Ring lifting gripper

Abstract

A lifting ring gripper comprises a seat ring, a rotary driving assembly, a rotary seat, a finger clamping air cylinder, a guide rod air cylinder and a lifting ring restraining die. The seat ring is installed at the bottom of the rotary driving assembly, the rotary seat is located below the seat ring, and a driving shaft of the rotary driving assembly penetrates through the seat ring from the lower portion to be fixedly installed on the rotary seat. A guide rod air cylinder and a finger clamping air cylinder are installed on the two sides of the rotating base respectively. The lifting ring constraint die is fixedly mounted at the working end of the guide rod cylinder; the lifting ring restraining die is provided with an annular lifting ring containing position, when the guide rod air cylinder is in a recovery state, working heads of the finger clamping air cylinder are located in the lifting ring containing position, and the two working heads of the finger clamping air cylinder are each provided with a restraining head used for blocking a lifting ring. The utility model aims to provide a lifting ring gripper which can adjust the butt joint angle according to the angle of a tiled lifting ring, grasp the lifting ring and mount the lifting ring on a container, thereby replacing the manual operation in the procedure link.

Description

Technical Field

[0001] The utility model relates to a clamping manipulator, in particular to a lifting and returning gripper. Background Art

[0002] Large-capacity plastic bottles, such as edible oil bottles and mineral water bottles, are generally equipped with handles for easy handling and extraction. However, in the existing production process, when inserting the handle or handle into the mold, manual loading is often used, which is not only inefficient, but also poses a safety hazard and is prone to industrial accidents. For this reason, it is necessary to design a manipulator specifically for the handle or handle, which is installed on a mechanical arm or automated equipment to form a device that can pick up and install on the oil pot. In this way, production efficiency can be improved and manual operations in this process can be replaced. Utility Model Content

[0003] In view of the above-mentioned defects, the purpose of the utility model is to provide a handle gripper, which can adjust the docking angle according to the angle of the flat handle, grab the handle and install it on the container, replacing the manual operation of this process link.

[0004] To achieve this purpose, the utility model adopts the following technical solutions:

[0005] A lifting ring gripper comprises a seat ring, a rotary drive assembly, a rotary seat, a finger clamping cylinder, a guide rod cylinder, and a lifting ring restraining die;

[0006] The seat ring is installed at the bottom of the rotary drive assembly, the rotary seat is located below the seat ring, and the driving shaft of the rotary drive assembly passes through the seat ring from below and is fixedly installed on the rotary seat;

[0007] A guide rod cylinder and a clamping finger cylinder are respectively installed on both sides of the rotating seat; the lifting ring constraint mold is fixedly installed on the working end of the guide rod cylinder;

[0008] The lifting ring constraint mold is provided with an annular lifting ring accommodating position. When the guide rod cylinder is in the recovery state, the working head of the clamping finger cylinder is located in the lifting ring accommodating position, and the two working heads of the clamping finger cylinder are both equipped with constraint heads for blocking the lifting ring.

[0009] Preferably, the bail restraint mold further comprises a bail handle support position;

[0010] The lifting ring accommodating position is annular, and the annular inner wall of the lifting ring accommodating position is in a trumpet shape with a diameter gradually shrinking from bottom to top.

[0011] Preferably, at least one notch is formed on the side wall of the lifting ring accommodating position.

[0012] Preferably, one side of the bail ring accommodating position normally extends out of the bail handle supporting position.

[0013] Preferably, the rotary drive assembly comprises a servo motor and a planetary reducer;

[0014] The planetary reducer is fixedly mounted on the seat ring, the servo motor is fixedly mounted on the planetary reducer, and the output end of the servo motor is transmission-assembled with the input end of the planetary reducer.

[0015] Preferably, a spider manipulator mounting position is provided on the outer side of the seat ring.

[0016] Preferably, a concave structure is provided on the side of the restraining head facing the lifting ring accommodating position.

