Zip-top can clamping device

Abstract

The utility model discloses a zip-top can clamping device which comprises an air cylinder, and the air cylinder is provided with a pair of sliding blocks. The first connecting block is connected with one of the sliding blocks; the second connecting block is connected with the other sliding block; the side wall of the first clamping jaw is hinged to the first connecting block; the side wall of the second clamping jaw is hinged to the second connecting block, and the end of the second clamping jaw is hinged to the end of the first clamping jaw; the first opening part is arranged on the first clamping jaw; the second opening part is provided with two opening ends which are respectively arranged on the first clamping jaw and the second clamping jaw; and the third opening part is arranged on the second clamping jaw. The zip-top can clamp has the advantages of expanded measuring range, high universality and capability of clamping and opening various zip-top cans.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical manufacturing and clamping devices, in particular to a clamping device for cans. Background Art

[0002] At present, AirTac HFZ20 is one of the most widely used cylinders on the market. The two mounting heads at the front end will perform symmetrical linear motion under the action of air pressure, with a degree of freedom of 1. It can be installed on the Huasu 6-DOF robotic arm to drive the fixture to realize various functions.

[0003] Since the requirements of most industrial assembly lines are relatively simple, the diameter of the cans grasped by the claws matched with the cylinder is relatively fixed, and there is no need for overly complex structures to achieve complex functions. Therefore, the cylinder-matched clamps on the market are only for clamping a certain type of can, with relatively simple functions and relatively simple structures of the switch parts.

[0004] In the prior art, Fig. 9 The figure shows that the two side clamps are driven by a cylinder to clamp. The existing device has a limited diameter range of cans that can be clamped due to the short cylinder range, and the versatility is poor. The clamping claw is not equipped with a can opening function and cannot realize the can opening capability.

[0005] In summary, there are the following technical problems:

[0006] The cylinder has a short range, and the diameter range of cans that can be clamped is limited, so the versatility is poor. The gripper is not equipped with the function of opening cans, so it cannot realize the ability to open cans. Utility Model Content

[0007] The main purpose of the utility model is to provide a can gripping device to solve at least one technical problem in the prior art that the cylinder range is short, the diameter range of the cans that can be gripped is limited, the versatility is poor, and the gripper is not equipped with a can opening function and cannot realize the can opening ability.

[0008] In order to achieve the above object, according to one aspect of the utility model, a can clamping device is provided, comprising:

[0009] A cylinder having a pair of sliders;

[0010] a first connecting block, the first connecting block being connected to one of the sliders;

[0011] a second connecting block, the second connecting block being connected to another slider;

[0012] a first clamping jaw, wherein a side wall of the first clamping jaw is hinged to a first connecting block;

[0013] a second clamping jaw, wherein a side wall of the second clamping jaw is hinged to the second connecting block, and an end of the second clamping jaw is hinged to an end of the first clamping jaw;

[0014] a first opening portion, the first opening portion being disposed on the first clamping jaw;

[0015] A second opening portion, the second opening portion having two opening ends, respectively disposed on the first clamping jaw and the second clamping jaw; and

[0016] A third opening portion is provided on the second clamping jaw.

[0017] Preferably, the cylinder comprises:

[0018] Cylinder body;

[0019] A guide member, the guide member is arranged at one end of the cylinder body, and a guide groove is provided on the guide member;

[0020] Slide blocks are arranged in pairs, including a first slide block and a second slide block, the first slide block and the second slide block are slidably arranged in the guide groove, and the slide blocks are connected to the cylinder body;

[0021] A connecting seat is arranged at the other end of the cylinder body.

[0022] Preferably, the first clamping jaw is connected to the first connecting block via a second hinged portion, the second clamping jaw is connected to the second connecting block via a third hinged portion, the ends of the first clamping jaw and the second clamping jaw are connected via a first hinged portion, and the first hinged portion, the second hinged portion and the third hinged portion are a rotating secondary structure.

[0023] Preferably, the first connecting block and the second connecting block are symmetrically arranged, the first clamping jaw and the second clamping jaw are arranged oppositely, and the second hinged portion and the third hinged portion are symmetrically arranged.

[0024] Preferably, the second opening portion includes a first end and a second end, the first end is located on the first clamping jaw, the second end is located on the second clamping jaw, and the first end is opposite to the second end and is symmetrically arranged.

