Clamping jaw structure of cup and pot separating robot

Abstract

The utility model relates to a cup separating robot claw structure which comprises a first claw mechanism and a second claw mechanism, the structure of the second claw mechanism is the same as that of the first claw mechanism, and the first claw mechanism comprises a first driving air cylinder, a first claw, a second claw and a first rotating air cylinder. The first clamping jaw and the second clamping jaw are connected to the first driving air cylinder, so that the first driving air cylinder drives the first clamping jaw and the second clamping jaw to get close to each other or get away from each other, and when the first clamping jaw and the second clamping jaw get close to each other, a raw material cup is clamped; the first driving air cylinder is fixedly mounted on the first rotating air cylinder, so that the first rotating air cylinder drives the first driving air cylinder to rotate, and the raw material cup between the first clamping jaw and the second clamping jaw rotates.

Description

Technical Field

[0001] The utility model relates to a cup-pot cup-separating robot clamping claw structure. Background Art

[0002] The cup pot is made by cutting and separating raw material cups of preset length. In one prior art, a raw material cup of preset length is fixed on a support platform, and then the raw material cup is cut by a cutting device, but this cutting method requires the raw material cup to be constantly turned over so that the raw material cup can be cut off. Later, someone invented an automated clamping claw mechanism. In another prior art, the automated clamping claw mechanism clamps the raw material cup at a preset position, and then the cutting device cuts and separates the raw material cup. However, in this cutting method, after the raw material cups are cut and separated, half of the raw material cup clamped by the automated clamping claw mechanism is fixed on it, but the other half of the raw material cup falls to the ground, which poses a risk of harm to the surrounding environment and people, and the raw material cup is also at risk of being damaged after falling. Summary of the invention

[0003] The utility model aims to solve the shortcomings in the prior art and proposes a cup and pot cup separating robot clamping claw structure.

[0004] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a cup and pot cup separation robot claw structure, comprising:

[0005] A first claw mechanism and a second claw mechanism, wherein the structure of the second claw mechanism is the same as that of the first claw mechanism, the first claw mechanism comprises a first driving cylinder, a first claw, a second claw, and a first rotating cylinder, the first claw and the second claw are connected to the first driving cylinder, so that the first driving cylinder drives the first claw and the second claw to move closer to or away from each other, and the first claw and the second claw are used to clamp the raw material cup when they are close to each other; the first driving cylinder is fixedly installed on the first rotating cylinder, so that the first rotating cylinder drives the first driving cylinder to rotate, thereby rotating the raw material cup between the first claw and the second claw.

[0006] Furthermore, the first claw mechanism also includes a first sliding rail, a first sliding block, a second sliding block, a first connecting piece, and a second connecting piece, the first sliding rail being fixedly connected to the first driving cylinder, the first sliding rail being provided with a sliding groove extending along the length of the first sliding rail, the first sliding block and the second sliding block being slidably connected to the sliding groove, so that the first sliding block and the second sliding block slide on the first sliding rail; one end of the first connecting piece is fixedly connected to the first sliding block, and the other end of the first connecting piece is fixedly connected to the first claw; one end of the second connecting piece is fixedly connected to the second sliding block, and the other end of the second connecting piece is fixedly connected to the second claw; the first sliding block and the second sliding block are connected to the first driving cylinder, so that the first driving cylinder drives the first sliding block and the second sliding block to slide on the first sliding rail, thereby driving the first connecting piece and the second connecting piece to approach or move away from each other, thereby realizing the mutual approach or distance between the first claw and the second claw.

[0007] Further, the first sliding block includes a first sliding block body and a first fixed connecting section, the first sliding block body and the first fixed connecting section are fixedly connected, and the first sliding block body is slidably connected to the first sliding rail, the first fixed connecting section and the first connecting piece are fixedly connected, and the first sliding block body and the first fixed connecting section are perpendicular to each other; the second sliding block includes a second sliding block body and a second fixed connecting section, the second sliding block body and the second fixed connecting section are perpendicular to each other and fixedly connected together; the second sliding block body is slidably connected to the first sliding rail, and the second fixed connecting section and the second connecting piece are fixedly connected.

