Swing flexible gripping apparatus

Abstract

The utility model discloses a swing flexible gripping apparatus which comprises a rack and a swing frame, a mechanical arm connecting shaft is installed on the rack, a floating universal joint is installed on the rack, the output end of the floating universal joint is connected with the swing frame, hydraulic buffers are installed at the four corners of the rack, the output ends of the hydraulic buffers abut against the swing frame, and the output ends of the hydraulic buffers abut against the swing frame. A cylinder is mounted on the frame, a base plate is mounted on the swing frame, an output end of the cylinder is matched with the base plate, and a mounting plate and a guide rail are mounted at the bottom of the swing frame. Through the arrangement of the floating universal joint, when liquid shakes during bagged material transportation, the swing frame can deflect along with the floating universal joint, and through the buffering effect of the hydraulic buffer and the air cylinder, deflection of the swing frame can be conducted stably; through the matching arrangement of the U-shaped frame and the mounting plate, the sponge sucking disc can be mounted on the sucking disc mounting seat, and then the sucking disc mounting seat is fixed, so that the situation that the sponge sucking disc is not firmly adhered and is easy to fall off when only the sponge sucking disc is replaced traditionally is avoided.

Description

Technical Field

[0001] This utility model relates to the field of swing flexible gripper technology, and in particular to a swing flexible gripper. Background Technology

[0002] Flexible bag packaging is widely used in food, chemical, condiment, feed additive, and pharmaceutical industries. For example, the bagging process for everyday items such as bagged milk, bagged food, and bagged medicine can largely be automated.

[0003] In the food and pharmaceutical industries, it is common to use 25kg bags to transport raw materials. However, because the bottom of the 25kg bag contains more material than the top, the liquid material will shake inside the bag when the robot grabs and transports it, causing the sponge suction cup to leak air and miss the grab. In addition, the 25kg bag is relatively heavy, and the sponge suction cup is easy to fall off during the transportation process. Utility Model Content

[0004] Therefore, it is necessary to provide a swinging flexible gripper to address the aforementioned technical problems.

[0005] To achieve the above objectives, this utility model provides a swinging flexible gripper, including a frame and a swinging frame. A robotic arm connecting shaft is installed on the frame, and a floating universal joint is installed on the frame. The output end of the floating universal joint is connected to the swinging frame. Hydraulic dampers are installed at all four corners of the frame, and the output ends of the hydraulic dampers abut against the swinging frame. A cylinder is installed on the frame, and a pad is installed on the swinging frame. The output end of the cylinder is configured to cooperate with the pad. A mounting plate and a guide rail are installed at the bottom of the swinging frame. A suction cup mounting seat and a U-shaped frame are slidably engaged on the guide rail. The U-shaped frame is located outside the suction cup mounting seat, and the U-shaped frame is connected to the mounting plate by bolts. A sponge suction cup is installed on the suction cup mounting seat.

[0006] Preferably, the number of cylinders is two, and the two cylinders are arranged on opposite sides.

[0007] Preferably, a U-shaped mounting bracket is installed on the frame, and the cylinder is mounted on the U-shaped mounting bracket.

[0008] Preferably, the output end of the cylinder is equipped with an abutment block, which is configured to cooperate with the pad.

[0009] Preferably, a laser rangefinder is mounted on the frame.

[0010] Preferably, a wear-resistant block is installed on the swing frame, and the output end of the hydraulic buffer abuts against the wear-resistant block.

[0011] Compared with existing technologies, this technical solution has at least one of the following beneficial effects:

[0012] 1. By setting up a floating universal joint, the swing frame can deflect when the liquid sloshes during the transportation of bagged materials. The deflection of the swing frame can be carried out smoothly through the buffering effect of the hydraulic buffer and the cylinder.

[0013] 2. By using the U-shaped frame and mounting plate together, the sponge suction cup can be installed on the suction cup mounting base, and then the suction cup mounting base can be fixed in place, thus avoiding the situation where the traditional sponge suction cup is not firmly attached and is easy to fall off. Attached Figure Description

[0014] Figure 1 This is a perspective view of an embodiment of the present utility model;

[0015] Figure 2 This is a front view of an embodiment of the present invention;

[0016] Figure 3 This is a side view of an embodiment of the present invention;

[0017] Figure 4 This is an embodiment of the present utility model. Figure 3 Enlarged view of point A in the middle;

[0018] In the diagram, 1. Frame; 2. Swing frame; 3. Robotic arm connecting shaft; 4. Floating universal joint; 5. Hydraulic buffer; 7. Cylinder; 8. Pad; 9. Mounting plate; 10. Guide rail; 11. Suction cup mounting base; 12. U-shaped frame; 13. Bolt; 14. Sponge suction cup; 15. U-shaped mounting bracket; 16. Abutment block; 17. Laser rangefinder; 18. Wear-resistant block. Detailed Implementation

[0019] To make the above-mentioned objects, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a full understanding of this utility model. However, this utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0020] Please see Figures 1 to 4This application provides a swinging flexible gripper, including a frame 1 and a swing frame 2. A robotic arm connecting shaft 3 is installed on the frame 1. A floating universal joint 4 is installed on the frame 1, and the output end of the floating universal joint 4 is connected to the swing frame 2. Hydraulic buffers 5 are installed at the four corners of the frame 1, and the output ends of the hydraulic buffers 5 abut against the swing frame 2. A cylinder 7 is installed on the frame 1. A pad 8 is installed on the swing frame 2, and the output end of the cylinder 7 is matched with the pad 8. A mounting plate 9 and a guide rail 10 are installed at the bottom of the swing frame 2. A suction cup mounting seat 11 and a U-shaped frame 12 are slidably engaged on the guide rail 10. The U-shaped frame 12 is located outside the suction cup mounting seat 11. The U-shaped frame 12 and the mounting plate 9 are connected by bolts 13. A sponge suction cup 14 is installed on the suction cup mounting seat 11.

