Novel multi-axis robot tail end cover opening clamp

Abstract

The utility model discloses a novel multi-shaft robot tail end cover opening clamp, which relates to the technical field of service robot bottle opening and comprises a base, an air cylinder is fixedly mounted in the middle of the base, a push rod is fixedly arranged at the telescopic end of the air cylinder, a shaft is fixedly arranged at one end of the push rod, and a right clamping jaw and a left clamping jaw are slidably connected to two sides of one end of the base respectively. One end of the right clamping jaw and one end of the left clamping jaw are respectively provided with a sliding block guide rail, the shafts are arranged in the middles of the two sliding block guide rails in a sliding mode, and the other end of the base is fixedly provided with a can opener. The multifunctional bottle opener further has multiple functions of turning a bottle cap, opening a ring-pull can, opening a beer bottle cap and the like, and can be matched with a mechanical arm to complete tasks such as beverage pouring. Compared with an existing coffee robot clamp in the market, the coffee robot clamp is richer in function and can meet more scene requirements.

Description

Technical Field

[0001] This utility model relates to the field of bottle opening technology for service robots, specifically a novel multi-axis robot end cap opening fixture. Background Technology

[0002] Opening bottles is a common and necessary task in daily life, catering services, industrial production, and various scenarios involving bottled products. Traditional bottle opening methods often rely on direct human operation, such as using hands to open beer bottle caps or using simple tools like bottle openers to open various bottle caps. However, with social development and diversified needs, existing bottle opening methods have gradually revealed some limitations and shortcomings, which has prompted the development of new bottle opening fixtures. A search reveals that existing robotic end-effector bottle openers mainly rely on clamping and then twisting to open bottles. For example, a robotic bottle opener fixture with application number CN201921380182.4 includes a connecting flange, a fixed base, and a cylinder; the fixed base is L-shaped and includes a connecting plate and a base plate fixed to one side of the connecting plate perpendicular to it. The flange is located on the side of the connecting plate away from the base plate. The cylinder is fixed to the connecting plate on the same side as the base plate, and a cylinder seat is located on the side of the cylinder closest to the base plate, with a positioning pin coaxial with it inside the cylinder seat. However, the above-mentioned common types of bottle openers still have the following shortcomings:

[0003] With limited applicability, traditional bottle openers are often only applicable to specific types of bottle caps, as different bottles have different shapes, sizes, and cap types. They are functionally limited and have poor applicability. Utility Model Content

[0004] The purpose of this utility model is to provide a novel multi-axis robot end cap opening gripper to solve the problems mentioned in the background art, such as limited applicability, different bottles having different shapes, sizes and cap types, and traditional bottle openers often only applicable to specific types of caps, with limited functionality and poor applicability.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a novel multi-axis robot end-effector opening gripper, comprising a base, a cylinder fixedly mounted in the middle of the base, a push rod fixedly mounted on the telescopic end of the cylinder, a shaft fixedly mounted on one end of the push rod, a right gripper and a left gripper slidably connected to both sides of one end of the base, a slider guide rail provided at one end of the right gripper and one end of the left gripper, the shaft slidably mounted in the middle of the two slider guide rails, a can opener fixedly mounted on the other end of the base, an outer frame fixedly mounted on the top of the base by screws, a right semi-circular cap screwer fixedly mounted on the top of the outer frame, and a left semi-circular cap screwer fixedly mounted on one end of the push rod.

[0006] Preferably, two hooks are fixedly provided on the outer side of the left gripper, a flow guide groove is fixedly provided on the bottom of the left gripper, a drill bit is fixedly provided on the outer side of the right gripper, and anti-slip sleeves are attached to the inner walls of grippers 5 and 6 to increase the friction between them and the bottle body and prevent the bottle body from slipping.

[0007] Preferably, an air inlet and an air outlet are installed on one side of the cylinder.

[0008] Preferably, the left semicircular cap screwdriver is positioned directly opposite the right semicircular cap screwdriver, and both the inner sides of the right semicircular cap screwdriver and the left semicircular cap screwdriver are fixedly provided with threads to increase friction and prevent the bottle body and cap from being gripped loosely due to being too hard.