[0008] Further, the first connecting member includes a first connecting member body and a first claw connecting section, the first connecting member body and the first claw connecting section are perpendicular to each other and fixedly connected together, and the first connecting member body and the first sliding block body of the first sliding block are fixedly connected, so that the first connecting member and the first sliding block are fixedly connected, and the first claw connecting section and the first claw are fixedly connected; the second connecting member includes a second connecting member body and a second claw connecting section, the second connecting member body and the second claw connecting section are perpendicular to each other and fixedly connected together, and the second connecting member body and the second sliding block body of the second sliding block are fixedly connected, so that the second connecting member and the second sliding block are fixedly connected, and the second claw connecting section and the second claw are fixedly connected.

[0009] Furthermore, a first clamping groove is provided on the first connecting member body of the first connecting member, and the first fixed connecting section of the first sliding block is clamped into the first clamping groove, and the first connecting member body and the first fixed connecting section are fixed together by bolts; a second clamping groove is provided on the second connecting member body of the second connecting member, and the second fixed connecting section of the second sliding block is clamped into the second clamping groove, and the second fixed connecting section and the second connecting member body are fixed together by bolts.

[0010] Furthermore, a first claw connecting groove is provided on the first claw connecting section of the first connecting member, and a first clamping protrusion is provided on one end of the first claw, and the first clamping protrusion is inserted into the first claw connecting groove, so that the first claw is fixedly installed on the first connecting member; a second claw connecting groove is provided on the second claw connecting section of the second connecting member, and a second clamping protrusion is provided on one end of the second claw, and the second clamping protrusion is inserted into the second claw connecting groove, so that the second claw is fixedly installed on the second connecting member.

[0011] Furthermore, the first clamping unit also includes a first clamping unit and a second clamping unit. The first clamping unit is fixedly mounted on the first clamping unit, and the second clamping unit is fixedly mounted on the second clamping unit. When the first clamping unit and the second clamping unit approach each other, the first clamping unit and the second clamping unit approach each other, and the first clamping unit and the second clamping unit clamp the raw material cup between them.

[0012] Furthermore, the first clamping unit has a first clamping semicircular groove, which is adapted to the raw material cup to be clamped; the second clamping unit has a second clamping semicircular groove, which is adapted to the raw material cup to be clamped.

[0013] Furthermore, the claw structure also includes a mechanical arm and a long board, and the first claw mechanism and the second claw mechanism are both fixedly mounted on the long board, and the mechanical arm and the long board are fixedly connected, so that the mechanical arm drives the first claw mechanism and the second claw mechanism to move.

[0014] Furthermore, the first rotating cylinder of the first clamping claw mechanism is fixedly connected to the long board, so that the first clamping claw mechanism is fixedly mounted on the long board.

[0015] The beneficial effects of the present application are as follows: the cup-pot cup-sorting robot claw structure provided by the present application has a high degree of automation. Since the first claw and the second claw clamp the raw material cup, after the raw material cup is cut, the first driving cylinder of the first claw mechanism and the second driving cylinder of the second claw mechanism respectively rotate the two sections of the cut raw material cup, so that all the cut raw material cups can be transferred to the conveyor line, thereby reducing the risk of damage to the raw material cups and harm to the surrounding environment and people. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a structural schematic diagram of the initial state of a clamping claw structure of a cup and pot separating robot provided by the utility model.

[0017] Figure 2 It is a schematic structural diagram of the raw material cup after cutting and separation of the claw structure of the cup and pot cup separating robot provided by the utility model.

