Bottle gripping robot

Abstract

The present application relates to the technical field of manipulator, and provides a bottle clamping manipulator, which comprises a clamping jaw and a driving assembly for driving the clamping jaw to work, the clamping jaw comprises a clamping body with a closed cavity inside and a plurality of auxiliary clamping components arranged on the clamping body, the auxiliary clamping components comprise a clamping rod, an air bag and a spring, the clamping rod is slidably arranged in the side wall of the clamping body, the air bag is arranged at the outer end of the clamping rod, and the inner part of the clamping rod is provided with an air flow channel communicating with the closed cavity and the air bag, and the clamping body is provided with a charging and discharging assembly for charging and discharging the closed cavity; the inner part of the closed cavity is provided with a support plate, and the spring is fixedly connected between the support plate and the inner end of the clamping rod, so that the clamping rod keeps a tendency of moving outward. The present application can avoid damage to the bottle body caused by clamping too tightly, and is convenient for adapting to bottles with different shapes.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and more specifically, to a bottle-gripping robotic arm. Background Technology

[0002] Robotic arms are very important machines in modern production. With the improvement of automation, enterprises use robotic arms to replace human workers in many processes (such as loading and unloading materials), thereby reducing labor costs and improving production efficiency.

[0003] To address the limitation of limited degrees of freedom in existing robotic arms, the applicant disclosed a multi-degree-of-freedom robotic arm in patent publication number "CN219337721U". However, this patented technology still has at least the following drawbacks:

[0004] (1) The gripper can only be used to hold bottles of one shape. When producing bottles of different shapes, the gripper must be changed.

[0005] (2) In order to achieve the flipping and moving of the bottle, a certain clamping force is required to ensure that the bottle will not fall during the operation. However, the gripper and the bottle are in hard contact. If the grip is too tight, the bottle body will be easily damaged. Summary of the Invention

[0006] The purpose of this invention is to provide a bottle-gripping robot to overcome the aforementioned deficiencies of the prior art.

[0007] The embodiments of the present invention are achieved through the following technical solutions:

[0008] A bottle-gripping robot includes grippers and a drive assembly for driving the grippers. The grippers include a gripping body with a sealed cavity inside and several auxiliary gripping components disposed on the gripping body. The auxiliary gripping components include a gripping rod, an air bladder, and a spring. The gripping rod is slidably inserted through the side wall of the gripping body. The air bladder is disposed at the outer end of the gripping rod, and the gripping rod has an airflow channel inside that connects the sealed cavity and the air bladder. The gripping body is provided with an inflation / deflation assembly for inflating and deflating the sealed cavity. A support plate is disposed inside the sealed cavity, and the spring is fixedly connected between the support plate and the inner end of the gripping rod to keep the gripping rod tending to move outward.

[0009] Optionally, the auxiliary clamping component further includes a swing ball, the clamping rod is slidably inserted inside the swing ball, and the swing ball is rotatably disposed on the side wall of the clamping body.

[0010] Optionally, the side wall of the clamping body is provided with a positioning hole and a clearance hole for mounting the swing ball. The diameter of the clearance hole is larger than the diameter of the swing ball, and a pressure plate for pressing the swing ball is fixedly connected to the outer edge of the clearance hole.

[0011] Optionally, the pressing surface of the pressure plate is provided with pressing balls for contacting the swing ball.

[0012] Optionally, the inner end of the clamping rod is provided with a limiting plate, and the swing ball is connected to a limiting pin by a thread. The head of the limiting pin abuts against the limiting plate, so as to change the tension of the spring by adjusting the depth of the limiting pin screwed into the swing ball.

[0013] Optionally, the spring is provided with hooks at both ends, and the inner end of the clamping rod and the support plate are provided with hanging rods that cooperate with the hooks.

[0014] Optionally, the clamping body includes a connecting shell and a clamping shell, the connecting shell and the clamping shell are fixedly connected, the auxiliary clamping component is disposed on the clamping shell, and the support plate is fixedly connected to the clamping shell.

[0015] Optionally, the gripper further includes a pair of symmetrically arranged horizontal arms, the bottom of which is connected to at least two vertical arms and the spacing between the vertical arms is adjustable, and each vertical arm is connected to a gripping body.

[0016] The present invention has at least the following advantages and beneficial effects: In the present invention, when clamping the bottle, on the one hand, the clamping rod in the auxiliary clamping component generates an elastic clamping force under the action of the spring, and at the same time, the air bladder is in contact with the bottle body, which can avoid excessive clamping and damage to the bottle body; on the other hand, since the spring can be compressed, the clamping rods of each auxiliary clamping component can extend and retract independently, which is convenient to adapt to bottles of different shapes. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This invention provides a partial sectional view of a bottle-gripping robot.

