Bottle body clamping mechanical claw

Abstract

The utility model provides a bottle body clamping mechanical claw which comprises a clamping claw base, a transmission mechanism and a clamping mechanism. The clamping jaw base is provided with at least one air inlet hole, an air outlet hole and a cavity. The transmission mechanism comprises a piston connecting rod and a hinge rod, and the piston connecting rod and the hinge rod are hinged and arranged in the clamping jaw base. The clamping mechanism comprises a clamping jaw, a buffering piece, a suction cup, a distance sensor and a pressure sensor. The piston connecting rod slides and drives the connecting rod to act under the action of the air cylinder, the clamping jaw clamps or opens under the action of the piston connecting rod and the connecting rod, and the clamping force of the mechanical jaw is higher under the action of the air cylinder. Buffering pieces are arranged on the inner sides of the clamping jaws and used for relieving extrusion force of the clamp and the bottle body during clamping. A suction cup and a distance sensor are arranged on the clamping face of the buffer piece and used for effectively adsorbing the bottle body during clamping, and the clamping stability is improved; a pressure sensor is arranged between the buffer piece and the claw wall of the clamping claw and used for flexibly controlling the opening and closing angle of the clamping claw. The bottle body clamping device is simple in structure, stable in clamping and capable of well adapting to bottle bodies of various specifications.

Description

Technical Field

[0001] The utility model belongs to the technical field of machinery, and relates to a mechanical claw, in particular to a mechanical claw for clamping the bottle body. Background Art

[0002] With the continuous development of automation, the mechanical claw is an automatic mechanical device that simulates the actions of human hands and is used for fixed-program grasping and handling. It is also the most widely used modern machine in industrial manufacturing. By cooperating with a robotic arm, it can be used efficiently and flexibly in various scenarios and can also work stably in high-risk situations. Among the types of mechanical claws for clamping the bottle body, the ordinary mechanical claw will show clamping shaking during clamping, damaging the surface process of the bottle body. Moreover, the diameters of the bottle bodies are different. If different specifications of bottle bodies are to be clamped, the claw arms and claw teeth need to be disassembled and different mechanical claws need to be replaced to adapt to different specifications of bottle bodies, increasing the production cost. In addition, due to liquid residues during the electrolysis process, the mechanical claw slides when grasping the bottle body. Summary of the Invention

[0003] In view of this, the purpose of the utility model is to provide a mechanical claw for clamping the bottle body to control the arc and opening / closing angle of the claw buffer, and solve the technical problems of different diameters of the clamped bottle bodies and sliding caused by residual liquid on the bottle body in the prior art.

[0004] To achieve the above purpose, the mechanical claw for clamping the bottle body of the utility model includes a claw base, a transmission mechanism, and a clamping mechanism; characterized in that: the claw base is provided with at least one air inlet hole, an air outlet hole, and a cavity; the transmission mechanism includes a piston connecting rod and a hinge rod, and the piston connecting rod and the hinge rod are hinged and arranged inside the claw base; the clamping mechanism includes a claw, a buffer, a suction cup, a distance sensor, and a pressure sensor. The buffer is arranged inside the claw, the suction cup and the distance sensor are arranged on the buffer, and the pressure sensor is arranged between the claw and the buffer.

[0005] Further, for the above-mentioned mechanical claw for clamping the bottle body, the clamping mechanism includes: a left claw and a right claw, a first buffer and a second buffer; the clamping surfaces of the first buffer and the second buffer are both arc-shaped and flat-top tooth-shaped, and both the first buffer and the second buffer are made of flexible materials.

[0006] Further, for the above-mentioned mechanical claw for clamping the bottle body, the transmission mechanism includes a piston connecting rod, a first connecting rod, and a second connecting rod; one ends of the first connecting rod and the second connecting rod are connected to the clamping mechanism, and the other ends are connected to the piston connecting rod at the same time.

[0007] Further, for the aforementioned bottle body clamping mechanical claw, a first hinge rod is arranged inside the left claw, and a second hinge rod is arranged inside the right claw. Both the first hinge rod and the second hinge rod are hinged to the claw base.

[0008] Further, for the aforementioned bottle body clamping mechanical claw, at least one groove is provided on the claw base, and both ends of the pin are placed inside the groove.

[0009] Further, a number of air outlet holes and a number of air inlet holes are provided on the claw base, and both the air inlet holes and the air outlet holes lead to the cavity inside the claw.

[0010] Further, the first hinge rod and the second hinge rod, as well as the first connecting rod and the second connecting rod, are all connected by a fork-shaped structure. One end of the fork-shaped structure is a fork opening, and the other end is a fork head, and the fork opening and the fork head match each other.

