Gripper structure with bottle supporting and gripping function and manipulator

Abstract

The utility model relates to a gripping apparatus structure with a bottle supporting and gripping function. The gripping apparatus structure comprises a mold, a suction assembly and a quick release mechanism, two guide grooves are formed in the lower end face of the mold, and the suction assemblies are arranged in the guide grooves and used for sucking penicillin bottles and paper supports. And the quick release mechanism is connected to the upper end of the mold and is used for being quickly connected with a driving part. The suction assembly comprises a plurality of bottle suction suckers and a plurality of paper tray suckers; the multiple bottle suction cups are connected into the two guide grooves in the lower end face of the mold at equal intervals. The multiple paper tray suction cups are evenly distributed and connected to the lower end face of the mold at equal intervals. And the plurality of bottle suction suckers and the plurality of paper support suckers are connected with a vacuum pump. The gripping apparatus structure with the bottle supporting and gripping function and the mechanical arm have the advantages of being efficient, stable and safe in the process that penicillin bottles are put into boxes with supports.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of gripper structure and manipulator of bottle with supporting. BACKGROUND

[0002] The product of the existing penicillin bottle with supporting into box generally adopts the mode of directly grabbing or sucking paper support, and the penicillin bottle and paper support are loaded into paper box together. This requires that the paper support has larger outer dimension, complex structure and certain supporting strength, and puts forward quite high requirements on the material and manufacturing process of paper support. At present, paper support occupies a large space in the box, which leads to the synchronous increase of the size of paper box, and greatly increases the cost of product packaging.

[0003] The deficiency of the existing direct grabbing mechanism is mainly that paper support is sucked or grabbed alone, and a larger suction disc is needed, and a larger space needs to be left on paper support for the contact of gripper, and if the manufacturing quality of paper support is poor, the penicillin bottle may directly fall during the grabbing process.

[0004] In addition, there is also a mode of directly grabbing bottle to support into box, but paper support may be thrown off during the grabbing process, which may lead to the failure of paper support into box.

[0005] Therefore, a kind of gripper structure and manipulator of bottle with supporting is proposed to solve the above problems. CONTENT OF UTILITY MODEL

[0006] The utility model aims at overcoming the defects of the prior art and providing a kind of gripper structure and manipulator of bottle with supporting, which has the advantages of high efficiency, stability and safety during the process of penicillin bottle with supporting into box.

[0007] The technical scheme for realizing the above-mentioned purpose is: a kind of gripper structure of bottle with supporting, including mold, sucking assembly and quick release mechanism;

[0008] The lower end surface of the mold is provided with two guide grooves, and the sucking assembly is arranged in the guide grooves for sucking penicillin bottles and paper supports. The quick release mechanism is connected to the upper end of the mold for quick connection with the driving part.

[0009] Preferably, the sucking assembly includes a plurality of bottle suction cups and a plurality of paper support suction cups. The plurality of bottle suction cups are connected equidistantly in the two guide grooves of the lower end surface of the mold. The plurality of paper support suction cups are connected equidistantly and uniformly on the lower end surface of the mold.

[0010] Preferably, the plurality of bottle suction cups and the plurality of paper support suction cups are connected with vacuum pumps.

[0011] Preferably, the lower end of the guide groove is provided with a circular arc shape and connected with a bottle neck clamping ring.

[0012] Preferably, the mold is made of polyoxymethylene plastic material.

[0013] The mechanical arm based on the bottle grabbing structure with the bottle supporting function comprises a mechanical arm body, an output end of the mechanical arm body is connected with a fixed plate, and two ends of the fixed plate are connected with a mold respectively.

[0014] The bottle grabbing structure with the bottle supporting function has the advantages that the multiple paper support suction cups are arranged in the two guide grooves in the lower end surface of the mold, the upper end of the vial is sucked by the bottle suction cup during work, the paper support is sucked by the paper support suction cup, the vial and the paper support cannot fall off during the transfer process, the bottle grabbing structure with the bottle supporting function has the advantages of high efficiency, stability and safety, the paper support is simple in design, only a small suction force is needed to stably grab the paper support, the paper support does not bear the weight of the bottle body, the material of the paper support can be selected as a simple card paper, and the manufacturing process is simplified. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 is the isometric view of the bottle grabbing structure with the bottle supporting function of the utility model;

[0016] Figure 2 is the front view of the bottle grabbing structure with the bottle supporting function of the utility model;

[0017] Figure 3 is the sectional view of the bottle grabbing structure with the bottle supporting function of the utility model;

[0018] Figure 4 is the schematic view of the mechanical arm of the utility model.

[0019] In the drawing: 1, bottle suction cup; 2, vial; 3, paper support; 4, mold; 5, paper support suction cup; 6, quick release mechanism; 7, guide groove; 8, bottle neck clamping ring; 9, mechanical arm body; 10, fixed plate. DETAILED DESCRIPTION

[0020] The technical scheme of the utility model will be described clearly and completely in combination with the drawings. In the description of the utility model, it should be explained that the orientation or position relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like is the orientation or position relationship shown in the drawings, and is only for the convenience of describing the utility model and simplifying the description, and cannot be understood as indicating or implying that the indicated device or element must have a specific orientation, a specific orientation and operation, and therefore cannot be understood as a limitation on the utility model. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying the importance of the opposite.

