Can opening clamp capable of flexibly deforming

Abstract

The utility model provides a can opening clamp capable of flexibly deforming. The can opening clamp comprises a finger air cylinder and a clamping block. The finger air cylinder comprises two clamping jaws, the two clamping blocks are installed on the two clamping jaws correspondingly, and the clamping blocks are made of flexible materials so as to deform to adapt to zip-top cans with different diameters. A can opening block is arranged at the bottom end of the side, away from the finger air cylinder, of the clamping block and provided with a clamping hook for clamping a pull pipe of the zip-top can. According to the ring-pull can grabbing and uncovering actuator, the ring-pull can can be clamped and pulled open in the same mechanism, and the ring-pull can grabbing and uncovering actuator is suitable for various ring-pull cans of different sizes. According to the ring-pull can grabbing and uncovering actuator, the ring-pull can can be clamped and pulled open in the same mechanism, and the ring-pull can grabbing and uncovering actuator is suitable for various ring-pull cans of different sizes.

Description

Technical Field

[0001] The utility model relates to the technical field of robot end effector design, in particular to an actuator for grabbing and opening a can. Background Art

[0002] The existing can lid opening method can only be opened manually, which is inefficient and not suitable for production lines. Therefore, it is necessary to provide an industrial robot platform for automatic can lid opening to achieve precise positioning and automatic lid opening of cans.

[0003] To this end, relevant practitioners have designed a related device as shown in CN111071970B, which realizes the clamping and opening of the can by respectively setting a clamping mechanism and a cover opening mechanism. However, the clamping radius of the clamping mechanism of the device is relatively fixed, and it is difficult to clamp the can without damaging the outer wall of the can. Utility Model Content

[0004] In view of the deficiencies in the prior art, the utility model proposes a can grabbing and lid opening actuator to solve the technical problem mentioned in the above background technology that the existing clamping mechanism is difficult to clamp cans of different radii without damaging the outer wall of the can.

[0005] In order to solve this technical problem, the technical solution adopted by the utility model is:

[0006] A flexibly deformable can opener clamp comprises a finger cylinder and a clamping block;

[0007] The finger cylinder comprises two clamping jaws, and the two clamping blocks are respectively mounted on the two clamping jaws, and the clamping blocks are made of flexible material to deform and adapt to cans of different diameters;

[0008] A can opening block is arranged at the bottom end of the clamping block away from the finger cylinder, and the can opening block is provided with a hook for clamping the pull tube of the can.

[0009] Furthermore, a mounting plate is provided, and the finger cylinder is arranged on the mounting plate.

[0010] Furthermore, the clamping block includes a main body, a deformation part and fins, the main body is installed on the clamping claw, the deformation part is installed on the main body, the deformation part has a deformation groove, and the fins connect two opposite side walls of the deformation groove.

[0011] Furthermore, the deformation portion includes a first deformation piece and a second deformation piece, the first deformation piece and the second deformation piece are installed on the main body at an interval, the second deformation piece is close to the first deformation piece and connected together at the end, and the fin connects the first deformation piece and the second deformation piece.

[0012] Furthermore, the plurality of fins are parallel to each other.

[0013] Furthermore, the plurality of fins are distributed at equal intervals.

[0014] Furthermore, the width of the fin gradually increases along a direction approaching the main body.

[0015] Furthermore, the thickness of the plurality of fins is the same.

[0016] Compared with the prior art, the advancement of this application is:

[0017] When the two jaws of the finger cylinder approach each other, the clamping block gradually approaches the can, so that the outer side of the clamping block is squeezed by the can and deformed, and gradually fits the shape of the can until the can is clamped; after clamping the can, the collaborative robot puts the can into a fixed groove for fixing the can, and then the finger cylinder is lifted by the collaborative robot, so that the end of the hook of the can opening block on the clamping block is inserted between the pull ring of the can and the top of the can, and by starting the finger cylinder again, the inclined surface of the hook moves, and the inclined surface lifts the pull ring until the opening of the can is opened, thereby realizing that a single machine can complete the movement and opening of the can. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific implementation of the utility model, the following will briefly introduce the drawings required for use in the specific implementation. In all the drawings, each element or part is not necessarily drawn according to the actual scale.

