Bottle and can clamping manipulator

Abstract

The utility model discloses a bottle and can clamping manipulator which comprises an installation mechanism, a clamping air cylinder and a clamping jaw, a linkage mechanism comprises a pushing piece and a linkage arm, a cylinder rod of the clamping air cylinder stretches out in the direction away from the clamping jaw to be connected with the pushing piece, the pushing piece is connected with the linkage arm, and the clamping jaw is movably connected with the linkage arm to form an openable structure. The clamping air cylinder is located in a space defined by the pushing piece, the linkage arm and the clamping jaw. According to the utility model, the whole structure is simple, parts are fewer, the assembly is more convenient, the reliability is higher, and the maintenance is easy; the power structure of the clamping jaw is more reasonable in design, the clamping air cylinder stretches backwards to push the clamping jaw to be opened or closed, the space can be more fully utilized, miniaturization of the whole device is facilitated, and the device can be more conveniently used in cooperation with a robot with a compact structure.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm devices, and in particular to a robotic arm for gripping bottles and cans. Background Technology

[0002] Bottle capping is a frequent process in industrial production, such as in chemical testing, pharmaceuticals, and food processing. Before and after materials are loaded into bottles, the caps need to be opened and closed. Currently, this operation is typically automated using bottle capping robots. For example, Chinese invention patent application CN202311659870.5 discloses a bottle clamping robot. This robot uses a clamping rod in an auxiliary clamping component that generates elastic clamping force under the action of a spring, and an air bladder that contacts the bottle body, preventing damage from excessive clamping. Simultaneously, the springs can be compressed, allowing the clamping rods of each auxiliary clamping component to extend and retract independently, accommodating bottles of different shapes. However, this technical solution has some drawbacks. For instance, its structure is relatively complex, difficult to assemble, and prone to damage. Furthermore, its use of a horizontal arm combined with a vertical arm results in a large overall size, requiring significant space when opened and potentially restricting its use. Utility Model Content

[0003] This invention addresses the shortcomings of existing technologies by providing a bottle and can gripping robot with a simpler structure, more reasonable design, easier assembly, and smaller footprint.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: a bottle and can clamping robot, including an installation mechanism, a clamping cylinder and a gripper, wherein the clamping cylinder is installed on the installation mechanism, characterized in that: the linkage mechanism includes a pusher and a linkage arm, the cylinder rod of the clamping cylinder extends in the direction away from the gripper and is connected to the pusher, the pusher is connected to the linkage arm, the gripper is movably connected to the linkage arm to form an openable and closable structure, and the clamping cylinder is located in the space enclosed between the pusher, the linkage arm and the gripper.

[0005] Furthermore, the mounting mechanism includes a fixed plate, a connecting plate, and a fixed base arranged sequentially from back to front. The fixed base is connected and fixed to the fixed plate through the upper and lower connecting plates. The entire robotic arm is mounted through the fixed plate, for example, on a robot.

[0006] Furthermore, the fixed base is installed at the front end of the connecting plate and near the tail of the gripper, the clamping cylinder is installed on the back of the fixed base, the pusher is located between the fixed plate and the clamping cylinder, and the two connecting arms are located on the left and right sides of the clamping cylinder.

[0007] Furthermore, the fixed base has a T-shaped structure with fixed ears extending to both sides at its front. The middle part of the gripper is movably installed between the upper and lower fixed ears via a fixed shaft. A bushing, such as a copper bushing, is fitted on the fixed shaft to provide rotational support and prevent the gripper from wearing out. The tail end of the gripper is hinged to the front end of the corresponding linkage arm via a pin to form a structure that can rotate relative to each other. The tail end of the linkage arm is hinged to the pusher via a connecting shaft to form a structure that can rotate relative to each other.

[0008] Preferably, the grippers have a V-shaped structure, which allows them to open at a larger angle even when the tail of the grippers is relatively small, thus enabling them to hold more bottles of different sizes.

[0009] Furthermore, a clamping block is fixed on the inner side of the front part of the gripper. The clamping block can be made of elastic materials such as rubber, and its inner surface is an arc groove or V-shaped groove structure to match the shape of the outer wall of the bottle. The bottle is clamped by the grooves of the two clamping blocks.

[0010] Furthermore, a clamping plate is provided on the inner side of the front part of the gripper, and the clamping block is fixed on the clamping plate.

[0011] A sensor is installed on the clamping cylinder or connecting plate to detect the extension position of the cylinder rod. The sensor is connected to the control system and can be used to detect the state of the gripper, such as whether it is closed or open.

[0012] The overall structure of this utility model is simpler, with fewer parts, easier assembly, higher reliability, and easier maintenance. The gripper power structure is more rationally designed, with the gripping cylinder extending and retracting backward to push the gripper to open or close, which can make full use of space and is conducive to the miniaturization of the entire device, making it easier to use with compact robots. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the structure of this utility model.

[0014] In the diagram, 11 is a fixed plate, 12 is a connecting plate, 13 is a fixed seat, 14 is a fixed ear, 2 is a clamping cylinder, 31 is a pushing component, 32 is a connecting arm, 33 is a connecting shaft, 4 is a gripper, 41 is a clamping plate, 5 is a fixed shaft, 51 is a bushing, 6 is a clamping block, and 7 is a bottle. Detailed Implementation

[0015] In this embodiment, refer to Figure 1The bottle and can clamping robot includes an installation mechanism, a clamping cylinder 2, and a gripper 4. The linkage mechanism includes a pusher 31 and a linkage arm 32. The cylinder rod of the clamping cylinder 2 extends away from the gripper 4 (i.e., extends backward) and connects to the pusher 31. This makes full use of the space on both sides of the clamping cylinder 2, thereby reducing the overall size. The pusher 31 is connected to the linkage arm 32, and the gripper 4 is movably connected to the linkage arm 32 to form an openable and closable structure. The clamping cylinder 2 is located in the space enclosed by the pusher 31, the linkage arm 32, and the gripper 4. The whole structure is very compact and occupies little space.