[0018] Figure 3 The utility model provides a schematic structural diagram of a first clamping claw mechanism of a cup and pot separating robot clamping claw structure. DETAILED DESCRIPTION

[0019] The present application is further described in detail below by specific embodiments in conjunction with the accompanying drawings. Wherein similar elements in different embodiments adopt associated similar element numbers. In the following embodiments, many detailed descriptions are intended to enable the present application to be better understood. However, those skilled in the art can easily recognize that some of the features can be omitted in different situations, or can be replaced by other elements, materials, and methods. In some cases, some operations related to the present application are not shown or described in the specification, in order to avoid the core part of the present application being overwhelmed by too much description, and for those skilled in the art, it is not necessary to describe these related operations in detail, and they can fully understand the related operations based on the description in the specification and the general technical knowledge in the art.

[0020] In addition, the features, operations or characteristics described in the specification can be combined in any appropriate manner to form various implementations, and the operation steps involved in each embodiment can also be replaced or adjusted in a sequence in a manner that is obvious to those skilled in the art. Therefore, the specification and drawings are only for the purpose of clearly describing a certain embodiment and do not mean that the composition and / or sequence are necessary.

[0021] The serial numbers assigned to the components herein, such as "first", "second", etc., are only used to distinguish the objects described and do not have any order or technical meaning. The "connection" and "coupling" mentioned in this application, unless otherwise specified, include direct and indirect connections (couplings).

[0022] Please refer to Figure 1-3 The present application provides a cup-pot cup-separating robot claw structure (hereinafter referred to as the claw structure), the claw structure comprising:

[0023] A first claw mechanism 3 and a second claw mechanism 4, wherein the structure of the second claw mechanism 4 is the same as that of the first claw mechanism 3, and the first claw mechanism 3 includes a first driving cylinder 31, a first claw 38, a second claw 39, and a first rotating cylinder 313, wherein the first claw 38 and the second claw 39 are connected to the first driving cylinder 31, so that the first driving cylinder 31 drives the first claw 38 and the second claw 39 to move closer to or away from each other, and the first claw 38 and the second claw 39 are used to clamp the raw material cup when they are close to each other; the first driving cylinder 31 is fixedly mounted on the first rotating cylinder 313, so that the first rotating cylinder 313 drives the first driving cylinder 31 to rotate, thereby rotating the raw material cup between the first claw 38 and the second claw 39.

[0024] In one embodiment of the present application, the first claw mechanism 3 further includes a first sliding rail 33, a first sliding block 34, a second sliding block 35, a first connecting member 36, and a second connecting member 37. The first sliding rail 33 is fixedly connected to the first driving cylinder 31. The first sliding rail 33 is provided with a sliding groove 330 extending along the length of the first sliding rail 33. The first sliding block 34 and the second sliding block 35 are slidably connected to the sliding groove 330, so that the first sliding block 34 and the second sliding block 35 slide on the first sliding rail 33. One end of the first connecting member 36 is fixedly connected to the first sliding block 34. The other end of the first connecting member 36 is fixedly connected to the first claw 38; one end of the second connecting member 37 is fixedly connected to the second sliding block 35, and the other end of the second connecting member 37 is fixedly connected to the second claw 39; the first sliding block 34 and the second sliding block 35 are connected to the first driving cylinder 31, so that the first driving cylinder 31 drives the first sliding block 34 and the second sliding block 35 to slide on the first sliding rail 33, thereby driving the first connecting member 36 and the second connecting member 37 to move closer to or farther from each other, thereby achieving the first claw 38 and the second claw 39 to move closer to or farther from each other.

[0025] In one embodiment of the present application, the first sliding block 34 includes a first sliding block body (not shown) and a first fixed connection section 342, the first sliding block body and the first fixed connection section 342 are fixedly connected, and the first sliding block body is slidably connected to the first sliding rail 33, the first fixed connection section 342 and the first connecting member 36 are fixedly connected, and the first sliding block body and the first fixed connection section 342 are perpendicular to each other; the second sliding block 35 includes a second sliding block body 351 and a second fixed connection section 352, the second sliding block body 351 and the second fixed connection section 352 are perpendicular to each other and fixedly connected together; the second sliding block body 351 is slidably connected to the first sliding rail 33, and the second fixed connection section 352 and the second connecting member 37 are fixedly connected.