[0011] The beneficial effects of the present utility model are as follows: The bottle body clamping mechanical claw adopts a new arc-shaped and flat-top tooth-shaped claw, which can well adapt to various specifications of bottle bodies; a position sensor is arranged on the buffer member inside the claw. When the edge of the bottle body reaches the set position value of the position sensor, the small suction cup on the buffer member works, so that the bottle body is effectively adsorbed during clamping, improving the clamping stability; a pressure sensor is arranged between the buffer member and the claw arm. During the process of clamping the bottle body, the bottle body presses the buffer member. When it is greater than the set value of the pressure sensor, the clamping action of the claw stops, so that the claw can flexibly control the opening and closing angle of the claw because the extrusion pressure between the bottle body and the claw buffer member is the same when clamping bottle bodies with different diameters. And the buffer member is made of a flexible material with acid resistance, corrosion resistance and high friction, which can effectively overcome the phenomenon of the bottle body slipping due to the liquid residue on the bottle body and prevent the corrosion of strong acid and strong alkali materials existing in the manufacturing process, etc.; the bottle body clamping mechanical claw has the advantages of simple structure, low cost and high safety factor. Description of the Drawings

[0012] Figure 1 is a schematic structural diagram of the present utility model;

[0013] Figure 2 is a side view schematic diagram of the present utility model;

[0014] Figure 3 is a partial sectional view schematic diagram of the present utility model;

[0015] Figure 4 is a partial enlarged view schematic diagram of the suction cup and the sensor on the claw of the present utility model;

[0016] Figure 5 is the present utility model Figure 3 of a partial enlarged view schematic diagram;

[0017] Figure 6It is a top view schematic diagram of the jaw base of the present utility model;

[0018] Figure 7 It is a bottom view schematic diagram of the jaw base of the present utility model.

[0019] In the figure: 1. First buffer; 2. Second buffer; 3. First hinge rod; 4. Second hinge rod; 5. First connecting rod; 6. Second connecting rod; 7. Piston connecting rod; 8. Jaw base; 9. Suction cup; 10. Pin; 11. First air inlet hole; 12. First air outlet hole; 13. Third air inlet hole; 14. Third air outlet hole; 15. Cavity; 16. Second air inlet hole; 17. Second air outlet hole; 18. Fourth air inlet hole; 19. Fourth air outlet hole; 20. Limit groove; 21. Left jaw; 22. Right jaw; 23. First pressure sensor; 24. Second pressure sensor. Specific embodiments

[0020] The following are specific embodiments of the present utility model and, in conjunction with the accompanying drawings, further describe the technical solutions of the present utility model, but the present utility model is not limited to these embodiments.

[0021] Embodiment 1

[0022] Refer to the attached Figure 1 , in this embodiment, the bottle body clamping mechanical claw includes: a jaw base (8), a transmission mechanism, and a clamping mechanism. The clamping mechanism includes: a left jaw (21), a right jaw (22), a first hinge rod (3), and a second hinge rod (4). The transmission mechanism includes: a piston connecting rod (7), a first connecting rod (5), and a second connecting rod (6). For the convenience of processing, installation, and simplification of the structure, as Figure 2 shown, both the first hinge rod (3) and the second hinge rod (4) are hinged at the top of the jaw seat, and the top of the first connecting rod (5) and the top of the second connecting rod (6) are hinged on both sides of the top of the piston connecting rod (7), that is, the hinge point of the first connecting rod (5) and the piston connecting rod (7) and the hinge point of the second connecting rod (6) and the piston connecting rod (7) are the same hinge point. During operation, the pin (10) connecting the first connecting rod (5), the second connecting rod (6), and the piston connecting rod (7) slides to the upper limit position of the inner groove (20) of the jaw base, and the jaws are clamped; the pin (10) slides to the lower limit position of the inner groove (20) of the jaw base, and the jaws open. The groove limits the limit position of the jaw clamping, so that the jaws will not break through the limit position when clamping.

[0023] Refer to the attached Figure 2 and 3, under the action of the pneumatic valve, airflows are introduced into the first air inlet hole (11) and the second air inlet hole (16). Under the action of the airflows, the piston connecting rod (7) moves in the blowing direction. At the same time, the first air outlet hole (12) and the second air outlet hole (17) exhaust air outward under the action of the piston connecting rod (7). During the process that the piston connecting rod (7) moves towards the lower limit position of the base groove (20) until it reaches the limit position, the first connecting rod (5) and the second connecting rod (6) are connected to the top end of the piston connecting rod (7) and move towards the bottom of the jaw base under the action of the piston connecting rod (7). The first connecting rod (5) drives the left jaw (21) and, under the action of the first hinge rod (3), causes the left jaw (21) to open outward. The second connecting rod (6) pulls the right jaw (22) and, under the action of the second hinge rod (4), causes the right jaw (22) to open outward. In this way, the rear jaws are driven to the state of being fully opened;

[0024] Refer to the appendix Figure 2 , 3 , under the action of the pneumatic valve, when airflows are introduced into the third air inlet hole (13) and the fourth air inlet hole (18), the pin (10) connecting the piston connecting rod (7) moves towards the upper limit position of the base groove (20) under the action of the airflows. At the same time, the third air outlet hole (14) and the fourth air outlet hole (19) also exhaust air outward under the action of the piston connecting rod (7). The piston connecting rod (7) drives the first connecting rod (5) and the second connecting rod (6) to move towards the top end of the jaw base (8) until they reach the limit position. The first connecting rod (5) pulls the left jaw (21) and, under the action of the first hinge rod (3), causes the left jaw (21) to clamp inward. The second connecting rod (6) pulls the right jaw (22) and, under the action of the second hinge rod (4), causes the right jaw (22) to clamp inward. In this way, the rear jaws are driven to the state of gripping an object.

