Conical barrel gripper
By using a multi-claw gripper to simulate finger grasping of the cone's waist and combining it with top fixation, and using a central top rod assembly to separate and clamp the cone, the problems of easy deformation, clamping, and inaccurate placement of the cone in existing technologies are solved, achieving safe and stable cone transfer and stacking effects.
Patent Information
- Application Number
- CN202511407022.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-29
- Publication Date
- 2025-11-25
AI Technical Summary
The existing cone gripping method results in the cone's sharp corners being easily deformed, low gripping efficiency, serious entrapment, and inaccurate placement, making it impossible to efficiently complete destacking and stacking work.
It adopts a multi-claw gripper to simulate finger grasping, grips the waist and fixes the top, uses the central top rod assembly to separate the clamping cone, and combines the lifting drive assembly and elastic pressure head to achieve smooth transfer.
This enables smooth and rapid movement of the cone, reducing the risk of falling and ensuring the safety and accuracy of palletizing and depalletizing, while avoiding damage to the cone and entrapment.
Smart Images
Figure CN121004623A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of traffic cone, in particular to a cone gripper. BACKGROUND
[0002] In the process of collecting and placing the cone, the automatic cone collecting and placing machine needs to cooperate with the robot to complete the grabbing action by automatic gripper unstacking and stacking. The existing grabbing method is to grab the top of the cone. The mechanical mechanism clamps the sharp corner of the cone and lifts the cone. This kind of grabbing method will cause the sharp corner of the cone to concentrate stress, and the cone cannot swing too fast, otherwise the sharp corner will be easily deformed and broken. Moreover, when placing the cone, it needs to stay in the air for a short time, and the cone can be placed down only after it is completely stationary and vertical, otherwise the placement point will be inaccurate. Because the cones are tightly clamped with each other, when grabbing the cone on the top, there is a probability that the lower cone will be clamped out, resulting in accidental falling. This way of grabbing the top of the cone has the disadvantages of low efficiency, easy damage to the cone, and easy clamping. SUMMARY
[0003] The present application provides a cone gripper, which mainly acts on the cone with a sharp corner opening. The gripping method adopts a multi-claw simulated finger grabbing method for waist grabbing and combines with a top fixing method. The cone gripper can also separate the tightly clamped cones one by one, and the transfer process is more stable and firm, avoiding shaking and falling, and safely and stably completing the one-by-one stacking or unstacking work.
[0004] In order to achieve the above purpose, the technical scheme adopted by the present application is as follows: A cone gripper, comprising a mounting seat, a top separation mechanism and a waist gripping mechanism connected to the mounting seat in sequence from top to bottom; the top separation mechanism comprises a lifting drive assembly, a pressing plate, a spring, an elastic pressing head and a center top rod assembly; one side of the lifting drive assembly is connected to one side of the top of the mounting seat, the lifting shaft of the lifting drive assembly faces downward, and the end of the lifting shaft is fixedly connected with the pressing plate; the elastic pressing head is connected to the lower side of the pressing plate in a lifting manner, the spring is installed between the elastic pressing head and the pressing plate, the middle part of the elastic pressing head is provided with an avoiding hole penetrating in the vertical direction, the top of the center top rod assembly is connected with the bottom of the pressing plate, and the bottom of the center top rod assembly penetrates into the avoiding hole; the waist gripping mechanism comprises a circular arc gripper, a plurality of clamping claws and a plurality of telescopic drive assemblies; the circular arc gripper is located directly below the lifting drive assembly, and the outer side of the circular arc gripper is fixedly connected with one side of the mounting seat; one end of each clamping claw is hingedly connected with the outer side of the circular arc gripper, each telescopic drive assembly is fixedly connected to the mounting seat, the telescopic shaft of each telescopic drive assembly is hingedly connected with one clamping claw, and each telescopic drive assembly drives the corresponding clamping claw to open and close along the circular arc gripper to loosen or clamp the cone.
