For cups used in the beverage / dairy industry, such as yogurt cups, if the cup mouth is clamped horizontally, the membrane at the cup mouth is easily squeezed and broken. Therefore, the cup gripper in this embodiment adopts the method of clamping the cup mouth from top to bottom. Figure 9 As shown, a common cup has a rim 41 at the rim, with a membrane covering the top to form a lid. The rim is clamped at the top by the bottom surface of the limiting turntable 11 and the top surface of the cup, while the bottom is supported by the clamping plate 3 below the rim. Correspondingly, the lower end of the clamping plate 3 is provided with an inwardly folded portion 31, which is supported below the rim. The folding portion 31 is also provided with an arcuate notch 311 to match the curved feature of the cup body. Furthermore, because the clamping distance between the two clamping plates 3 is limited by the limiting width, the arcuate notch 311 is spaced a certain distance from the curved feature of the cup body to prevent the cup body from being clamped.

[0038] It is understandable that the pneumatic fingers 2 mentioned above can be purchased directly from the market according to usage needs, or other pneumatic fingers in the prior art can be used.

[0039] Although the pneumatic fingers 2 are used to drive the clamping plates 3 to swing in this embodiment to achieve the opening and closing movement between the two clamping plates 3, it is understandable that a horizontal slide rail can also be provided between the clamping plates and the pneumatic fingers to achieve the opening and closing movement of the two clamping plates 3 by driving the two clamping plates 3 to slide horizontally along the horizontal slide rail.

[0040] In this embodiment, two width-limiting portions are provided, with the width side surfaces of one width-limiting portion located at the front and rear sides, and the width side surfaces of the other width-limiting portion located at the left and right sides. The relative positions of the width side surfaces of the width-limiting portions are changed by rotating the limit dial. The width side surfaces of each width-limiting portion are vertical planes that may have a certain angle, and the side surfaces of the two width-limiting portions may be connected by a transitional arc surface. Of course, it is understandable that more width-limiting portions, such as three or four, may be provided as needed.

[0041] According to the diameter or width of different cups, the corresponding width-limiting part is selected to cooperate with the two clamping plates 3. After the selection is completed, the limit dial can be rotated to the corresponding angle. At this time, the angle of the limit dial needs to be fixed. Therefore, the limit dial 11 is provided with at least two limit slots 113 corresponding to at least two width-limiting parts. The pneumatic finger 2 is provided with a locking rod 21. The locking rod 21 cooperates with the limit slots 113 to lock the relative angle of the limit dial 11, so that the width of the width-limiting part is corresponding to the two clamping plates.

[0042] Still taking the setting of two limit width parts as an example, Figure 10 As shown, the width side surfaces of the narrower width-limiting portion of the limit turntable are located at the front and rear sides. When the narrower width-limiting portion of the limit turntable is located between the two clamping plates for limiting, the minimum spacing between the two clamping plates is smaller. When the limit turntable is rotated, the width side surfaces of the narrower width-limiting portion of the limit turntable rotate to the left and right sides. When the width side surfaces of the wider width-limiting portion of the limit turntable are located between the two clamping plates for limiting, the minimum spacing between the two clamping plates is larger. This can at least accommodate the gripping operation of two different cup sizes.

[0043] In this embodiment, the locking lever 21 is generally L-shaped and includes a limiting portion 211 and an operating portion 212 that is perpendicular or nearly perpendicular to the limiting portion. The limiting portion 211 and the operating portion 212 are hinged to the pneumatic finger 2 at their junction via a pin. In a natural state, the limiting portion fits into the limiting groove under its own weight. The limiting portion and the operating portion can be rectangular bodies of identical cross-sectional size and shape. The limiting portion is relatively long, so that its center of gravity is located at the limiting portion, allowing the limiting portion to fit into the limiting groove under its own weight in a natural state. Furthermore, a limiting groove 113 is provided on the width side of the limiting width portion. Limiting grooves can be provided on both width side portions. For example, if a limiting groove provided on one width limiting portion engages with the locking lever, the other width limiting portion acts to limit the two splints. The limiting groove 113 is a side-opening slot, and the limiting portion 211 can be flipped up and down to enter or exit from the side of the limiting groove 113.

[0044] If it is necessary to limit the rotation of the turntable, force is applied to the operating portion 212 to flip the lock rod 21 upward, so that the limiting portion 211 is disengaged from the limiting groove 113. It is understood that the lock rod can also be in the form of a latch, which is operated by moving up and down linearly, or the lock rod can be automatically inserted into the limiting groove by the force of a spring or torsion spring.