[0016] The mounting mechanism includes a fixed plate 11, a connecting plate 12, and a fixed base 13 arranged sequentially from back to front. The fixed base 13 is connected and fixed to the fixed plate 11 through the upper and lower connecting plates 12. The entire manipulator is mounted through the fixed plate 11, for example, on a robot.

[0017] The fixed base 13 is installed at the front end of the connecting plate 12 and near the tail of the gripper 4. The clamping cylinder 2 is installed on the back of the fixed base 13. The pusher 31 is located between the fixed plate 11 and the clamping cylinder 2. The two connecting arms 32 are located on the left and right sides of the clamping cylinder 2.

[0018] The fixed base 13 has a T-shaped structure, with fixed ears 14 extending outwards from the front. The middle part of the gripper 4 is movably installed between the upper and lower fixed ears 14 via a fixed shaft 5. A bushing 51, such as a copper bushing, is fitted on the fixed shaft 5 to provide rotational support and prevent wear on the gripper 4. The tail end of the gripper 4 is hinged to the front end of the corresponding connecting arm 32 via a shaft pin to form a structure that can rotate relative to each other. The tail end of the connecting arm 32 is hinged to the pusher 31 via a connecting shaft 33 to form a structure that can rotate relative to each other.

[0019] The gripper 4 has a V-shaped structure, which allows it to open at a larger angle even when the tail of the gripper 4 is relatively small, thus enabling it to hold more bottles 7 of different sizes.

[0020] A clamping block 6 is fixed on the inner side of the front part of the clamping claw 4. The clamping block 6 can be made of elastic materials such as rubber. Its inner side has an arc groove (or V-shaped groove) structure to match the outer wall shape of the bottle 7. The bottle 7 is clamped by the arc grooves of the two clamping blocks 6.

[0021] A clamping plate 41 is provided on the inner side of the front part of the gripper 4, and the clamping block 6 is fixed on the clamping plate 41. The clamping block 6 can be directly replaced after it is worn, without having to replace the entire gripper 4.

[0022] A sensor (not shown) for detecting the extension position of the cylinder rod is provided on the clamping cylinder 2 or the connecting plate 12. The sensor is connected to the control system and can be used to detect the state of the gripper 4, such as closed or open.

[0023] During operation, the clamping cylinder 2 operates, and its cylinder rod extends and retracts, causing the pusher 31 to move back and forth. The pusher 31 drives the connecting arm 32 to move back and forth, and the connecting arm 32 drives the gripper 4 to rotate around the fixed shaft 5 as the rotation axis, thereby performing clamping or opening actions.

[0024] The present invention has been described in detail above. The above description is only a preferred embodiment of the present invention and should not be construed as limiting the scope of the present invention. All equivalent changes and modifications made in accordance with the scope of this application should still fall within the scope of the present invention.

Claims

1. A bottle and can clamping robot, comprising a mounting mechanism, a clamping cylinder, grippers, and a control system, wherein the clamping cylinder is mounted on the mounting mechanism, characterized in that: The linkage mechanism includes a pusher and a linkage arm. The cylinder rod of the clamping cylinder extends away from the gripper and connects to the pusher. The pusher is connected to the linkage arm. The gripper is movably connected to the linkage arm to form an openable structure. The clamping cylinder is located in the space enclosed between the pusher, the linkage arm and the gripper. The installation mechanism includes a fixed plate, a connecting plate, and a fixed base arranged sequentially from back to front. The fixed base is connected and fixed to the fixed plate through the upper and lower connecting plates, and the entire robot arm is installed through the fixed plate. The fixed base is installed at the front end of the connecting plate and near the tail of the gripper. The gripping cylinder is installed on the back of the fixed base. The pusher is located between the fixed plate and the gripping cylinder. The two connecting arms are located on the left and right sides of the gripping cylinder. A clamping block is fixed on the inner side of the front part of the gripper. The inner side of the clamping block is an arc-shaped groove or a V-shaped groove structure. The bottle is clamped by the grooves of the two clamping blocks.

2. The bottle and can gripping robot according to claim 1, characterized in that: The fixed base has a T-shaped structure with fixed ears extending to both sides at the front. The middle part of the gripper is movably installed between the upper and lower fixed ears via a fixed shaft, and a bushing is fitted on the fixed shaft. The tail end of the gripper is hinged to the front end of the corresponding linkage arm via a shaft pin to form a structure that can rotate relative to each other. The tail end of the linkage arm is hinged to the pusher via a connecting shaft to form a structure that can rotate relative to each other.

3. The bottle and can gripping robot according to claim 1, characterized in that: The grippers have a V-shaped structure.

4. The bottle and can gripping robot according to claim 1, characterized in that: A clamping plate is provided on the inner side of the front part of the gripper, and the clamping block is fixed on the clamping plate.

5. The bottle and can gripping robot according to claim 1, characterized in that: A sensor for detecting the extension position of the cylinder rod is installed on the clamping cylinder or the connecting plate, and the sensor is connected to the control system.

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