Integrated gripper structure
Through the combination of rotating cylinder and claw suction cup with integrated gripper structure, the problem of space limitation and fall off in barrel handling is solved, and stable and efficient barrel handling is achieved.
Patent Information
- Application Number
- CN202422257776.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-14
- Publication Date
- 2025-08-01
- Estimated Expiration
- 2034-09-14
AI Technical Summary
In the prior art, the handling of barrel-type materials has the problem of high space size requirements, the mechanical jaws are large in size and difficult to use in narrow spaces, and the vacuum suction cup is prone to fall off.
An integrated gripper structure is designed, combining rotating cylinders, jaws and suction cups to achieve mechanical locking by rotating cylinders, and the suction cups are used for adsorption locking, solving the problems of space limitations and falloff.
It realizes stable handling of the barrel in a narrow space, which can be mechanically locked and not easily fall off, improving handling efficiency and safety.
Smart Images
Figure CN223175192U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of handling, and particularly relates to an integrated gripper structure. Background Art
[0002] At present, in the canning industry, after the round barrels on the production line are canned, they need to be unloaded manually or by a robot. For round barrels weighing more than 5KG, both of the above two unloading methods require handling of the round barrels. When handling, either mechanical claws or vacuum suction cups are used. However, the mechanical claws are large in both weight and volume, making it difficult to handle round barrels in a limited space, while the vacuum suction cups are prone to falling off.
[0003] As Figure 1 shown, a plurality of circumferentially uniformly distributed clamping protrusions are provided on the circumferential outer wall of the round barrel to facilitate the mechanical claws to handle the round barrel through the clamping protrusions. The top surface of the round barrel has a planar structure to facilitate the vacuum suction cup to perform vacuum adsorption on the round barrel. Summary of the Invention
[0004] Aiming at the problems that the mechanical claws for grasping and handling round barrel materials in the prior art have high requirements for space dimensions and the vacuum suction cups are prone to falling off, the purpose of the utility model is to provide an integrated gripper structure to at least partially solve the above problems.
[0005] To achieve the above purpose, the technical solution of the utility model is as follows:
[0006] An integrated gripper structure for grasping cylindrical materials, wherein a plurality of clamping protrusions suitable for grasping are circumferentially and uniformly provided on the surface of the materials. The integrated gripper structure includes a gripper connecting piece, a rotary cylinder, a cylinder connecting piece, clamping claws and a suction cup; the rotary cylinder is fixedly connected to one side of the bottom surface of the gripper connecting piece, the output end of the rotary cylinder is fixedly connected to the top surface of the cylinder connecting piece, and both the clamping claws and the suction cup are fixedly connected to one side of the bottom surface of the cylinder connecting piece; wherein, there are a plurality of the clamping claws, and the plurality of clamping claws are circumferentially spaced around the rotation axis of the output end of the rotary cylinder, and the suction cup is arranged within the range surrounded by the plurality of clamping claws.
[0007] In some preferred embodiments, it further includes an annular clamping claw carrier, and a plurality of the clamping claws are circumferentially and uniformly fixed on the clamping claw carrier, and the clamping claw carrier is fixedly connected to the bottom surface of the cylinder connecting piece.
[0008] In some preferred embodiments, the clamping claw includes a claw arm, the claw arm is fixed on the clamping claw carrier, the claw arm is substantially strip-shaped and extends axially, and a clamping block extending radially is provided at the free end of the claw arm.
[0009] In some preferred embodiments, the number of the card projections is the same as that of the claws, and the card projections and the claws are both circumferentially evenly distributed.
[0010] Adopting the above technical solution, the beneficial effects of the present utility model are as follows: through the settings of the rotary cylinder, the claws and the suction cups, when the integrated gripper structure is in use, on the one hand, the rotary cylinder can drive the cylinder connecting piece to rotate, enabling the integrated gripper structure to realize the mechanical locking function for the round barrel, and on the other hand, the round barrel can also be adsorbed and locked by the suction cups. Therefore, when carrying the round barrel, it can be carried out in a narrow space and will not easily fall off. Description of the Drawings
[0011] Figure 1 It is a schematic diagram of the round barrel to be carried in the present utility model.