[0021] The utility model will be further described in combination with the drawings.

[0022] As Figures 1-3 shown, a bottle grabbing structure with a paper tray includes a mold 4, a suction assembly, and a quick release mechanism 6; two guide grooves 7 are formed in the lower end surface of the mold 4, the suction assembly is arranged in the guide grooves 7, and is used for suction of a penicillin bottle and a paper tray; and the quick release mechanism 6 is connected to the upper end of the mold 4, and is used for quick connection with a driving part.

[0023] Specifically, the suction assembly includes a plurality of bottle suction discs 1 and a plurality of paper tray suction discs 5; the plurality of bottle suction discs 1 are respectively connected in the two guide grooves 7 of the lower end surface of the mold 4 at equal distances; and the plurality of paper tray suction discs 5 are connected to the lower end surface of the mold 4 at equal distances. The plurality of bottle suction discs 1 and the plurality of paper tray suction discs 5 are both connected with a vacuum pump. The lower end of the guide groove 7 is provided in a circular arc shape, and is connected with a bottle neck clamping ring 8. The guide groove 7 can guide without damaging the bottle head, and after the suction disc sucks the bottle, the circular arc of the bottle neck clamping ring 8 clamps the circular arc of the bottle neck, so as to ensure that the bottle body is stable and does not shake, and the greater the deformation of the suction disc, the tighter the bottle is grabbed.

[0024] Specifically, the mold 4 is made of polyoxymethylene plastic material. It has excellent rigidity and wear resistance, and can effectively ensure the service life of the mold; at the same time, the plastic material has lower density and lighter weight than the aluminum mold, which reduces the load inertia of the mechanical hand, and can effectively improve the speed of the bottle grabbing structure.

[0025] Specifically, the penicillin bottle 2 is placed in the paper tray 3, the vacuum pump is started, and the plurality of bottle suction discs 1 are driven to suck the upper end of the penicillin bottle 2; the paper tray suction disc 5 sucks the paper tray 3, so that the penicillin bottle 2 and the paper tray 3 will not fall off during the transfer process; after the transfer is completed, the vacuum pump is turned off, and the release of the bottle and the paper tray is completed.

[0026] Specifically, by sucking only the bottle neck position of the penicillin bottle 2 through the bottle suction disc 1, the entire bottle body is controlled, and the serious disadvantage of scratching the label by guiding the bottle body in the traditional grabbing is eliminated.

[0027] The bottle grabbing structure with a paper tray includes a mold 4, a suction assembly, and a quick release mechanism 6; two guide grooves 7 are formed in the lower end surface of the mold 4, the suction assembly is arranged in the guide grooves 7, and is used for suction of a penicillin bottle and a paper tray; and the quick release mechanism 6 is connected to the upper end of the mold 4, and is used for quick connection with a driving part.

[0028] As Figure 4As shown, a mechanical arm based on a bottle grabbing structure with a supporting bottle grabbing device comprises a mechanical arm body 9, an output end of the mechanical arm body 9 is connected with a fixed plate 10, and two ends of the fixed plate 10 are respectively connected with a mold 4. The mold 4 is connected with the fixed plate 10 through a quick release mechanism 6 at an upper end, and different bottle bodies can be adapted by replacing the mold 4 with different sizes.

[0029] Specifically, the quick release mechanism 6 can be an L-shaped knob block, a limiting groove is formed in the fixed plate 10, and the quick connection of the two is completed by rotating the L-shaped knob block into the limiting groove.

[0030] In another embodiment, the quick release mechanism 6 can be an electromagnet, and the electromagnet is connected with the fixed plate 10 by being electrified to generate magnetism.

[0031] In another embodiment, the quick release mechanism 6 can also be a quick release screw, and the two are connected by penetrating the fixed plate 10 with the quick release screw to connect the mold 4.

[0032] The above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions recorded in the above embodiments can still be modified, or some or all of the technical features can be replaced equivalently; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A gripper structure with a bottle holder, characterized in that, Includes mold (4), suction assembly and quick release mechanism (6); The mold (4) has two guide grooves (7) on its lower end face. The suction component is set in the guide grooves (7) for suction of vials and paper trays. The quick-release mechanism (6) is connected to the upper end of the mold (4) for quick connection with the drive component.

2. The bottle-gripping gripper structure according to claim 1, characterized in that, The suction assembly includes multiple bottle suction cups (1) and multiple paper tray suction cups (5); the multiple bottle suction cups (1) are connected at equal distances to two guide grooves (7) on the lower end face of the mold (4); the multiple paper tray suction cups (5) are evenly distributed and connected to the lower end face of the mold (4).

3. The bottle-gripping gripper structure according to claim 2, characterized in that, The multiple bottle suction cups (1) and the multiple paper tray suction cups (5) are all connected to a vacuum pump.

4. The bottle-gripping gripper structure according to claim 2, characterized in that, The lower end of the guide groove (7) is set in an arc shape and is connected to a bottleneck retaining ring (8).

5. The bottle-gripping gripper structure according to claim 1, characterized in that, The mold (4) is made of polyoxymethylene plastic.

6. A robotic arm based on the bottle-gripping gripper structure according to any one of claims 1-5, characterized in that, It includes a robotic arm body (9), the output end of which is connected to a fixing plate (10), and each end of the fixing plate (10) is connected to a mold (4).

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