[0019] Figure 1 A schematic diagram of a can grabbing and opening lid actuator provided by an embodiment of the utility model;

[0020] Figure 2 for Figure 1 A front view of a can grabbing and opening lid actuator shown;

[0021] Reference numerals:

[0022] Finger cylinder 1 , clamping block 2 , main body 200 , deformation portion 210 , deformation groove 21 , first deformation piece 211 , second deformation piece 212 , fin 22 , can opening block 3 , hook 31 , mounting plate 4 . DETAILED DESCRIPTION

[0023] The following embodiments of the technical solution of the utility model are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the utility model, and are therefore only used as examples, and cannot be used to limit the protection scope of the utility model.

[0024] Please also read Figure 1 and Figure 2 , This embodiment provides a flexibly deformable can opener clip, characterized in that it includes a finger cylinder 11 and a clamping block 22;

[0025] A flexibly deformable can opener clamp comprises a finger cylinder 1 and a clamping block 2;

[0026] The finger cylinder 1 includes two clamping jaws, and two clamping blocks 2 are respectively installed on the two clamping jaws. The clamping blocks 2 are made of flexible materials to deform and adapt to cans of different diameters; the flexible materials can be TPU, PVC, natural rubber, etc., preferably TPU. Specifically, the two clamping blocks 2 approach the cans, and the cans squeeze the sides of the clamping blocks 2, so that the clamping blocks 2 are deformed and gradually fit the sides of the cans.

[0027] The bottom end of the gripping block 2 away from the finger cylinder 1 is provided with a can opening block 3, and the can opening block 3 is provided with a hook 31 for clamping the pull tube of the can. Through the inclined surface of the hook 31, it can be inserted between the pull ring of the can and the top of the can to pull the pull ring. It should also be understood that the finger cylinder 1 is arranged at the end of the collaborative robot, and its movement is controlled by the collaborative robot.

[0028] In other solutions, a mounting plate 4 is further provided, and the finger cylinder 1 is provided on the mounting plate 4. By connecting the finger cylinder 1 and the mounting plate 4, it is convenient to install the finger cylinder 1 on the collaborative robot.

[0029] In other embodiments, the clamping block 2 includes a main body 200, a deformation portion 210, and a fin 22. The main body 200 is mounted on the clamping claw, the deformation portion 210 is mounted on the main body 200, the deformation portion 210 has a deformation groove 21, and the fin 22 connects two opposite side walls of the deformation groove 21. The deformation groove 21 of the deformation portion 210 can be deformed more, and the deformation groove 21 can be well supported by the fin 22, and a sufficient amount of deformation can be maintained. The fin 22 can bend with the deformation of the deformation portion 210.

[0030] In other embodiments, the deformation portion 210 includes a first deformation piece 211 and a second deformation piece 212, the first deformation piece 211 and the second deformation piece 212 are installed on the main body 200, the second deformation piece 212 is close to the first deformation piece 211 and connected together at the end, and the fin 22 connects the first deformation piece 211 and the second deformation piece 212. It should be understood that the first deformation piece 211, the second deformation piece 212 and the main body 200 together form a deformation groove 21.

[0031] In other embodiments, the plurality of fins 22 are parallel to each other. Through the parallel fins 22, each location of the deformation groove 21 can obtain a similar supporting force.

[0032] In other embodiments, the plurality of fins 22 are distributed at equal intervals. By distributing the fins at equal intervals, the deformation groove 21 can be evenly supported.

[0033] In other embodiments, the width of the fin 22 gradually increases in a direction gradually approaching the main body 200. That is, the first deformation piece 211 and the second deformation piece 212 form a triangle-like shape, which can maintain good deformation and support.

[0034] In other embodiments, the thickness of the plurality of fins 22 is the same. The fins 22 with the same thickness can keep the support amount and deformation amount in the deformation slot 21 similar.