[0026] In one embodiment of the present application, the first connecting member 36 includes a first connecting member body 362 and a first claw connecting section 361, the first connecting member body 362 and the first claw connecting section 361 are perpendicular to each other and fixedly connected together, the first connecting member body 362 and the first sliding block body of the first sliding block 34 are fixedly connected, so that the first connecting member 36 and the first sliding block 34 are fixedly connected, and the first claw connecting section 361 and the first claw 38 are fixedly connected; the second connecting member 37 includes a second connecting member body 372 and a second claw connecting section 371, the second connecting member body 372 and the second claw connecting section 371 are perpendicular to each other and fixedly connected together, the second connecting member body 372 and the second sliding block body 351 of the second sliding block 35 are fixedly connected, so that the second connecting member 37 and the second sliding block 35 are fixedly connected, and the second claw connecting section 371 and the second claw 39 are fixedly connected.

[0027] In one embodiment of the present application, a first snap-in groove 3620 is provided on the first connector body 362 of the first connector 36, and the first fixed connecting section 342 of the first sliding block 34 is snapped into the first snap-in groove 3620, and the first connector body 362 and the first fixed connecting section 342 are fixed together by bolts; a second snap-in groove (not shown) is provided on the second connector body 372 on the second connector 37, and the second fixed connecting section 352 of the second sliding block 35 is snapped into the second snap-in groove, and the second fixed connecting section 352 and the second connector body 372 are fixed together by bolts.

[0028] In one embodiment of the present application, a first claw connecting groove 3610 is provided on the first claw connecting section 361 of the first connecting member 36, and a first clamping protrusion 381 is provided on one end of the first claw 38, and the first clamping protrusion 381 is inserted into the first claw connecting groove 3610, so that the first claw 38 is fixedly installed on the first connecting member 36; a second claw connecting groove 3710 is provided on the second claw connecting section 371 of the second connecting member 37, and a second clamping protrusion 391 is provided on one end of the second claw 39, and the second clamping protrusion 391 is inserted into the second claw connecting groove 3710, so that the second claw 39 is fixedly installed on the second connecting member 37.

[0029] In one embodiment of the present application, the first clamping mechanism 3 also includes a first clamping unit 310 and a second clamping unit 311. The first clamping unit 310 is fixedly mounted on the first clamping jaw 38, and the second clamping unit 311 is fixedly mounted on the second clamping jaw 39. When the first clamping jaw 38 and the second clamping jaw 39 approach each other, the first clamping unit 310 and the second clamping unit 311 approach each other, and the first clamping unit 310 and the second clamping unit 311 clamp the raw material cup therebetween.

[0030] In one embodiment of the present application, the first clamping unit 310 has a first clamping semicircular groove 3100, which is adapted to the raw material cup to be clamped; the second clamping unit 311 has a second clamping semicircular groove 3110, which is adapted to the raw material cup to be clamped.

[0031] In one embodiment of the present application, the claw structure also includes a robotic arm 1 and a long board 2. The first claw mechanism 3 and the second claw mechanism 4 are both fixedly mounted on the long board 2. The robotic arm 1 and the long board 2 are fixedly connected, so that the robotic arm 1 drives the first claw mechanism 3 and the second claw mechanism 4 to move.

[0032] In one embodiment of the present application, the first rotating cylinder of the first clamping claw mechanism 3 is fixedly connected to the long board 2 , so that the first clamping claw mechanism 3 is fixedly mounted on the long board 2 .