[0021] In this embodiment, the robotic arm is connected to the robotic arm via the connecting shaft 3 on the frame 1. The robotic arm drives the frame 1 and the swing frame 2 to move. During the movement of the bag after the sponge suction cup 14 adsorbs the bagged material, the surging liquid inside the bag will drive the swing frame 2 to deflect through the sponge suction cup 14. Since the frame 1 is connected to the swing frame 2 via the floating universal joint 4, the swing frame 2 can deflect with the bagged material, thereby preventing the sponge suction cup 14 from creating a gap with the bagged material and causing the bagged material to detach. When the swing frame 2 deflects, the hydraulic buffer 5 on the frame 1 makes the deflection of the swing frame 2 relatively slow and uniform, further making it difficult for the bagged material to detach. The hydraulic buffer 5 can automatically reset after contracting or extending. Since the bagged material transportation is usually a fixed two-point transportation, when the sponge suction cup 14 adsorbs and releases, the cylinder 7 can extend and abut against the pad 8 on the swing frame 2, thereby making the swing frame 2 flat to ensure the flatness of the bagged material during adsorption or placement. When the sponge suction cup 14 needs to be replaced, bolt 13 needs to be removed so that the U-shaped frame 12 is no longer fixedly connected to the mounting plate 9. After the U-shaped frame 12 is slid off the guide rail 10, the suction cup mounting base 11 can be slid off together with the sponge suction cup 14, thus fixing the sponge suction cup 14 to the suction cup mounting base 11. The suction cup mounting base 11 is then fixed to the mounting plate 9 by the U-shaped frame 12, preventing the sponge suction cup 14 from falling off. The sponge suction cup 14 can be connected to a negative pressure device or pressed and adsorbed by itself to adsorb bagged materials. This is existing technology and will not be described in detail. When removing bolt 13, simply separate it from the mounting plate 9. Bolt 13 is still located on the U-shaped frame 12, thus reducing the difficulty of disassembly.

[0022] In some embodiments, to further improve the stability of the swing frame 2, the number of cylinders 7 is set to two, and the two cylinders 7 are arranged symmetrically.

[0023] In some embodiments, to facilitate the installation of the cylinder 7, a U-shaped mounting bracket 15 is provided on the frame 1, and the cylinder 7 is mounted on the U-shaped mounting bracket 15.

[0024] In some embodiments, to prevent damage to the cylinder 7, an abutment block 16 is installed at the output end of the cylinder 7, and the abutment block 16 is configured to cooperate with the pad 8. This avoids the situation where a small area of ​​compression can easily damage the output end of the cylinder 7.

[0025] In some embodiments, a laser rangefinder 17 is installed on the frame 1 to facilitate the adsorption and release of bagged materials. The laser rangefinder 17, the cylinder 7, and the robotic arm should all be connected via a signal processor.

[0026] In some embodiments, to improve the service life of the swing frame 2, a wear-resistant block 18 is installed on the swing frame 2, and the output end of the hydraulic buffer 5 abuts against the wear-resistant block 18. This prevents wear on the swing frame 2 from affecting its leveling.

[0027] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0028] The above embodiments only illustrate several implementation methods of this utility model, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

[0029] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0030] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0031] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

Claims

1. A swinging flexible gripper, comprising a frame (1) and a swing frame (2), wherein a robotic arm connecting shaft (3) is mounted on the frame (1), characterized in that, A floating universal joint (4) is installed on the frame (1). The output end of the floating universal joint (4) is connected to the swing frame (2). Hydraulic buffers (5) are installed at the four corners of the frame (1). The output end of the hydraulic buffers (5) abuts against the swing frame (2). A cylinder (7) is installed on the frame (1). A pad (8) is installed on the swing frame (2). The output end of the cylinder (7) is matched with the pad (8). A mounting plate (9) and a guide rail (10) are installed at the bottom of the swing frame (2). A suction cup mounting seat (11) and a U-shaped frame (12) are slidably connected on the guide rail (10). The U-shaped frame (12) is located outside the suction cup mounting seat (11). The U-shaped frame (12) and the mounting plate (9) are connected by bolts (13). A sponge suction cup (14) is installed on the suction cup mounting seat (11).

2. The swinging flexible gripper according to claim 1, characterized in that, The number of cylinders (7) is two, and the two cylinders (7) are arranged symmetrically.

3. The swinging flexible gripper according to claim 1, characterized in that, A U-shaped mounting bracket (15) is installed on the frame (1), and the cylinder (7) is installed on the U-shaped mounting bracket (15).

4. The swinging flexible gripper according to claim 1, characterized in that, The output end of the cylinder (7) is equipped with an abutment block (16), which is configured to cooperate with the pad (8).

5. The swinging flexible gripper according to claim 1, characterized in that, A laser rangefinder (17) is mounted on the frame (1).

6. The swinging flexible gripper according to claim 1, characterized in that, Wear-resistant blocks (18) are installed on the swing frame (2), and the output end of the hydraulic buffer (5) abuts against the wear-resistant blocks (18).

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