[0045] Before the cup-picking claw grabs the cup, it first descends close to the cup, and the bottom surface of the limit turntable contacts the top surface of the cup first, and then the pneumatic fingers drive the two clamps to form a closing movement until the two clamps match the width side surfaces of the corresponding limit width parts to form an upper and lower clamping of the convex edge. If the clamping gap between the two is too large, the cup is easy to loosen, and if it is too small, the cup is easy to be damaged. However, it is difficult to ensure the accuracy of the fit by setting a fixed gap. In order to ensure that the cup-picking claw can reliably grasp the cup, an elastic component is provided between the limit turntable 11 and the pneumatic fingers 2. Figure 9 As shown, the elastic component includes a spring 13 and a bolt 12. The bolt 12 moves through the limiting turntable 11 and is fixed to the pneumatic finger 2. The spring 13 is sleeved on the bolt 12, and the upper end of the spring is connected to the pneumatic finger 2 and the lower end is connected to the limiting turntable 11. The bolt 12 not only serves as the rotating shaft of the limiting turntable 11, but also is used to install the spring 13 to provide guidance for the upward and downward movement of the limiting turntable 11. A recess 112 is provided at the bottom center of the limiting turntable 11, and the head of the bolt is provided in the recess 112. After being squeezed, the limiting turntable 11 can move on the bolt 12, and can return to its original state under the action of the spring 13 after the external force disappears. The bottom of the pneumatic finger 2 is provided with a spring positioning groove 22 that cooperates with the upper end of the spring, and the center of the limiting turntable 11 is provided with an upwardly protruding boss, and the boss is provided with a spring positioning step 114 that cooperates with the lower part of the spring. In the process of the cup-taking claw hand grasping the cup, as shown in FIG. Figure 5 As shown, the cup-taking gripper first descends and approaches the cup, and the bottom surface of the limit turntable first contacts the top surface of the cup. The folded portion at the lower end of the clamping plate is located outside the side of the limit width portion. Due to the action of the elastic component, the bottom surface of the limit turntable and the top surface of the cup are in elastic contact, which is not likely to damage the membrane at the cup mouth. Figure 9 As shown, when the folded portion at the lower end of the splint is located outside and below the edge of the top surface of the cup, the pneumatic finger drives the splint to swing, and a closing movement is formed between the two splints. The limiting turntable 11 limits the minimum distance between the two splints, so that although the folded portion 31 moves to just below the convex edge 41 on the top surface of the cup body, it does not clamp the side of the cup body. Instead, the convex edge 41 is clamped up and down through the bottom edge of the limiting turntable and the folded portion. This clamping gap is elastically variable, and even if the cup shakes and tilts, it can still be reliably clamped, so that the cup can be grasped tightly without causing damage to the cup.

[0046] Since the center area of ​​the diaphragm is most vulnerable, in order to prevent the limiting turntable from damaging the diaphragm, a groove 111 is provided in the center area of ​​the bottom surface of the limiting turntable 11, so that the force exerted by the limiting turntable on the cup is located around the diaphragm.

[0047] If the top surface of the cup lid is not a flat structure, for example, there are pits or raised patterns similar to inscriptions, then the bottom of the limit turntable can be provided with a corresponding structure to achieve matching. Therefore, the bottom surface of the limit turntable is provided with concave and / or convex structures that match the shape of the top surface of the cup lid.

[0048] The above description is merely a specific embodiment of the invention, but the scope of protection of the invention is not limited thereto. Those skilled in the art will understand that the invention includes, but is not limited to, the drawings and the contents described in the above specific embodiments. Any modifications that do not deviate from the functional and structural principles of the invention are intended to be included within the scope of the claims.

Claims

1. A cup-taking claw hand, characterized in that: It includes a pneumatic finger, a splint and a clamping distance limiting assembly. The two splints are arranged at an interval of 180 degrees along the circumference of the pneumatic finger, and the pneumatic finger drives the two splints to form an opening and closing movement; the clamping distance limiting assembly includes a limiting turntable arranged below the pneumatic finger and rotatable relative to the pneumatic finger, an elastic component is provided between the limiting turntable and the pneumatic finger, the limiting turntable has at least two limiting width parts with different widths along the circumference, and the width sides of each limiting width part correspond to the two splints for limiting, and the limiting turntable is provided with at least two limiting width parts corresponding to the at least two limiting width parts. The pneumatic finger is provided with a locking rod, which cooperates with the limiting groove to lock the relative angle of the limiting turntable, so that the width side surfaces of the corresponding limiting width part are limited and cooperate with the two splints. The locking rod includes a limiting part and an operating part perpendicular to the limiting part. The connecting position of the limiting part and the operating part is hinged to the pneumatic finger through a pin. In a natural state, the limiting part is embedded in the limiting groove under the action of its own weight. The lower end of the splint is provided with an inwardly folded folding part, and the folding part is provided with an arc-shaped notch. The bottom surface of the limiting turntable is provided with a concave and / or convex structure matching the shape of the top surface of the cup cover.

2. The cup-taking gripper according to claim 1, characterized in that: The elastic component includes a spring and a bolt. The bolt moves through the limit turntable and is fixed to the pneumatic finger. The spring is sheathed on the bolt, and the upper end of the spring is connected to the pneumatic finger and the lower end is connected to the limit turntable.

3. The cup-taking gripper according to claim 2, characterized in that: The bottom of the pneumatic finger is provided with a spring positioning groove that cooperates with the upper end of the spring, and the center of the limiting turntable is provided with an upwardly protruding boss, and the boss is provided with a spring positioning step that cooperates with the lower part of the spring.

4. The cup-taking gripper according to claim 2, characterized in that: A recess is provided at the center of the bottom of the limiting turntable, and the head of the bolt is arranged in the recess.

5. The cup-taking gripper according to claim 1, characterized in that: A groove is provided in the central area of ​​the bottom surface of the limiting turntable.

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