[0005] Further, the center ejection rod assembly comprises two ejection rods and a guide rod; the top portions of the two ejection rods are coaxial with the bottom of the pressing plate and are hingedly connected to the bottom of the pressing plate; the two ejection rods are each provided with a slide in the vertical direction; the middle portions of the two slides are bent towards the side of the square; the bent sides are distributed in directions away from each other; the lower portions of the two slides are coincident; the guide rod passes through the lower portions of the two slides in the horizontal direction; the two ends of the guide rod are fixedly connected to the inner wall of the avoiding hole; when the pressing plate drives the two ejection rods to descend relative to the elastic pressing head, the two slides slide along the guide rod, so that the lower portions of the two ejection rods are opened outwards in opposite directions; the bottom portions of the two ejection rods are provided with horizontal outward hooks.
[0006] Further, the outer side of the hook is provided with a round corner transition.
[0007] Further, the elastic pressing head is connected to the pressing plate through two guide rods; the two guide rods are slidably connected to the pressing plate in the vertical direction; the top portions of the two guide rods are provided with limiting bolts which are threadedly connected; the bottom portions of the two guide rods are fixedly connected to the elastic pressing head; the top portion of the elastic pressing head is provided with a cylindrical sleeve; the bottom portion of the elastic pressing head is provided with a conical sleeve; the cylindrical sleeve is coaxially arranged with the conical sleeve; one end of the spring is sleeved on the outer wall of the cylindrical sleeve; the other end of the spring is abutted on the bottom of the pressing plate; the two ejection rods are located in the spring; the lower portions of the two ejection rods pass through the cylindrical sleeve; the guide rod is fixedly connected to the inner wall of the cylindrical sleeve in the horizontal direction.
[0008] Further, the circular arc gripper is in U-shaped structure; the outer side of the U-shaped transverse end of the circular arc gripper is fixedly connected to one side of the mounting seat; the inner side of the circular arc gripper is provided with a conical structure rubber pad which is matched with the shape of the outer wall of the conical sleeve; the outer side of each U-shaped vertical end of the circular arc gripper is provided with at least two clamping claws; the clamping claws are in L-shaped structure; the end of the L-shaped transverse end of each clamping claw is hingedly connected to the outer side of the corresponding U-shaped vertical end; the telescopic driving assembly is a single-shaft telescopic cylinder; the intersection of the L-shaped transverse end and the L-shaped vertical end of each clamping claw is hingedly connected to the telescopic shaft of the corresponding single-shaft telescopic cylinder; the inner side of each L-shaped vertical end of the clamping claw is provided with an anti-skid pad; the surface of the anti-skid pad towards the inner side of the U-shaped transverse end of the circular arc gripper is provided with a conical structure which is matched with the shape of the outer wall of the conical sleeve.
[0009] Further, the lifting driving assembly is fixedly connected to the mounting seat through a connecting cross beam; the elastic pressing head is extended to the position directly above the center of the conical structure on the inner side of the circular arc gripper, so that the axis of the cylindrical sleeve is coincident with the axis of the conical structure on the inner side of the circular arc gripper.
[0010] The beneficial effects of the present application are: 1) The main effect of the application is on the tapered cylinder with sharp corner openings. The gripping mode adopts multi-claw simulation finger gripping mode for waist gripping and combines with the top fixing mode to fix the tapered cylinder. The clamping position is at the center of gravity of the tapered cylinder, which is beneficial to keep the tapered cylinder moving stably and quickly. Moreover, each claw moves independently, so that even if a claw fails, the gripping effect can be ensured and the risk of falling can be reduced. While gripping the tapered cylinder, the elastic pressure head is driven by the lifting drive assembly to press and fix the top of the tapered cylinder, so that the transfer process is more stable and firm, and shaking and falling are avoided. On the basis of the function of fixing and gripping the tapered cylinder, the center top rod assembly is arranged in the top separation mechanism to solve the problem of tapered cylinder clamping. During the process of continuously pressing the pressing plate by the lifting drive assembly, the center top rod assembly extends from the top circular hole of the tapered cylinder to push out the clamped tapered cylinder, so that the tapered cylinder is separated, and the invention can safely and stably complete the work of stacking or unstacking one by one.