[0009] Preferably, the tilt angle of the slider guide is set to 45°, so that the gripper has a certain self-locking ability to prevent the bottle body and bottle cap from being too hard and thus not being able to grip firmly.

[0010] Preferably, anti-slip sleeves are fixedly provided on the inner sides of both the left and right grippers to increase the friction between them and the bottle body and prevent the bottle body from slipping.

[0011] Compared with the prior art, the beneficial effects of this utility model are:

[0012] This invention uses a cylinder to drive a push rod, which in turn drives the gripper to open and close. Combined with a slider guide mechanism, it ensures that the gripper moves smoothly and accurately, and can adapt to the operation of various bottle cap types, including pull ring bottle caps, foil bottle seals, rotary bottle caps and crown caps, etc., which greatly improves the robot's versatility and flexibility.

[0013] The grippers are equipped with hooks, drill bits, and can openers to meet the opening needs of different bottle caps, making operation convenient and efficient. At the same time, the anti-slip sleeve on the inner wall of the grippers and the threaded design inside the grooves effectively enhance the friction and stability during gripping, preventing the bottle cap or bottle from slipping during operation and improving the reliability of the operation.

[0014] The fixed angle design of the slider groove gives the gripper a certain self-locking ability, which is especially suitable for scenarios with hard bottle bodies and caps, ensuring a firm grip; while the movement of the push rod along the base guide rail further ensures the smooth operation of the entire device, extends its service life, and reduces the failure rate. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of the cover-opening clamp of this utility model;

[0016] Figure 2 This is a schematic diagram of the disassembly structure of the cover-opening clamp of this utility model;

[0017] Figure 3This is a top cross-sectional view of the cover-opening clamp of this utility model.

[0018] In the diagram: 1. Outer frame; 2. Can opener; 3. Base; 4. Push rod; 5. Right gripper; 6. Left gripper; 7. Hook; 8. Drill bit; 9. Guide groove; 10. Shaft; 11. Cylinder; 12. Air inlet; 13. Air outlet; 14. Sliding guide rail; 15. Left semi-circular cap screwdriver; 16. Right semi-circular cap screwdriver. Detailed Implementation

[0019] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention.

[0020] Please see Figure 1-3 This utility model provides a novel multi-axis robot end-effector opening fixture, including a base 3. A cylinder 11 is fixedly installed in the middle of the base 3. A push rod 4 is fixedly installed at the telescopic end of the cylinder 11. A shaft 10 is fixedly installed at one end of the push rod 4. A right gripper 5 and a left gripper 6 are slidably connected to both sides of one end of the base 3. A slider guide rail 14 is provided at one end of the right gripper 5 and one end of the left gripper 6. The shaft 10 is slidably installed in the middle of the two slider guide rails 14. A can opener 2 is fixedly installed at the other end of the base 3. An outer frame 1 is fixedly installed at the top of the base 3 by screws. A right semi-circular cap screwer 16 is fixedly installed at the top of the outer frame 1. A left semi-circular cap screwer 15 is fixedly installed at one end of the push rod 4. An air inlet 12 and an air outlet 13 are installed on one side of the cylinder 11. The tilt angle of the slider guide rail 14 is set to 45°.

[0021] See Figure 1 and Figure 2 Two hooks 7 are fixedly installed on the outer side of the left jaw 6, a guide groove 9 is fixedly installed at the bottom of the left jaw 6, a drill bit 8 is fixedly installed on the outer side of the right jaw 5, and anti-slip sleeves are fixedly installed on the inner side of both the left jaw 6 and the right jaw 5.

[0022] In use, when it is necessary to clamp the bottle, the control system drives the cylinder 11 to work. When the air inlet 12 is filled with air, the piston rod of the cylinder 11 extends, and the push rod 4 connected to the cylinder pushes it outward longitudinally. At this time, the front end of the push rod 4, through the shaft 10, moves the grippers 5 and 6 laterally outward using the slider guide mechanism, that is, the grippers open. When the control system places the end clamp above the bottle and then moves it down to the middle of the bottle, the control system starts the cylinder 11 to work. When the air outlet 13 releases air, the piston rod of the cylinder 11 retracts, and the push rod 4 connected to the cylinder retracts longitudinally inward. At this time, the front end of the push rod 4, through the shaft 10, moves the grippers 5 and 6 laterally inward using the slider guide mechanism, that is, the grippers retract and clamp the bottle.