[0033] The working principle of this application is: the claw structure is pre- Figure 1In the initial state, the raw material cup is placed vertically above the mold of the cup dividing machine. The product is released by driving the cylinder, and the product falls freely into the mold. The cup dividing machine presses the raw material cup by pressing the rotating head down to fix it. The laser cuts the middle part of the raw material cup in a circular manner to separate it into finished cup A and finished cup B. During the cutting process, the robot remains motionless, and the first and second claws of the claw mechanism remain loosened to prevent the upper and lower cups from tipping over and falling during the cutting process, which plays a role in straightening. After the cutting is completed, due to gravity, there is no gap between the finished cup A and the finished cup B, and they fit tightly together. It is necessary to first control the first driving cylinder of the first claw mechanism of the upper part to clamp the finished cup A, and the robot moves upward by about 20mm, and then control the second claw mechanism of the lower part to clamp the finished cup B. At this time, the grabbing function of the finished cup A and the finished cup B is completed, and a distance of about 20mm is left between the finished cup A and the finished cup B (to facilitate the subsequent rotation function). The robot is Figure 1 After the two cups are taken out of the mold with the claw structure in an upright position, the robot controls the long board and all the components on it to rotate 90 degrees. At the same time, the rotating cylinder A rotates 90 degrees counterclockwise and the rotating cylinder B rotates 90 degrees clockwise, respectively, so that the finished cup A rotates 90 degrees counterclockwise and the finished cup B rotates 90 degrees clockwise, so as to achieve Figure 2 The jaws are shown in the following figure. Figure 2 In the claw posture shown, the robot will move to the top of the conveyor line in this posture, release the drive cylinder, and place the finished cup A and the finished cup B on the conveyor belt to enter the next process.

[0034] The cup-pot cup-sorting robot provided in the present application has a high degree of automation in that the first claw and the second claw clamp the raw material cup, and after the raw material cup is cut, the first driving cylinder of the first claw mechanism and the second driving cylinder of the second claw mechanism respectively rotate the two cut raw material cups, so that all the cut raw material cups can be transferred to the conveyor line, thereby reducing the risk of damage to the raw material cups and harm to the surrounding environment and people.

[0035] The above embodiments are only for illustrating the technical concept and features of the utility model, and their purpose is to enable people familiar with the technology to understand the content of the utility model and implement it accordingly, and they cannot be used to limit the protection scope of the utility model. Any equivalent changes or modifications made according to the spirit of the utility model should be included in the protection scope of the utility model.

Claims

1. A cup and pot separation robot claw structure, characterized in that: include: A first claw mechanism and a second claw mechanism, wherein the structure of the second claw mechanism is the same as that of the first claw mechanism, the first claw mechanism comprises a first driving cylinder, a first claw, a second claw, and a first rotating cylinder, the first claw and the second claw are connected to the first driving cylinder, so that the first driving cylinder drives the first claw and the second claw to move closer to or away from each other, and the first claw and the second claw are used to clamp the raw material cup when they are close to each other; the first driving cylinder is fixedly installed on the first rotating cylinder, so that the first rotating cylinder drives the first driving cylinder to rotate, thereby rotating the raw material cup between the first claw and the second claw.

2. The cup-pot cup-separating robot claw structure according to claim 1 is characterized in that: The first claw mechanism further includes a first sliding rail, a first sliding block, a second sliding block, a first connecting member, and a second connecting member. The first sliding rail is fixedly connected to the first driving cylinder. The first sliding rail is provided with a sliding groove extending along the length of the first sliding rail. The first sliding block and the second sliding block are slidably connected to the sliding groove, so that the first sliding block and the second sliding block slide on the first sliding rail. One end of the first connecting member is fixedly connected to the first sliding block, and the other end of the first connecting member is fixedly connected to the first claw; one end of the second connecting member is fixedly connected to the second sliding block, and the other end of the second connecting member is fixedly connected to the second claw; the first sliding block and the second sliding block are connected to the first driving cylinder, so that the first driving cylinder drives the first sliding block and the second sliding block to slide on the first sliding track, thereby driving the first connecting member and the second connecting member to move closer to or farther away from each other, thereby achieving the first claw and the second claw moving closer to or farther away from each other.