[0011] 2) When the pressing plate drives the two ejection rods to descend relative to the elastic pressure head, the guide rod slides along the two slides to make the lower parts of the two ejection rods open outward, so that the center top rod assembly not only can separate the clamped tapered cylinder, but also can hook the inside of the top circular hole of the tapered cylinder through the two ejection rods that open outward when the clamped tapered cylinder is ejected, thereby improving the gripping effect, preventing the tapered cylinder from shaking, and making the falling point of the tapered cylinder more accurate.
[0012] 3) The waist gripping mechanism is driven by the extension drive assembly to drive the corresponding claws to close to the circular arc gripper, simulating the finger gripping action to grip the waist of the tapered cylinder. The rubber pad and the non-slip pad not only avoid damaging the outer wall of the tapered cylinder, but also prevent the tapered cylinder from slipping during gripping. Multiple claws work independently, which is beneficial to maintain the gripping effect, reduce the risk of falling, and keep the tapered cylinder moving stably and quickly. BRIEF DESCRIPTION OF DRAWINGS
[0013] The specific embodiments of the application will be further described in detail below with reference to the accompanying drawings, in which: Figure 1 It is a perspective view of the tapered cylinder gripped by the application; Figure 2 It is a perspective view of the overall structure in the application; Figure 3 It is a front view of the top separation mechanism in the application without the lifting drive assembly; Figure 4 It is a perspective view of the pressing plate and the center top rod assembly in the application; IDENTIFICATION OF DRAWINGS: 1-mounting seat, 2-top separation mechanism, 3-waist gripping mechanism, 4-conical cylinder, 21-lifting drive assembly, 22-pressing plate, 23-spring, 24-elastic pressing head, 25-central top rod assembly, 26-connecting crossbeam, 31-circular arc gripper, 32-clamping jaw, 33-telescopic drive assembly, 251-ejecting rod, 252-guide rod, 2511-slideway, 241-guide rod, 242-limit bolt, 243-cylindrical sleeve, 244-conical sleeve. DETAILED DESCRIPTION
[0014] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.
[0015] It should be noted that when a component is referred to as being "fixed" to another component, it can be directly on the other component or there can be an intervening component. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or there can be an intervening component. When a component is referred to as being "disposed" on another component, it can be directly on the other component or there can be an intervening component. When a component is referred to as being "disposed in the middle", it is not only disposed in the middle position, but also disposed in the range defined by the middle. The terms "vertical", "horizontal", "left", "right", and similar expressions used herein are for illustrative purposes only.
[0016] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.
[0017] Reference Figures 1 to 4As shown, a kind of cone gripper, including mounting seat 1 and top separation mechanism 2 and waist gripping mechanism 3 are connected in the mounting seat 1 from top to bottom interval.The top separation mechanism 2 includes lifting drive assembly 21, pressing plate 22, spring 23, elastic pressure head 24 and center top rod assembly 25;The side of the lifting drive assembly 21 with the top side of the mounting seat 1, the lifting shaft of the lifting drive assembly 21 is downward, and the end of the lifting shaft is fixedly connected with the pressing plate 22;The elastic pressure head 24 is connected in the lifting of the pressing plate 22, the spring 23 is installed between the elastic pressure head 24 and the pressing plate 22, the middle part of the elastic pressure head 24 is provided with the avoiding hole that penetrates along the vertical direction, the top of the center top rod assembly 25 is connected with the bottom of the pressing plate 22, and the bottom of the center top rod assembly 25 is inserted into the avoiding hole.The waist gripping mechanism 3 includes circular arc gripper 31, a plurality of clamping claws 32 and a plurality of telescopic drive assemblies 33;The circular arc gripper 31 is located directly below the lifting drive assembly 21, and the outer side of the circular arc gripper 31 is fixedly connected with the side of the mounting seat 1;The outer side of the circular arc gripper 31 is hingedly connected with the end of each clamping claw 32, each telescopic drive assembly 33 is fixedly connected on the mounting seat 1, the telescopic shaft of each telescopic drive assembly 33 is hingedly connected with one clamping claw 32, and each telescopic drive assembly 33 drives the corresponding clamping claw 32 to open and close along the circular arc gripper 31 to loosen or tightly hold the cone 4.The present application mainly acts on the cone 4 with pointed angle opening, and the gripping mode adopts the multi-clamping claw 32 to simulate the finger gripping mode to