[0025] Embodiment 2

[0026] The difference between this embodiment and Embodiment 1 is that: as Figure 5As shown, a first buffer member (1) and a second buffer member (2) are provided inside the left jaw (1) and the right jaw (2). At least one suction cup (9) and a distance sensor are provided on the clamping surface of the buffer member. During the clamping process of the jaws, the sensor works. When the edge of the bottle reaches the distance value set by the distance sensor, the small suction cup on the buffer member works to effectively adsorb the bottle body during clamping. A pressure sensor is provided between the buffer member and the jaw arm. During the process of clamping the bottle body, the bottle body squeezes the buffer member, causing the squeezing pressure to be transmitted to the pressure sensor. When it is greater than the value set by the pressure sensor, the clamping action of the jaws stops, enabling the jaws to flexibly control the opening and closing angle when clamping bottle bodies with different diameters because the squeezing pressure between the bottle body and the jaw buffer member is the same. Moreover, the buffer member adopts a new shape with an arc and flat-topped teeth. In this way, it can well adapt to bottle bodies of various specifications and has good anti-slip properties when the jaws are clamped, preventing the bottle body from falling off. The remaining structures and usage methods are the same as those in the first embodiment and will not be repeated here.

[0027] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-described exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms. Therefore, in any regard, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, it is intended to embrace all changes falling within the meaning and scope of the equivalent elements of the claims in the present invention. Any reference signs in the claims should not be construed as limiting the corresponding claims.

[0028] It should be understood that in the claims and the specification of the present invention, all "including..." should be understood in an open sense, that is, its meaning is equivalent to "at least containing...", and should not be understood in a closed sense, that is, its meaning should not be understood as "only containing...".

[0029] The specific embodiments described herein are merely illustrative of the spirit of the present invention. Those skilled in the art to which the present invention pertains can make various modifications or supplements to the described specific embodiments or use similar methods for substitution, but will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

Claims

1. Bottle clamping mechanical claw, comprising: Jaw base (8), clamping mechanism, transmission mechanism; characterized in that: the jaw base (8) is provided with a plurality of air inlet holes (11), air outlet holes (12) and a cavity (15); the clamping mechanism includes jaws (21), a buffer member (1), a suction cup, a distance sensor (9), and a pressure sensor (23), the buffer member (1) is arranged inside the jaws (21), the suction cup and the distance sensor (9) are arranged on the buffer member (1), and the pressure sensor (23) is arranged between the jaws (21) and the buffer member (1); the transmission mechanism includes a piston connecting rod (7) and a hinge rod, the piston connecting rod (7) and the hinge rod are hinged and arranged inside the jaw base (8).

2. The bottle body clamping mechanical claw according to claim 1, characterized in that: The clamping mechanism includes: a left jaw (21) and a right jaw (22), a first buffer member (1) and a second buffer member (2); the left jaw (21) and the right jaw (22) are respectively connected to the first buffer member (1) and the second buffer member (2); the clamping surfaces of the first buffer member (1) and the second buffer member (2) are both arc-shaped and flat-topped tooth-shaped, and the materials of the first buffer member (1) and the second buffer member (2) are both flexible materials.

3. The bottle body clamping mechanical claw according to claim 1, characterized in that: The transmission mechanism includes a piston connecting rod (7), a first connecting rod (5) and a second connecting rod (6); one ends of the first connecting rod (5) and the second connecting rod (6) are connected to the clamping mechanism, and the other ends are connected in series with the piston connecting rod (7) through a pin (10).

4. The bottle body clamping mechanical claw according to claim 2, characterized in that: A first hinge rod (3) is arranged inside the left jaw (21), a second hinge rod (4) is arranged inside the right jaw (22), and the first hinge rod (3) and the second hinge rod (4) are both hinged to the jaw base (8).

5. The bottle body clamping mechanical claw according to claim 3, wherein: A plurality of grooves (20) are arranged inside the jaw base, and both ends of the pin (10) are respectively placed inside the grooves (20).

6. The bottle body clamping mechanical claw according to claim 1, characterized in that: The jaw base (8) is provided with an air inlet hole (11) and an air outlet hole (12), the air inlet hole (11) and the air outlet hole (12) both lead to the cavity (15) inside the jaw, and the space of the cavity (15) is penetrated by the piston connecting rod (7).

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