[0019] Figure 2 A top view of a bottle-clamping robot provided by the present invention;

[0020] Figure 3 This is an enlarged cross-sectional view of the clamping body;

[0021] Figure 4 for Figure 3 Enlarged view of point A;

[0022] Icons: 1-Clamping body, 101-Connecting shell, 102-Clamping shell, 103-Sealed cavity, 104-Positioning hole, 105-Allowing hole, 2-Auxiliary clamping component, 201-Clamping rod, 202-Airbag, 203-Spring, 204-Swing ball, 3-Support plate, 4-Pressure plate, 401-Pressure ball, 5-Limiting plate, 6-Limiting pin, 7-Hanging rod, 8-Horizontal arm, 801-Oval groove, 9-Vertical arm. Detailed Implementation

[0023] refer to Figure 1-4 A bottle-gripping robot includes grippers and a drive assembly (not shown) for driving the grippers. The grippers include a gripping body 1 and a pair of symmetrically arranged horizontal arms 8. At least two vertical arms 9 are connected to the bottom of each horizontal arm 8, and each vertical arm 9 is connected to a gripping body 1. It should be understood that the drive assembly is not the focus of this invention and can be based on existing technology. When gripping a bottle, the two horizontal arms 8 rotate, causing the gripping bodies 1 on both sides to close and clamp the bottle.

[0024] In this invention, two vertical arms 9 are provided on the same horizontal arm 8, and the distance between the two vertical arms 9 is adjustable. Specifically, in this embodiment, the horizontal arm 8 is provided with a waist-shaped groove 801, and the top of the vertical arm 9 is inserted into the waist-shaped groove 801 and can slide along the waist-shaped groove 801. The top of the vertical arm 9 is provided with a threaded hole, and the vertical arm 9 is locked by a screw. By changing the position of the vertical arm 9 in the waist-shaped groove 801, the distance between the clamping bodies 1 on the same horizontal arm 8 can be changed, thereby realizing the clamping of bottles of different lengths. In other embodiments of this invention, other forms can also be used to achieve the adjustment of the distance between the two vertical arms 9. For example, the vertical arms 9 are threaded to both ends of a screw, and the threads at both ends of the screw turn in opposite directions. At the same time, a sliding groove is provided on the horizontal arm 8 to restrict the rotation of the vertical arms 9. By rotating the screw, the two vertical arms 9 can be moved closer or further apart, that is, the distance between them can be adjusted.

[0025] In this invention, the clamping body 1 has a sealed cavity 103 inside, and the clamping claw also includes several auxiliary clamping components 2. The auxiliary clamping components 2 are disposed on the clamping body 1 and include a clamping rod 201, an airbag 202 and a spring 203. The clamping rod 201 is slidably inserted through the side wall of the clamping body 1. It is easy to understand that a sealing ring should be provided between the clamping rod 201 and the side wall of the clamping body 1 to ensure sealing. The airbag 202 is disposed at the outer end of the clamping rod 201. The clamping rod 201 has an airflow channel connecting the sealed cavity 103 and the airbag 202 inside. The clamping body 1 is provided with an inflation / deflation assembly (not shown in the figure). The airbag 202 can be inflated or deflated through the inflation / deflation assembly. The specific structure of the inflation / deflation assembly is not limited. For example, it can be a combination of an air pump and an exhaust valve, with the air pump inflating and the exhaust valve deflating; or it can be an air pump that integrates inflation and deflation.

[0026] A support plate 3 is provided inside the sealed cavity 103. A spring 203 is fixedly connected between the support plate 3 and the inner end of the clamping rod 201. Under the action of the spring 203, the clamping rod 201 maintains an outward tendency. It should be understood that other elastic elements similar to the spring 203, such as compressible and resilient rubber, should also be considered equivalent substitutes for the spring 203. In this embodiment, the spring 203 is fixedly connected as follows: hooks are provided at both ends of the spring 203, and hanging rods 7 that cooperate with the hooks are provided on the inner end of the clamping rod 201 and on the support plate 3. In practical applications, the opening of the hook can be slightly smaller than the diameter of the hanging rod 7 to prevent the hook from falling off. At the same time, the hook has a certain elasticity without affecting the installation. It should be understood that in other embodiments, the spring 203 can of course be fixed in other ways, such as by welding.

[0027] The clamping body 1 includes a connecting shell 101 and a clamping shell 102. The connecting shell 101 is fixed to the vertical arm 9 by screws. The connecting shell 101 and the clamping shell 102 are fixedly connected. In this embodiment, the connecting shell 101 and the clamping shell 102 are connected by screws, which is easy to understand. A sealing ring is provided at the connection to ensure that a sealed cavity is formed inside the clamping body 1.

[0028] It is easy to understand that the clamping surface of the clamping shell 102 is arc-shaped, the auxiliary clamping component 2 is provided on the clamping surface of the clamping shell 102, and the support plate 3 of the support spring 203 is fixedly connected to the clamping shell 102 (e.g., by welding or screw connection). In addition, it should be understood that the support plate 3 is provided with several through holes, which facilitate the flow of air during inflation and deflation.

[0029] It is worth noting that when clamping the bottle, on the one hand, the clamping rod 201 in the auxiliary clamping component 2 generates an elastic clamping force under the action of the spring 203, and at the same time, the airbag 202 contacts the bottle body, which can prevent the bottle body from being damaged by excessive clamping; on the other hand, since the spring 203 can be compressed, the clamping rod 201 of each auxiliary clamping component 2 can extend and retract independently, which is convenient to adapt to bottles of different shapes and solves the defects of the prior art.