[0012] Figure 2 It is a schematic diagram of the integrated gripper structure in the present utility model.
[0013] Figure 3 It is an exploded view of the integrated gripper structure in the present utility model.
[0014] Figure 4 It is a schematic diagram of the use process of the integrated gripper structure in the present utility model.
[0015] In the figure: 1 - gripper connecting piece, 2 - rotary cylinder, 3 - cylinder connecting piece, 4 - claw, 5 - suction cup, 6 - claw carrier. Specific Embodiments
[0016] The following further describes the specific embodiments of the present utility model with reference to the drawings. It should be noted here that the description of these embodiments is for helping to understand the present utility model, but does not constitute a limitation to the present utility model. In addition, the technical features involved in the various embodiments of the present utility model described below can be combined with each other as long as they do not conflict with each other.
[0017] It should be noted that in the description of the present utility model, the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "front", "rear", etc. is the description of the structure of the present utility model based on the drawings shown, and is only for the convenience of describing the present utility model simply, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present utility model.
[0018] For the "first" and "second" in the present technical solution, they are only the appellation distinctions for the same or similar structures, or the corresponding structures with similar functions, rather than the arrangement of the importance of these structures, nor do they have the meaning of sorting, or comparing sizes, or other meanings.
[0019] In addition, unless otherwise clearly specified and defined, the terms "installation" and "connection" shall be understood in a broad sense. For example, the connection can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two structures. For those of ordinary skill in the art, the specific meanings of the above terms in this utility model can be understood according to the general idea of this utility model and in connection with the specific context of this solution.
[0020] Embodiment
[0021] An integrated gripper structure is used to grasp cylindrical materials, such as Figure 1 the shown round barrel. A plurality of gripping protrusions suitable for gripping, such as four, are evenly arranged circumferentially on the surface of the round barrel.
[0022] As Figures 2 - 3 shown, the integrated gripper structure includes a gripper connector 1, a rotary cylinder 2, a cylinder connector 3, a claw 4, and a suction cup 5.
[0023] The gripper connector 1 has a disc-shaped structure, and one side of its top surface is used for fixed connection with the end of a robot / robotic arm. The rotary cylinder 2 is arranged on one side below the gripper connector 1. The rotary cylinder 2 includes a cylinder body and an output end that rotates relative to the cylinder body. The output end of the rotary cylinder 2 is approximately located at the center of the cylinder body. In this embodiment, the top surface of the cylinder body of the rotary cylinder 2 is fixedly connected to the bottom surface of the gripper connector 1 by screws, and the output end of the rotary cylinder 2 is located on one side of the bottom surface of its cylinder body. The cylinder connector 3 has a plate-shaped structure. The cylinder connector 3 is located on one side below the rotary cylinder 2, and the top surface of the cylinder connector 3 is fixedly connected to the output end of the rotary cylinder 2 by screws.
[0024] Four claws 4 are provided. The four claws 4 are all arranged on one side below the cylinder connector 3, and the four claws 4 are evenly spaced circumferentially around the rotation axis of the output end of the rotary cylinder 2.
[0025] The four claws 4 are all connected to the cylinder connector 3 through an annular claw carrier 6. For example, the claw carrier 6 is fixed to the bottom surface of the cylinder connector 3 by welding or screw connection, and the axis of the claw carrier 6 coincides with the rotation axis of the output end of the rotary cylinder 2, while the four claws 4 are integrally formed on the bottom surface of the claw carrier 6.
[0026] The chuck 4 specifically includes a claw arm. The upper end of the claw arm is connected to the chuck carrier 6. The claw arm is generally strip-shaped and extends axially. This axial direction refers to the direction of the rotation axis of the output end of the rotary cylinder 2. The free end (i.e., the lower end) of the claw arm is integrally formed with a radially extending clamping block, and the clamping blocks belonging to each chuck 4 extend radially in the same direction.
[0027] In this way, after each chuck 4 extends into the gap between the clamping protrusions, by driving the cylinder connecting piece 3 to rotate through the rotary cylinder 2, that is, each chuck 4 (the clamping block at the lower end) can be respectively rotated to the lower side of each clamping protrusion on the barrel, so as to provide the function of preventing the barrel from falling off through the chuck 4.