[0025] Preferably, the cylinder body of the cylinder is used to drive a pair of sliders to move along the guide member, one slider is used to drive the first connecting member to move, and the other slider is used to drive the second connecting member to move, the first connecting member is used to drive the first clamping jaw, and the second connecting member is used to drive the second clamping jaw to rotate relative to the first hinge part, respectively, to realize the opening and closing of the first clamping jaw and the second clamping jaw.

[0026] Preferably, the first opening portion comprises an inclined portion and a barb portion, the inclined portion extends downward, and a circular cavity is formed between the barb portion and the inclined portion.

[0027] Preferably, the first end and the second end of the second opening portion form an inclined surface clamping hook structure.

[0028] Preferably, the third opening portion is an inclined pull-up hook-type structure.

[0029] Preferably, the ends of the first opening portion, the second opening portion and the third opening portion are all shovel-shaped structures.

[0030] The application of the technical solution of the utility model has the following technical effects:

[0031] The first connecting block is connected to the middle of the first clamping jaw, the second connecting block is connected to the middle of the second clamping jaw, and the tail of the first clamping jaw and the second clamping jaw are connected at the same time, so that the left and right movement of the first connecting block and the second connecting block can drive the ends of the first clamping jaw and the second clamping jaw to achieve a wide range of clamping. By utilizing the principle of similar triangles and three rotating sub-structures, the original range of the cylinder is enlarged so that it can adapt to cans with a larger diameter range.

[0032] The first opening part, the second opening part and the third opening part have multiple can opening positions to cope with different can opening requirements, so that can opening in different situations can be completed relatively easily. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The drawings constituting part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings:

[0034] Figure 1 The schematic diagram of the structure of the can clamping device according to the utility model is shown;

[0035] Figure 2 Shows Figure 1 A front view of the can gripping device in FIG.

[0036] Figure 3 Shows Figure 1 A left side view of the can gripping device in FIG.

[0037] Figure 4 Shows Figure 1 A top view of the can gripping device in FIG.

[0038] Figure 5 Shows Figure 1 A bottom view of the can gripping device in FIG.

[0039] Figure 6 Shows Figure 1 A right view of the can gripping device in FIG.

[0040] Figure 7Shows Figure 1 An exploded view of the can gripping device in FIG.

[0041] Figure 8 Shows Figure 1 A partial view of the can gripping device in FIG.

[0042] Fig. 9 The structure view of the existing can clamping device is shown.

[0043] The above drawings include the following reference numerals:

[0044] The first clamping jaw 1; the first opening part 2; the second opening part 3; the first connecting block 4; the guide member 5; the cylinder body 6; the connecting seat 7; the second connecting block 8; the second clamping jaw 9; the third opening part 10; the first hinged part 11; the second hinged part 12; the third hinged part 13; the sliding block 14; the side clamp. DETAILED DESCRIPTION

[0045] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present utility model will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0046] like Figures 1 to 9 As shown, an embodiment of the utility model provides a can clamping device, including: a cylinder, the cylinder having a pair of sliders 14; a first connecting block 4, the first connecting block 4 being connected to one of the sliders 14; a second connecting block 8, the second connecting block 8 being connected to the other slider 14; a first clamping jaw 1, the side wall of the first clamping jaw 1 being hinged to the first connecting block 4; a second clamping jaw 9, the side wall of the second clamping jaw 9 being hinged to the second connecting block 8, and the end of the second clamping jaw 9 being hinged to the end of the first clamping jaw 1; a first opening portion 2, the first opening portion 2 being arranged on the first clamping jaw 1; a second opening portion 3, the second opening portion 3 having two opening ends, which are respectively arranged on the first clamping jaw 1 and the second clamping jaw 9; a third opening portion 10, the third opening portion 10 being arranged on the second clamping jaw 9.

[0047] In this embodiment, the cylinder is used to provide a power source. The cylinder has a pair of sliders 14. The sliders 14 move along the guide member 5 and cooperate with the first connecting block 4 and the second connecting block 8 to realize the movement of the first connecting block 4 and the second connecting block 8; the cylinder includes a cylinder body 6, and the cylinder body 6 is used to generate a power source; the guide member 5 is used to play the role of guiding the slider 14, and the guide member 5 is arranged at one end of the cylinder body 6. The guide member 5 is provided with a guide groove, and the guide groove cooperates with the slider 14. The sliders 14 are arranged in pairs, including a first slider 14 and a second slider 14. The first slider 14 and the second slider 14 are slidably arranged in the guide groove, and the sliders 14 are connected to the cylinder body 6; the first slider 14 drives the first connecting block 4 to move, and the second slider 14 drives the second connecting block 8 to move; the connecting seat 7 is used to realize fixing the cylinder on a mobile device such as a robotic arm, and the connecting seat 7 is arranged at the other end of the cylinder body 6.