grip the waist and fix the cone 4 in combination with the top fixing mode, to avoid the shaking of the cone 4 during transfer, and the mutually clamped cones 4 can be separated one by one by the center top rod assembly 25 while the cone 4 is gripped, so that the transfer process is more stable and firm, and the shaking and falling are avoided, and the one-by-one stacking or unstacking work is safely and stably completed.The specific working principle is that: the multi-clamping claw 32 simulates the finger to cooperate with the circular arc gripper 31 to grip the waist gravity center position of the cone 4, which is beneficial to keep the cone 4 stable and fast movement, and each clamping claw 31 moves independently, so that even if a certain clamping claw 31 fails, the gripping effect can be ensured, and the falling risk is reduced;The top separation mechanism 2 is increased on the top of the cone 4, the elastic pressure head 24 is pressed to the top of the cone 4 by the lifting drive assembly 21, and is elastically compressed, so that the lifting drive assembly 22 can drive the center top rod assembly 25 to continue to descend and penetrate the avoiding hole of the elastic pressure head 24 to extend into the top hole of the cone 4, to push out the clamped cone 4, realize the separation of the cone 4, and avoid the clamping phenomenon of the cone 4.
[0018] Please refer to Figure 3 And Figure 4As shown, when the top separation mechanism 2 is in the process of separation, the elastic pressure head 24 will exert downward pressure on the tapered cylinder 4 when it presses on the top of the tapered cylinder 4, causing the tapered cylinder 4 to slide downward. Therefore, it is necessary to reduce the downward pressure on the tapered cylinder 4. To achieve this effect, the center top rod assembly 25 is designed to automatically expand and hook the inner wall of the circular hole at the top of the tapered cylinder 4 when it is lowered. The specific implementation structure is as follows: the center top rod assembly 25 includes two top rods 251 and a guide rod 252; the top of the two top rods 251 coincides and is coaxially hinged to the bottom of the pressing plate 22; a slide 2511 is arranged on each of the two top rods 251 in the vertical direction; the middle of the two slides 2511 is curved towards the side of the square, and the curved sides are distributed in directions away from each other; the lower parts of the two slides 2511 coincide, so that the guide rod 252 can pass through the lower parts of the two slides 2511 in the horizontal direction; the two ends of the guide rod 252 are fixedly connected to the inner wall of the avoiding hole; when the pressing plate 22 drives the two top rods 251 to lower relative to the elastic pressure head 24, the two slides 2511 slide along the guide rod 252, causing the lower parts of the two top rods 251 to expand outward in opposite directions; the bottom of the two top rods 251 is provided with a horizontal outward hook, which can effectively hook the inner side of the circular hole at the top of the tapered cylinder 4. The center top rod assembly 25 not only separates the clamped tapered cylinder 4, but also tightens the inner side of the circular hole at the top of the tapered cylinder 4 by expanding the two top rods 251 when the clamped tapered cylinder 4 is ejected, improving the gripping effect and preventing the tapered cylinder 4 from shaking, so that the falling point of the tapered cylinder 4 is more accurate. In order to prevent the bottom of the top rod 251 from causing damage to the clamped tapered cylinder 4, the outer side of the hook is rounded.
[0019] The elastic pressure head 24 is connected to the pressing plate 22 through two guide rods 241; the two guide rods 241 are connected to the pressing plate 22 in the vertical direction; specifically, the pressing plate 22 is provided with two slide holes, and the guide rods 241 are slidably embedded in the corresponding slide holes; the top of the two guide rods 241 is provided with a limiting screw 242 for preventing the guide rods 241 from being separated from the pressing plate 22; the bottom of the two guide rods 241 is fixedly connected to the elastic pressure head 24; the top of the elastic pressure head 24 is provided with a cylindrical sleeve 243; in order to better align the top of the tapered cylinder 4, the bottom of the elastic pressure head 24 is provided with a tapered sleeve 244; the cylindrical sleeve 243 is coaxially arranged with the tapered sleeve 244; one end of the spring 23 is sleeved on the outer wall of the cylindrical sleeve 243, and the other end of the spring 23 abuts against the bottom of the pressing plate 22; the two top rods 251 are located in the spring 23, and the lower parts of the two top rods 251 pass through the cylindrical sleeve 243; the guide rod 252 is fixedly connected to the inner wall of the cylindrical sleeve 243 in the horizontal direction; the cylindrical sleeve 243 is provided with a horizontal mounting hole, and the guide rod 252 is connected to the mounting hole in interference to span in the cylindrical sleeve 243.