[0017] One of the above technical solutions includes the following beneficial effects: when picking up the bail, the rotary drive assembly drives the rotating seat to rotate, so that the device can rotate according to the position of the bail to find the correct picking angle; then the robot arm drives the entire mechanism to fall to fit the bail constraint mold with the bail, and then the two working heads of the clamping finger cylinder open to the left and right to constrain the ring of the bail in the bail ring accommodation position of the bail constraint mold; when installing, the robot arm moves the entire mechanism to the bottle mouth, and after the bail ring accommodation position of the clamping bail constraint mold is docked with the bottle mouth of the container, the working head of the clamping finger cylinder shrinks, the guide rod cylinder presses down, and the entire bail is pressed down by the falling bail constraint mold, and the bail is pressed into the installation position of the bottle mouth. This robot can be combined with a visual robot to read the position of the bail and then adjust the picking angle. It can replace the manual operation of this process link during installation and improve production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the utility model in the state of grabbing the lifting ring;

[0019] Figure 2 It is a schematic diagram of the overall structure of an embodiment of the utility model in a state where the lifting ring is not grabbed.

[0020] Among them: seat ring 100, rotation drive assembly 200, servo motor 210, planetary reducer 220, rotating seat 300, finger clamping cylinder 400, restraining head 410, guide rod cylinder 500, lifting ring restraining mold 600, lifting ring ring accommodating position 610, lifting ring handle supporting position 620. DETAILED DESCRIPTION

[0021] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0022] like Figure 1-2 As shown, a bail gripper comprises a seat ring 100, a rotary drive assembly 200, a rotary seat 300, a clamping finger cylinder 400, a guide rod cylinder 500, and a bail constraint mold 600;

[0023] The seat ring 100 is installed at the bottom of the rotary drive assembly 200, and the rotating seat 300 is located below the seat ring 100. The driving shaft of the rotary drive assembly 200 passes through the seat ring 100 from below and is fixedly installed on the rotating seat 300;

[0024] The guide rod cylinder 500 and the clamping finger cylinder 400 are respectively installed on both sides of the rotating seat 300; the lifting ring constraint mold 600 is fixedly installed on the working end of the guide rod cylinder 500;

[0025] The lifting ring constraint mold 600 is provided with an annular lifting ring accommodating position 610. When the guide rod cylinder 500 is in the recovery state, the working head of the clamping finger cylinder 400 is located in the lifting ring accommodating position 610, and the two working heads of the clamping finger cylinder 400 are both equipped with constraint heads for blocking the lifting ring.

[0026] When picking up the bail, the rotary drive assembly 200 drives the rotating seat 300 to rotate, so that the device can rotate according to the position of the bail to find the correct picking angle; then the robot arm drives the entire mechanism to fall to fit the bail constraint mold 600 with the bail, and then the two working heads of the clamping finger cylinder 400 open to the left and right to constrain the ring of the bail in the bail ring accommodating position 610 of the bail constraint mold 600; when installing, the robot arm moves the entire mechanism to the bottle mouth, and after the bail ring accommodating position 610 of the clamping finger constraint mold 600 is docked with the bottle mouth of the container, the working head of the clamping finger cylinder 400 shrinks, the guide rod cylinder 500 presses down, and the entire bail is pressed down by the falling bail constraint mold 600, and the bail is pressed into the installation position of the bottle mouth. This robot can be combined with a visual robot to read the position of the bail and then adjust the picking angle. It can replace the manual operation of this process link during installation and improve production efficiency.

[0027] Wherein, the bail restraint mold 600 further includes a bail handle support position 620;

[0028] The lifting ring accommodating position 610 is annular, and the annular inner wall of the lifting ring accommodating position 610 is in a trumpet shape with a diameter gradually shrinking from bottom to top.

[0029] The trumpet-shaped position of the lifting ring accommodating position 610 is to match the structure of the funnel bayonet on the lifting ring. This design can also prevent the lifting ring from jumping out from the bottom to the top.

[0030] Among them, at least one notch is formed on the side wall of the lifting ring accommodating position 610 .

[0031] A protrusion is correspondingly provided on the lifting ring, and the notch position is used to align the installation position of the lifting ring and the lifting ring ring receiving position 610.

[0032] Among them, a lifting ring holding position 610 extends normally from one side of the lifting ring handle supporting position 620.