[0048] In this embodiment, the first connecting block 4 is used to drive the first clamping jaw 1 to clamp, and the first connecting block 4 is connected to one of the sliders 14; the first connecting block 4 is symmetrically arranged with the second connecting block 8, the first clamping jaw 1 and the second clamping jaw 9 are arranged oppositely, and the second hinged portion 12 and the third hinged portion 13 are symmetrically arranged. In this embodiment, the second connecting block 8 is used to drive the second clamping jaw 9 to clamp, and the second connecting block 8 is connected to another slider 14; in this embodiment, the first clamping jaw 1 is used to clamp one side of the can, and the side wall of the first clamping jaw 1 is hinged to the first connecting block 4; the first clamping jaw 1 is connected to the first connecting block 4 through the second hinged portion 12, and the second clamping jaw 9 is connected to the second connecting block 8 through the third hinged portion 13, and the ends of the first clamping jaw 1 and the second clamping jaw 9 are connected through the first hinged portion 11, and the first hinged portion 11, the second hinged portion 12 and the third hinged portion 13 are a rotating pair structure. In this embodiment, the second clamping jaw 9 is used to clamp the other side of the can, the side wall of the second clamping jaw 9 is hinged to the second connecting block 8, and the end of the second clamping jaw 9 is hinged to the end of the first clamping jaw 1. The first clamping jaw 1 and the second clamping jaw 9 form a clamping structure through three rotation pairs.

[0049] In this embodiment, the first opening part 2 is used to open a can like Red Bull, and the first opening part 2 is arranged on the first clamping jaw 1; the first opening part 2 includes an inclined part and a barb part, the inclined part extends downward, and a circular cavity is formed between the barb part and the inclined part. Specifically, the can opening part, the first opening part 2, the ordinary pull ring (such as Red Bull): this part is provided with an inclined surface and a barb, and there is a cavity between the barb and the inclined surface. The design of this part uses the principle of lever. After the pull ring of the can enters the cavity part, the pulling force it receives is generally downward, which will make the upper end of the pull ring closely contact with the hook and cannot fall off from the hook. At this time, the pull ring can be pulled off by moving the clamping jaw forward or upward. When using this part, after aligning the top of the inclined surface with the front end of the pull ring of the can, the clamp is moved forward a distance by moving the mechanical arm until the pull ring reaches the deepest part of the cavity. At this time, lift the clamp up a certain distance to prevent it from colliding with the edge of the can during subsequent movement, and then continue to translate the clamp to pull off the hook and use the lever principle to pry open the bottle cap.

[0050] In this embodiment, the second opening part 3 has two opening ends, which are respectively arranged on the first clamping jaw 1 and the second clamping jaw 9; the second opening part 3 includes a first end and a second end, the first end is located on the first clamping jaw 1, and the second end is located on the second clamping jaw 9, and the first end is opposite to the second end and is symmetrically arranged. The first end and the second end of the second opening part 3 constitute an inclined clamping hook type structure. Specifically, it is used to open a relatively narrow pull ring (such as six walnuts). Compared with the previous pull ring, the diameter of the cans processed by this can opening position is smaller, and the can opening space left for the clamping jaws is smaller. Therefore, for this situation, this scheme uses a design completely different from the previous can opening position. This part is provided with two inclined planes, which are respectively placed on the left and right clamping jaws, and a barb is provided in the middle part to prevent the pull ring from falling off. This design can use the clamping of the cylinder to clamp the pull ring of the can from the middle of the pull ring, and then use the barb in the middle of the clamping structure to easily pull the pull ring off by controlling the translation of the mechanical arm. When using this part to open the can, first control the cylinder to open, separate the left and right clamps, and then place the pull ring between the two inclined surfaces of this part, then close the cylinder, close the left and right clamps to firmly clamp the pull ring. After clamping the pull ring, move the clamp upward to prevent it from colliding with the edge of the can, and then move it horizontally to pull the pull ring down.