[0023] See Figure 1 and Figure 2The left semi-circular cap screwdriver 15 is positioned directly opposite the right semi-circular cap screwdriver 16, and both the inner side of the right semi-circular cap screwdriver 16 and the inner side of the left semi-circular cap screwdriver 15 are fixedly provided with threads.

[0024] When in use, the threads on the inner sides of the left semi-circular cap screw 15 and the right semi-circular cap screw 16 can increase the friction between them and the bottle body, preventing the bottle from slipping off.

[0025] In use, the following steps are taken: First, the outer shell 1 and the base 3 are installed on the end flange of the robotic arm. When it is necessary to open the pull-ring bottle cap, the pull hook 7 moves along a fixed route according to the command issued by the control system to pull open the pull ring.

[0026] When it is necessary to open the bottle seal, the drill bit 8 will pierce the foil from top to bottom according to the command issued by the control system and follow a fixed route to complete the bottle opening and sealing operation.

[0027] When it is necessary to open the rotating bottle cap, the control system drives the clamp to move the lower circular groove to directly above the bottle cap, and drives the cylinder 11 to work. When the air inlet 12 is filled with air, the piston rod of the cylinder 11 extends, and the push rod 4 connected to the cylinder pushes out longitudinally. The lower circular groove connected to the push rod 4 opens, and the control system drives the clamp to move downward until it touches the bottle cap. The control system then starts the cylinder 11 to work. When the air outlet 13 releases air, the piston rod of the cylinder 11 retracts, and the push rod 4 connected to the cylinder retracts longitudinally inward. The lower circular groove closes and clamps the bottle cap. After retraction, the center of the circular groove is aligned with the center of the robotic arm axis. The control system controls the clamp to rise and rotate, and the bottle cap can be opened.

[0028] When the crown cap needs to be opened, the control system drives the clamp to move the can opener 2 directly above the cap, drives the clamp to move downward a fixed distance, and then lifts it upward to open the cap.

[0029] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A novel end-effector gripper for multi-axis robots, comprising a base (3), characterized in that: A cylinder (11) is fixedly installed in the middle of the base (3). A push rod (4) is fixedly installed at the telescopic end of the cylinder (11). A shaft (10) is fixedly installed at one end of the push rod (4). A right gripper (5) and a left gripper (6) are slidably connected to both sides of one end of the base (3). A slider guide rail (14) is provided at one end of the right gripper (5) and one end of the left gripper (6). The shaft (10) is slidably installed in the middle of the two slider guide rails (14). A can opener (2) is fixedly installed at the other end of the base (3). An outer frame (1) is fixedly installed at the top of the base (3) by screws. A right semi-circular cap screwer (16) is fixedly installed at the top of the outer frame (1). A left semi-circular cap screwer (15) is fixedly installed at one end of the push rod (4).

2. The novel multi-axis robot end-effector opening fixture according to claim 1, characterized in that: Two hooks (7) are fixedly provided on the outer side of the left jaw (6), a guide groove (9) is fixedly provided on the bottom of the left jaw (6), and a drill bit (8) is fixedly provided on the outer side of the right jaw (5).

3. The novel multi-axis robot end-effector opening fixture according to claim 1, characterized in that: The cylinder (11) has an air inlet (12) and an air outlet (13) installed on one side.

4. A novel multi-axis robot end-effector opening fixture according to claim 1, characterized in that: The left semicircular cap screwdriver (15) is positioned opposite the right semicircular cap screwdriver (16), and both the inner side of the right semicircular cap screwdriver (16) and the inner side of the left semicircular cap screwdriver (15) are fixedly provided with threads.

5. A novel multi-axis robot end-effector opening fixture according to claim 1, characterized in that: The tilt angle of the slider guide rail (14) is set to 45°.

6. A novel multi-axis robot end-effector opening fixture according to claim 1, characterized in that: Anti-slip sleeves are fixedly provided on the inner side of the left gripper (6) and the inner side of the right gripper (5).

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