[0020] Please refer to Figure 2 As shown in the figure, the arc-shaped gripper 31 is in a U-shaped structure, and the outer side of the U-shaped horizontal end of the arc-shaped gripper 31 is fixedly connected with one side of the mounting seat 1. The inner side of the arc-shaped gripper 31 is provided with a rubber pad 311 in a conical structure matching the shape of the outer wall of the tapered cylinder 4. The outer side of each U-shaped vertical end of the arc-shaped gripper 31 is provided with at least two clamping claws 32. The clamping claw 32 is in an L-shaped structure. The end of the L-shaped horizontal end of each clamping claw 32 is hingedly connected with the outer side of the corresponding U-shaped vertical end. The telescopic driving assembly 33 is a single-shaft telescopic cylinder. The intersection of the L-shaped horizontal end and the L-shaped vertical end of each clamping claw 32 is hingedly connected with the telescopic shaft of the corresponding single-shaft telescopic cylinder. The inner side of the L-shaped vertical end of each clamping claw 32 is provided with an anti-skid pad 321. One side of the anti-skid pad 321 facing the inner side of the U-shaped horizontal end of the arc-shaped gripper 32 is in a conical structure matching the shape of the outer wall of the tapered cylinder 4. The clamping claw 32 comprises two L-shaped plates arranged in parallel and spaced apart. The two L-shaped plates are fixedly connected by a plurality of connecting columns. The inner side of the end of the vertical end of the two L-shaped plates is fixedly connected with a pad mounting plate. The anti-skid pad 321 is fixedly connected to the pad mounting plate by bolts and nuts. The end of the horizontal end and the intersection of the horizontal end and the vertical end of the two L-shaped plates are each provided with a connecting column. The connecting column of the end of the horizontal end is hingedly connected with the outer side of the vertical end of the arc-shaped gripper. The connecting column of the intersection of the horizontal end and the vertical end is hingedly connected with the telescopic shaft of the single-shaft telescopic cylinder. The waist gripping mechanism 3 drives the corresponding clamping claw 32 to move close to the arc-shaped gripper 31 by the telescopic driving assembly 33, simulates the action of the fingers to grip the waist of the tapered cylinder 4, and the rubber pad 311 and the anti-skid pad 321 not only avoid damaging the outer wall of the tapered cylinder 4, but also prevent the tapered cylinder 4 from slipping during gripping. The plurality of clamping claws 32 work independently, which is conducive to maintaining the gripping effect, reducing the risk of falling, and maintaining the stable and rapid movement of the tapered cylinder 4.
[0021] The lifting driving assembly 21 is fixedly connected with the mounting seat 1 through a connecting beam 26. The elastic pressure head 24 extends to the position directly above the center of the conical structure on the inner side of the arc-shaped gripper 31, so that the axis of the cylindrical sleeve 243 coincides with the axis of the inner conical structure of the arc-shaped gripper 31. In this way, when the waist gripping mechanism 3 grips the tapered cylinder 4, the conical sleeve 244 of the top separating mechanism 2 can be aligned with the sharp corner of the tapered cylinder 4. The lifting driving assembly 21 can adopt a three-shaft cylinder. The output ends of the three-shaft cylinder are fixedly connected with the top of the pressing plate 22, which is conducive to balanced force application.
[0022] The above embodiments are only used to illustrate the technical solutions of the present application and not to limit them. Any modification or equivalent replacement within the spirit and scope of the present application shall be covered within the scope of the technical solutions of the present application.