[0035] It should be understood that the finger cylinder 1 is operated by two pistons, each piston is connected to the pneumatic finger by a roller and a double crank, forming a special drive unit. The pneumatic finger always moves axially and concentrically, and each finger cannot move independently. If the finger moves in the opposite direction, the previously compressed piston is in the exhaust state, while the other piston is in the compressed state. The finger cylinder 1 is preferably an SMC MHZ2 type cylinder.

[0036] The working process of the above-mentioned can grabbing and opening lid actuator is as follows:

[0037] The collaborative robot approaches the can and activates the finger cylinder 1, so that the gripping block 2 approaches the can and undergoes elastic deformation until the first deformation piece 211 fits the can body and grips the can;

[0038] The collaborative robot places the gripped cans in a fixed position;

[0039] The finger cylinder 1 is started to move the two gripping blocks 2 away from each other, and the collaborative robot moves the gripping block 2 to the top of the can;

[0040] The collaborative robot aligns the oblique surface of the hook 31 of the can opener 3 with the bottom of the pull ring, and obliquely cuts and lifts up the pull ring;

[0041] The pull ring is opened by moving the can opening block 3 horizontally, that is, starting the finger cylinder 1, so that the two clamping blocks 2 are close to each other, or by using a collaborative robot to move the can opening block 3 horizontally.

[0042] When the two clamping claws of the finger cylinder 1 approach each other, the clamping block 2 gradually approaches the can, so that the outer side of the deformation groove 21 on the clamping block 2, that is, the first deformation piece 211 is squeezed by the can and deformed, and gradually fits the shape of the can until the can is clamped. In this process, the fin 22 is bent and deformed at the same time; after clamping the can, the collaborative robot puts the can into the fixing groove for fixing the can, and then lifts the finger cylinder 1 by the collaborative robot, so that the end of the inclined surface of the can opening block 3 on the clamping block 2 is inserted between the pull ring of the can and the top of the can, and by starting the finger cylinder 1 again, the inclined surface of the can opening block 3 moves, and the inclined surface lifts the pull ring until the opening of the can is opened, thereby realizing the movement and opening of the can by a single machine.

[0043] The above-mentioned can grabbing and lid opening actuator can complete the clamping and opening of the can in the same mechanism, and is suitable for cans of various sizes.

[0044] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and specification of the present invention.

Claims

1. A flexibly deformable can opener, characterized in that: Includes finger cylinder and gripper block; The finger cylinder comprises two clamping jaws, and the two clamping blocks are respectively mounted on the two clamping jaws, and the clamping blocks are made of flexible material to deform and adapt to cans of different diameters; A can opening block is arranged at the bottom end of the clamping block away from the finger cylinder, and the can opening block is provided with a hook for clamping the pull tube of the can.

2. A flexibly deformable can opener according to claim 1, characterized in that: A mounting plate is also provided, and the finger cylinder is arranged on the mounting plate.

3. The flexibly deformable can opener according to claim 1, characterized in that: The clamping block comprises a main body, a deformation part and fins, the main body is mounted on the clamping claw, the deformation part is mounted on the main body, the deformation part has a deformation groove, and the fins connect two opposite side walls of the deformation groove.

4. The flexibly deformable can opener according to claim 3, characterized in that: The deformation part includes a first deformation piece and a second deformation piece, the first deformation piece and the second deformation piece are installed on the main body at an interval, the second deformation piece is close to the first deformation piece and connected together at the end, and the fin connects the first deformation piece and the second deformation piece.

5. The flexibly deformable can opener according to claim 4, characterized in that: The plurality of fins are parallel to each other.

6. The flexibly deformable can opener according to claim 5, characterized in that: The plurality of fins are distributed at equal intervals.

7. The flexibly deformable can opener according to claim 4, characterized in that: The width of the fin gradually increases along a direction gradually approaching the main body.

8. The flexibly deformable can opener according to claim 4, characterized in that: The thickness of the plurality of fins is the same.

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