[0051] In this embodiment, the third opening part 10 is arranged on the second clamping claw 9. The third opening part 10 is an inclined pull-up hook-type structure. The ends of the first opening part 2, the second opening part 3 and the third opening part 10 are all shovel-shaped structures. Specifically, the third opening part 10 is used for cans (such as Jiaduobao) that do not need to pull off the pull ring. Since the opening part of this can does not require pulling off the pull ring, it only needs to lift the pull ring and press the pull ring back to its original position. Therefore, the part of this structure that opens the Jiaduobao does not have a cavity, but adopts an open-air structure, and only has an inclined plane. Aligning the inclined plane with the pull ring and then translating it to make it tilted can ensure that the Jiaduobao pull ring is not stuck, so that the clamp can be easily detached.

[0052] In this embodiment, the cylinder body 6 of the cylinder is used to drive a pair of sliders 14 to move along the guide member 5, wherein one slider 14 is used to drive the first connecting member to move, and the other slider 14 is used to drive the second connecting member to move, and the first connecting member is used to drive the first clamping jaw 1, and the second connecting member is used to drive the second clamping jaw 9 to rotate relative to the first hinge part 11, respectively, to realize the opening and closing of the first clamping jaw 1 and the second clamping jaw 9.

[0053] In order to make the clamp versatile and improve versatility, the utility model can play the greatest role on the clamping jaws with a range of 13-27mm, and can clamp different types of cans and open them. The utility model is provided with three rotating pairs, connecting the first connecting block 4 with the middle of the first clamping jaw 1, and the second connecting block 8 with the middle of the second clamping jaw 9, forming a structure similar to chopsticks, and increasing the range of the clamping jaws through the principle of similar triangles, so that the clamp can adapt to cans with a larger range of diameters. At the same time, in order to realize the can opening function of different types of cans, the utility model is provided with three can opening parts, corresponding to three different can opening conditions.

[0054] The utility model mainly includes a first clamping jaw 1, a second clamping jaw 9, a first connecting block 4, a second connecting block 8 and a cylinder. The first clamping jaw 1 and the second clamping jaw 9 are respectively connected to the first connecting block 4 and the second connecting block 8 on both sides by a rotating pair, and the first clamping jaw 1 and the second clamping jaw 9 are also connected by a rotating pair at the end. When the gas controls the cylinder through the air inlet, the pressure of the gas will push the piston to move inside and outside, drive the first connecting block 4 and the second connecting block 8 to move, and the first connecting block 4 and the second connecting block 8 respectively drive the first clamping jaw 1 and the second clamping jaw 9 to clamp. Thereby, the loosening and clamping of the clamping jaws are realized, and the loosening and tightening of the clamping jaws are realized by continuous air intake and exhaust.

[0055] The number of components of this mechanism is four, and the number of kinematic pairs is two sliding pairs plus three rotating pairs. At the same time, due to the internal structure of the cylinder, the positions of the two sliders 14 are symmetrical, and the degree of freedom should be reduced by one. Therefore, the degree of freedom of the mechanism is: n = 4 × 3-5 × 2-1 = 1.

[0056] This solution mainly uses 3D printing technology to implement production, and the entire assembly is directly obtained by printing. Of course, if the parts need to be printed separately, bolts, nuts and other structures can also be used to form the three rotation pairs of this solution.

[0057] The utility model solves the problem that the range of the AirTac HFZ20 is small, which leads to a small range of can diameters that can be added and taken by the side clamp 15. Different can opening scenarios have different can opening scenarios, which leads to the problem that the original design cannot open the can easily. The design of this clamp is an extension of the AirTac HFZ20 cylinder.

[0058] The utility model increases the measuring range by setting three rotating pairs, connecting the first connecting block 4 with the middle of the first clamping jaw 1, connecting the second connecting block 8 with the middle of the second clamping jaw 9, and connecting the tail of the first clamping jaw 1 and the second clamping jaw 9, so that the left and right movement of the first connecting block 4 and the second connecting block 8 can drive the ends of the first clamping jaw 1 and the second clamping jaw 9 to achieve a wide range of clamping. This structure uses the principle of similar triangles and three rotating pair structures to enlarge the original measuring range of the cylinder so as to adapt to the appearance design and principle of the three opening positions of the cans with a larger diameter range: the first position is for general pull-tab cans, and a slope and a barb are set, and there is a cavity between the barb and the slope. This part uses the principle of a lever. After the pull ring of the can enters the cavity, the pulling force it receives is generally downward, which will make the upper end of the pull ring closely contact with the hook and cannot fall off from the hook. At this time, the pull ring can be pulled off by moving the clamping jaw forward or upward. The second part is for cans with relatively narrow pull rings (small diameter), and two inclined planes are set, which are placed on the left and right clamps respectively, and a barb is set in the middle to prevent the pull ring from falling off. This part uses the clamping of the cylinder to clamp the pull ring of the can from the middle of the pull ring, and then use the barb in the middle of the clamping structure to easily pull the pull ring off by controlling the translation of the robot arm. The third part is for cans that do not need to pull the pull ring off, and only an inclined plane with no obstruction on the top is set. When using this part, you only need to pry the pull ring open by the translation of the clamp.