Claims
1. A cone gripper, characterized in that, The device includes a mounting base and a top separation mechanism and a waist gripping mechanism connected to the mounting base from top to bottom. The top separation mechanism includes a lifting drive assembly, a pressure plate, a spring, an elastic pressure head, and a central push rod assembly. One side of the lifting drive assembly is connected to the top side of the mounting base, the lifting shaft of the lifting drive assembly faces downward, and the end of the lifting shaft is fixedly connected to the pressure plate. The elastic pressure head is flexibly connected below the pressure plate, the spring is installed between the elastic pressure head and the pressure plate, and the center of the elastic pressure head has a vertically penetrating clearance hole. The top of the central push rod assembly is connected to the top side of the mounting base. The bottom of the pressure plate is connected, and the bottom of the central top rod assembly passes through the clearance hole; the waist gripping mechanism includes an arc gripper, several claws, and several telescopic drive assemblies; the arc gripper is located directly below the lifting drive assembly, and the outer side of the arc gripper is fixedly connected to one side of the mounting base; one end of each claw is hinged to the outer side of the arc gripper, each telescopic drive assembly is fixedly connected to the mounting base, and the telescopic shaft of each telescopic drive assembly is hinged to a claw; each telescopic drive assembly drives a corresponding claw to flip and open along the arc gripper to loosen or tighten the cone.
2. The cone gripper according to claim 1, characterized in that, The central push rod assembly includes two push rods and a guide rod; the tops of the two push rods overlap and are coaxially hinged to the bottom of the pressure plate; each of the two push rods has a slide rail along the vertical direction; the middle of the two slide rails bends towards the horizontal side, and the bending sides are distributed in opposite directions; the lower parts of the two slide rails overlap; the guide rod passes through the lower part of the two slide rails along the horizontal direction; the two ends of the guide rod are fixedly connected to the inner wall of the clearance hole, so that when the pressure plate drives the two push rods to descend relative to the elastic pressure head, the two slide rails slide relative to each other along the guide rod, causing the lower parts of the two push rods to open outward in opposite directions; the bottom of the two push rods has horizontally outward barbs.
3. A cone gripper according to claim 2, characterized in that, The outer side of the barb is rounded.
4. A cone gripper according to claim 2, characterized in that, The elastic pressure head is connected to the pressure plate via two guide rods, which slide vertically along the pressure plate. The tops of the guide rods are threaded limit bolts, and the bottoms are fixedly connected to the elastic pressure head. A cylindrical sleeve is located at the top of the elastic pressure head, and a conical sleeve is located at the bottom. The cylindrical sleeve and the conical sleeve are coaxially arranged. One end of the spring is fitted onto the outer wall of the cylindrical sleeve, and the other end abuts against the bottom of the pressure plate. Both ejector rods are located inside the spring, with their lower parts passing through the cylindrical sleeve. The guide rods are fixedly connected horizontally to the inner wall of the cylindrical sleeve.
5. A cone gripper according to claim 4, characterized in that, The arc gripper has a U-shaped structure, and the outer side of the U-shaped horizontal end of the arc gripper is fixedly connected to one side of the mounting base. The inner side of the arc gripper is provided with a conical rubber pad that matches the shape of the outer wall of the cone. Each U-shaped vertical end of the arc gripper is provided with at least two grippers on its outer side. The grippers are L-shaped, and the L-shaped horizontal end of each gripper is hinged to the outer side of a corresponding U-shaped vertical end. The telescopic drive assembly is a single-axis telescopic cylinder. The intersection of the L-shaped horizontal end and the L-shaped vertical end of each gripper is hinged to the telescopic shaft of a corresponding single-axis telescopic cylinder. An anti-slip pad is provided on the inner side of the L-shaped vertical end of each gripper. The side of the anti-slip pad facing the inner side of the U-shaped horizontal end of the arc gripper is a conical structure that matches the shape of the outer wall of the cone.
6. A cone gripper according to claim 4, characterized in that, The lifting drive assembly is fixedly connected to the mounting base via a connecting beam, extending the elastic pressure head directly above the center of the inner conical structure of the arc gripper, so that the axis of the cylindrical sleeve coincides with the axis of the inner conical structure of the arc gripper.