3. The cup-pot cup-separating robot claw structure according to claim 2 is characterized in that: The first sliding block includes a first sliding block body and a first fixed connecting section, the first sliding block body and the first fixed connecting section are fixedly connected, and the first sliding block body is slidably connected to the first sliding track, the first fixed connecting section and the first connecting member are fixedly connected, and the first sliding block body and the first fixed connecting section are perpendicular to each other; the second sliding block includes a second sliding block body and a second fixed connecting section, the second sliding block body and the second fixed connecting section are perpendicular to each other and fixedly connected together; the second sliding block body is slidably connected to the first sliding track, and the second fixed connecting section and the second connecting member are fixedly connected.

4. The cup-pot cup-separating robot claw structure according to claim 3 is characterized in that: The first connecting member includes a first connecting member body and a first claw connecting section, the first connecting member body and the first claw connecting section are perpendicular to each other and fixedly connected together, the first connecting member body and the first sliding block body of the first sliding block are fixedly connected, so that the first connecting member and the first sliding block are fixedly connected, and the first claw connecting section and the first claw are fixedly connected; the second connecting member includes a second connecting member body and a second claw connecting section, the second connecting member body and the second claw connecting section are perpendicular to each other and fixedly connected together, the second connecting member body and the second sliding block body of the second sliding block are fixedly connected, so that the second connecting member and the second sliding block are fixedly connected, and the second claw connecting section and the second claw are fixedly connected.

5. The cup-pot cup-separating robot claw structure according to claim 4 is characterized in that: A first clamping groove is provided on the first connecting member body of the first connecting member, and the first fixed connecting section of the first sliding block is clamped into the first clamping groove, and the first connecting member body and the first fixed connecting section are fixed together by bolts; a second clamping groove is provided on the second connecting member body of the second connecting member, and the second fixed connecting section of the second sliding block is clamped into the second clamping groove, and the second fixed connecting section and the second connecting member body are fixed together by bolts.

6. The cup-pot cup-separating robot gripper structure according to claim 5, characterized in that: A first claw connecting groove is provided on the first claw connecting section of the first connecting member, and a first clamping protrusion is provided on one end of the first claw, and the first clamping protrusion is inserted into the first claw connecting groove, so that the first claw is fixedly installed on the first connecting member; a second claw connecting groove is provided on the second claw connecting section of the second connecting member, and a second clamping protrusion is provided on one end of the second claw, and the second clamping protrusion is inserted into the second claw connecting groove, so that the second claw is fixedly installed on the second connecting member.

7. The cup-pot cup-separating robot gripper structure according to claim 6, characterized in that: The first clamping claw mechanism also includes a first clamping unit and a second clamping unit. The first clamping unit is fixedly mounted on the first clamping claw, and the second clamping unit is fixedly mounted on the second clamping claw. When the first clamping claw and the second clamping claw approach each other, the first clamping unit and the second clamping unit approach each other, and the first clamping unit and the second clamping unit clamp the raw material cup therebetween.

8. The cup-pot cup-separating robot claw structure according to claim 7 is characterized in that: The first clamping unit has a first clamping semicircular groove, which is adapted to the raw material cup to be clamped; the second clamping unit has a second clamping semicircular groove, which is adapted to the raw material cup to be clamped.

9. The cup-pot cup-separating robot gripper structure according to claim 8, characterized in that: The clamping claw structure also includes a mechanical arm and a long board. The first clamping claw mechanism and the second clamping claw mechanism are both fixedly mounted on the long board. The mechanical arm and the long board are fixedly connected so that the mechanical arm drives the first clamping claw mechanism and the second clamping claw mechanism to move.

10. The cup-pot cup-separating robot gripper structure according to claim 9, characterized in that: The first rotating cylinder of the first clamping claw mechanism is fixedly connected to the long board, so that the first clamping claw mechanism is fixedly mounted on the long board.

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