[0059] The utility model can realize the clamping and opening of the cans by manual operation, and can also realize the automatic clamping, opening and pouring of the cans by programming in the way of manual teaching of fixed points.

[0060] From the above description, it can be seen that the above embodiments of the utility model achieve the following technical effects:

[0061] The first connecting block 4 is connected to the middle of the first clamping jaw 1, the second connecting block 8 is connected to the middle of the second clamping jaw 9, and the tails of the first clamping jaw 1 and the second clamping jaw 9 are connected at the same time, so that the left and right movement of the first connecting block 4 and the second connecting block 8 can drive the ends of the first clamping jaw 1 and the second clamping jaw 9 to achieve a wide range of clamping. By utilizing the principle of similar triangles and three rotating sub-structures, the original range of the cylinder is enlarged so that it can adapt to cans with a larger diameter range.

[0062] The first opening part 2, the second opening part 3 and the third opening part have more than 10 opening positions to cope with different can opening requirements, so that can opening in different situations can be completed relatively easily.

[0063] The above description is only a preferred embodiment of the utility model and is not intended to limit the utility model. For those skilled in the art, the utility model may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A can clamping device, characterized in that: include: A cylinder having a pair of sliders; a first connecting block, the first connecting block being connected to one of the sliders; a second connecting block, the second connecting block being connected to another slider; a first clamping jaw, wherein a side wall of the first clamping jaw is hinged to a first connecting block; a second clamping jaw, wherein a side wall of the second clamping jaw is hinged to the second connecting block, and an end of the second clamping jaw is hinged to an end of the first clamping jaw; a first opening portion, the first opening portion being disposed on the first clamping jaw; A second opening portion, the second opening portion having two opening ends, respectively disposed on the first clamping jaw and the second clamping jaw; as well as A third opening portion is provided on the second clamping jaw.

2. The can gripping device according to claim 1, characterized in that: The cylinder comprises: Cylinder body; A guide member, the guide member is arranged at one end of the cylinder body, and a guide groove is provided on the guide member; Slide blocks are arranged in pairs, including a first slide block and a second slide block, the first slide block and the second slide block are slidably arranged in the guide groove, and the slide blocks are connected to the cylinder body; A connecting seat is arranged at the other end of the cylinder body.

3. The can gripping device according to claim 1, characterized in that: The first clamp is connected to the first connecting block via a second hinge, the second clamp is connected to the second connecting block via a third hinge, the ends of the first clamp and the second clamp are connected via a first hinge, and the first hinge, the second hinge and the third hinge are a rotating secondary structure.

4. The can gripping device according to claim 3, characterized in that: The first connecting block and the second connecting block are symmetrically arranged, the first clamping jaw and the second clamping jaw are oppositely arranged, and the second hinged portion and the third hinged portion are symmetrically arranged.

5. The can gripping device according to claim 1, characterized in that: The second opening portion includes a first end and a second end, the first end is located on the first clamping jaw, the second end is located on the second clamping jaw, and the first end is opposite to the second end and is symmetrically arranged.

6. The can gripping device according to claim 1, characterized in that: The cylinder body of the cylinder is used to drive a pair of sliders to move along the guide member, one slider is used to drive the first connecting member to move, and the other slider is used to drive the second connecting member to move, the first connecting member is used to drive the first clamping jaw, and the second connecting member is used to drive the second clamping jaw to rotate relative to the first hinge part, respectively, to realize the opening and closing of the first clamping jaw and the second clamping jaw.

7. The can gripping device according to claim 1, characterized in that: The first opening portion includes an inclined portion and a barb portion, the inclined portion extends downward, and a circular cavity is formed between the barb portion and the inclined portion.

8. The can gripping device according to claim 1, characterized in that: The first end and the second end of the second opening portion form an inclined surface clamping hook structure.

9. The can gripping device according to claim 1, characterized in that: The third opening portion is an inclined pull-up hook-shaped structure.

10. The can gripping device according to claim 1, characterized in that: The ends of the first opening portion, the second opening portion and the third opening portion are all in a shovel-shaped structure.

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