[0033] The bail constraint mold 600 is composed of a bail ring accommodation position 610 and a ring handle support position 620. Since the bail and the clamp are in a horizontal state before installation, in order to ensure the stability of the installation, the bail constraint mold 600 should press down the entire bail constraint mold 600 together during installation to avoid the bail part being without support and to prevent the bail part from shaking and swaying and causing the bail to fall off from the bail ring accommodation position 610. Therefore, the scheme extends a bail handle support position 620 in the normal direction on one side of the bail ring accommodation position 610.

[0034] In addition, the rotation drive assembly 200 includes a servo motor 210 and a planetary reducer 220;

[0035] The planetary reducer 220 is fixedly mounted on the seat ring 100 , the servo motor 210 is fixedly mounted on the planetary reducer 220 , and the output end of the servo motor 210 is transmission-assembled with the input end of the planetary reducer 220 .

[0036] In addition, a spider manipulator installation position is provided on the outer side of the seat ring 100 .

[0037] In addition, a concave structure is provided on the side of the restraining head 410 facing the bail receiving position 610 .

[0038] The restraining head 410 is used to form a restraining structure with the side surface of the ring receiving position 610, thereby forming a clamping effect on the lifting ring.

[0039] This solution will work together with the visual system during operation. After visual positioning, the controller controls the rotary drive assembly to drive the rotating seat 300 to adjust the rotation angle so that the bail constraint mold 600 corresponds to the bail; then the spider robot drives the entire device to descend, the bail constraint mold 600 is buckled on the bail, and the finger cylinder 400 opens to allow the constraint head 410 to constrain the ring portion of the bail to the bail ring accommodating position 610; then the spider manipulator drives the bail gripper to move to the container where the bail needs to be installed, and when the bail is located at the container installation position, the finger cylinder 400 is released, and at the same time the guide rod cylinder 500 is pressed down to press the bail onto the container installation position.

[0040] The technical principle of the present invention is described above in combination with specific embodiments. These descriptions are only for explaining the principle of the present invention and cannot be interpreted as limiting the protection scope of the present invention in any way. Based on the explanations here, technicians in this field can think of other specific implementation methods of the present invention without creative work, and these methods will fall within the protection scope of the present invention.

Claims

1. A lifting ring gripper, characterized in that: It includes a seat ring, a rotary drive assembly, a rotary seat, a clamping finger cylinder, a guide rod cylinder, and a lifting ring restraint mold; The seat ring is installed at the bottom of the rotary drive assembly, the rotary seat is located below the seat ring, and the driving shaft of the rotary drive assembly passes through the seat ring from below and is fixedly installed on the rotary seat; A guide rod cylinder and a clamping finger cylinder are respectively installed on both sides of the rotating seat; the lifting ring constraint mold is fixedly installed on the working end of the guide rod cylinder; The lifting ring constraint mold is provided with an annular lifting ring accommodating position. When the guide rod cylinder is in the recovery state, the working head of the clamping finger cylinder is located in the lifting ring accommodating position, and the two working heads of the clamping finger cylinder are both equipped with constraint heads for blocking the lifting ring.

2. The handle according to claim 1, characterized in that: The lifting ring restraint mold also includes a lifting ring handle support position; The lifting ring accommodating position is annular, and the annular inner wall of the lifting ring accommodating position is in a trumpet shape with a diameter gradually shrinking from bottom to top.

3. The handle according to claim 2, characterized in that: The side wall of the lifting ring accommodating position is provided with at least one notch.

4. The handle according to claim 3, characterized in that: One side of the lifting ring accommodating position normally extends out from the lifting ring handle supporting position.

5. The lifting ring gripper according to claim 1, characterized in that: The rotary drive assembly includes a servo motor and a planetary reducer; The planetary reducer is fixedly mounted on the seat ring, the servo motor is fixedly mounted on the planetary reducer, and the output end of the servo motor is transmission-assembled with the input end of the planetary reducer.

6. The handle according to claim 1, characterized in that: A spider manipulator installation position is arranged on the outer side of the seat ring.

7. The lifting ring gripper according to claim 1, characterized in that: The side surface of the restraining head facing the accommodating position of the lifting ring is provided with a concave structure.

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