[0030] Based on the above, the auxiliary clamping component 2 in this embodiment also includes a swing ball 204. The clamping rod 201 is slidably inserted inside the swing ball 204. The swing ball 204 is rotatably disposed on the side wall of the clamping body 1. It should be understood that sealing rings are provided between the clamping rod 201 and the swing ball 204, and between the swing ball 204 and the side wall of the clamping body 1, so as to ensure sealing and prevent air leakage in the sealed cavity 103 inside the clamping body 1, which would cause the airbag 202 to fail.

[0031] It is worth noting that the setting of the swing ball 204 allows the clamping rod 201 and the air bag 202 to swing at any angle within a certain range during the bottle clamping process, which can better adapt to bottles of different shapes. Moreover, under the action of the spring 203, the clamping rod 201 can return to its original position after swinging, which is convenient for the next clamping of the gripper.

[0032] In this embodiment, the inner end of the clamping rod 201 is provided with a limiting plate 5. The limiting plate 5 can be fixed to the clamping rod 201 by welding. It should be understood that a through hole should also be provided at the corresponding position on the limiting plate 5 to connect the airflow channel. The swing ball 204 is connected to the limiting pin 6 by a thread. The head of the limiting pin 6 abuts against the limiting plate 5. By adjusting the depth of the limiting pin 6 screwed into the swing ball 204, the compression degree of the spring 203 when the gripper is not working can be changed, thereby changing the tension of the spring 203, and thus changing the elastic clamping force on the bottle under the same opening and closing degree of the two clamping bodies 1.

[0033] The installation structure of the swing ball 204 in this embodiment is as follows: the side wall of the clamping body 1 is provided with a positioning hole 104 and a clearance hole 105 for installing the swing ball 204. The diameter of the clearance hole 105 is larger than the diameter of the swing ball 204. A pressure plate 4 for pressing the swing ball 204 is fixedly connected to the outer edge of the clearance hole 105. It should be understood that the diameter of the positioning hole 104 should gradually decrease in the direction away from the clearance hole 105 so that the swing ball 204 can be smoothly removed and placed into the positioning hole 104. During installation, after the swing ball 204 is placed into the positioning hole 104, it is pressed by the pressure plate 4. The pressure plate 4 can be fixed by screws.

[0034] Furthermore, in this embodiment, the pressing surface of the pressure plate 4 is provided with pressing balls 401 for contacting the swing ball 204. This arrangement can reduce the friction between the pressure plate 4 and the swing ball 204 and reduce the influence of the pressure plate 4 on the rotation of the swing ball 204.

[0035] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A bottle-gripping robot, comprising grippers and a drive assembly for driving the grippers, characterized in that, The gripper includes a gripping body with a sealed cavity inside and several auxiliary gripping components disposed on the gripping body. The auxiliary gripping components include a gripping rod, an airbag, and a spring. The gripping rod is slidably inserted through the side wall of the gripping body. The airbag is disposed at the outer end of the gripping rod, and the interior of the gripping rod has an airflow channel connecting the sealed cavity and the airbag. The gripping body is provided with an inflation / deflation assembly for inflating and deflating the sealed cavity. The interior of the sealed cavity is provided with a support plate, and the spring is fixedly connected between the support plate and the inner end of the gripping rod to keep the gripping rod tending to move outward. The auxiliary clamping component also includes a swing ball, the clamping rod is slidably inserted inside the swing ball, and the swing ball is rotatably disposed on the side wall of the clamping body; The inner end of the clamping rod is provided with a limiting plate, and the swing ball is connected to a limiting pin by a thread. The head of the limiting pin abuts against the limiting plate, so that the tension of the spring can be changed by adjusting the depth of the limiting pin screwed into the swing ball.

2. The bottle-gripping robot according to claim 1, characterized in that, The side wall of the clamping body is provided with a positioning hole and a clearance hole for installing the swing ball. The diameter of the clearance hole is larger than the diameter of the swing ball, and a pressure plate for pressing the swing ball is fixedly connected to the outer edge of the clearance hole.

3. The bottle-gripping robot according to claim 2, characterized in that, The pressing surface of the pressure plate is provided with pressing balls for contacting the swing ball.

4. The bottle-gripping robot according to any one of claims 1-3, characterized in that, The spring has hooks at both ends, and the inner end of the clamping rod and the support plate are both provided with hanging rods that cooperate with the hooks.

5. The bottle-gripping robot according to any one of claims 1-3, characterized in that, The clamping body includes a connecting shell and a clamping shell, which are fixedly connected. The auxiliary clamping component is disposed on the clamping shell, and the support plate is fixedly connected to the clamping shell.

6. The bottle-gripping robot according to any one of claims 1-3, characterized in that, The gripper also includes a pair of symmetrically arranged horizontal arms, the bottom of which is connected to at least two vertical arms and the spacing between the vertical arms is adjustable. Each vertical arm is connected to a gripping body.

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