[0028] It is easy to understand that the number of chucks 4 does not necessarily exactly equal the number of clamping protrusions on the barrel. For example, only two chucks 4 can be provided, and the two chucks 4 are arranged at an interval of 180°. Generally speaking, the number of chucks 4 is a factor (excluding 1) of the number of clamping protrusions.
[0029] The suction cup 5 is also arranged on the lower side of the cylinder connecting piece 3. The suction cup 5 is specifically fixed on the bottom surface of the cylinder connecting piece 3, and the suction cup 5 is located within the surrounding range of the four chucks 4. In this embodiment, a through hole is also provided on the cylinder connecting piece 3, which is used for the pipeline connected to the suction cup 5 to pass through. At the same time, a gap is reserved between the rotary cylinder 2 and the cylinder connecting piece 3 for the pipeline to pass through.
[0030] It is easy to understand that there can be more than one suction cup 5 to facilitate increasing the adsorption capacity. Multiple suction cups 5 are jointly fixed on the support frame, and then the support frame is fixed on the bottom surface of the cylinder connecting piece 3. Of course, the support frame is also located within the surrounding range of the four chucks 4.
[0031] The working process of the integrated gripper structure provided by the present utility model is as follows:
[0032] As Figure 4As shown, during use, driven by a robot or a robotic arm, the integrated gripper structure moves from the original position to the material pickup position, and at this time, the integrated gripper structure is directly above the drum; then the integrated gripper structure descends, enabling the claws 4 to extend into the gaps between the various protrusions on the drum, and then the rotary cylinder 2 drives the cylinder connecting piece 3 to rotate, that is, each claw 4 (the lower clamping block) can be respectively rotated to the lower side of each protrusion on the drum, enabling the integrated gripper structure to achieve the mechanical locking function of the drum. At this time, the adsorption surface of the suction cup 5 also adheres to the top surface of the drum; then the suction cup 5 starts to work and adsorbs and locks the drum; the integrated gripper structure, driven by a robot or a robotic arm, transports the drum to the material discharging position; then the suction cup 5 stops working and releases the adsorption on the drum; then the rotary cylinder 2 drives the cylinder connecting piece 3 to rotate in the reverse direction, so that the claws 4 (the lower clamping blocks) are moved out from below the protrusions on the drum, and driven by the robot or the robotic arm, the integrated gripper structure moves away from the drum and resets to the original position, thus completing the transportation work of the drum.
[0033] The above has described in detail the embodiments of the present utility model in conjunction with the accompanying drawings, but the present utility model is not limited to the described embodiments. For those skilled in the art, without departing from the principle and spirit of the present utility model, various changes, modifications, substitutions, and variations made to these embodiments still fall within the protection scope of the present utility model.
Claims
1. An integrated gripper structure for gripping cylindrical materials, wherein a plurality of gripping protrusions adapted to be gripped are evenly arranged circumferentially on the surface of the materials, and it is characterized in that: The integrated gripper structure includes a gripper connecting piece, a rotary cylinder, a cylinder connecting piece, a claw and a suction cup; the rotary cylinder is fixedly connected to one side of the bottom surface of the gripper connecting piece, the output end of the rotary cylinder is fixedly connected to the top surface of the cylinder connecting piece, and the claw and the suction cup are both fixed to one side of the bottom surface of the cylinder connecting piece; wherein, there are a plurality of the claws, and the plurality of claws are circumferentially arranged at intervals around the rotation axis of the output end of the rotary cylinder, and the suction cup is arranged within the range surrounded by the plurality of claws.
2. The integrated gripper structure according to claim 1, wherein: It further includes an annular claw carrier, and the plurality of claws are circumferentially and uniformly fixed on the claw carrier, and the claw carrier is fixedly connected to the bottom surface of the cylinder connecting piece.
3. The integrated gripper structure according to claim 2, wherein: The claw includes a claw arm, the claw arm is fixed on the claw carrier, the claw arm is generally strip-shaped and extends axially, and a radially extending clamping block is provided at the free end of the claw arm.
4. The integrated gripper structure according to claim 1, wherein: The number of the clamping protrusions is the same as the number of the claws, and the clamping protrusions and the claws are both circumferentially evenly distributed.