A kind of ultra-clean high-purity reagent glass storage bottle grabbing device

Abstract

The utility model discloses a kind of grabbing devices of super-clean high-purity reagent glass storage bottle, including a carrier frame, the female disc of quick-change connector is installed in one side end of carrier frame, the male disc of quick-change connector is installed on transition plate, the other side of transition plate is installed in the execution end of robot by connecting flange;The female disc of quick-change connector and male disc are realized quick docking installation by taper pin;By the cooperation of the female disc and male disc of quick-change connector, the quick installation and disassembly of carrier frame are realized, so that the quick replacement of carrier frame is realized.Carrying frame rest each side end is equipped with the air claw of control combination type gripper opening and closing as needed, a pair of connecting plates are installed on each air claw, connecting arm is installed on each connecting plate, and the corresponding installation of cooperating use combination type gripper is installed in the end of connecting arm.The utility model can be applicable to the grabbing of glass storage bottle of different diameters by adjusting the opening of gripper;Quick change of grabbing mechanism is realized, positioning is accurate, adaptability is strong, performance is stable, and use effect is good.

Description

Technical Field

[0001] This utility model belongs to the field of intelligent manufacturing technology. Specifically, it relates to a gripping device for ultra-clean, high-purity reagent glass storage bottles. Background Technology

[0002] Glass is the preferred material for storing ultra-clean, high-purity reagents due to its excellent thermal stability, chemical stability, optical and mechanical properties.

[0003] Chinese utility model patent CN209922400U, entitled "A Quick-Grabbing Device for Pharmaceutical Controlled Glass Bottles," discloses a quick-grabbing device for pharmaceutical controlled glass bottles, including a device body and a working rod. A first hinge block is welded to the lower left end of the device body, and a second hinge block is welded to the lower right end. A through hole is provided at the top of the device body. A first clamping main arm is hinged to the first hinge block via a hinge bolt, and a second clamping main arm is hinged to the second hinge block via a hinge bolt. The first clamping main arm and the first clamping block are integrally formed. The right end of the first clamping main arm is hinged to a left connecting rod via a third hinge block. A first mounting block is integrally formed with the first clamping block, and a left gripping block is inserted into the first mounting block. A tube is welded to the bottom of the left gripping block, and the tube is inserted into a buffer seat via a buffer spring. Second sliders are welded to both ends of the bottom of the tube, and the second sliders are connected to second sliding grooves on both sides of the buffer seat. The dimensions are compatible. The left gripping block has a rubber anti-slip pad attached to its surface. The second clamping main arm is integrally formed with the second clamping block, and the second clamping block is integrally formed with the second mounting block. The right gripping block is installed inside the second mounting block. The two ends of the left gripping block have first sliding grooves, and the dimensions of the first sliding grooves are compatible with the dimensions of the first slider. The right connecting rod is hinged between the working rod and the second clamping main arm. The left end of the working rod is welded with a third hinge block, and the right end of the working rod is welded with a fourth hinge block. A compression spring is sleeved on the working rod. The upper end of the working rod passes through the fixing block and is seamlessly welded to the adjusting block. The dimensions of the adjusting block are compatible with the dimensions of the mounting track. The left end of the mounting track is installed inside the mounting cavity through a fixing bracket. The fixing plate and the mounting track are fixed together by bolts. The motor device is mounted on the fixing plate through a base. The rotor of the motor device is fixed to the shaft of the gear through a coupling. The rack is fixed to the right end of the adjusting block by bolts.

[0004] This patent primarily addresses the problems of existing vacuum suction cups, which require a sealing sleeve extending to the glass bottle body for sealing. These problems include insufficient gripping force and the risk of the bottle easily detaching during gripping and movement. The patent employs a purely mechanical gripper structure to increase gripping strength.

[0005] The fully automated production line for deep processing of high-end glass storage bottles needs to complete processes such as cleaning, drying, coating, curing, testing, and packaging. To achieve flexible transfer between various process equipment, a gripping mechanism for high-end glass storage bottles is required.

[0006] To address the aforementioned problems, this utility model proposes a gripping device for ultra-clean, high-purity reagent glass storage bottles. Utility Model Content

[0007] The purpose of this invention is to provide a gripping device suitable for ultra-clean, high-purity reagent glass storage bottles.

[0008] The technical solution of this utility model is:

[0009] A gripping device for ultra-clean, high-purity reagent glass storage bottles includes a support frame 3. A female disc 401 of a quick-connect coupling 4 is mounted on one side of the support frame 3, and a male disc 402 of the quick-connect coupling 4 is mounted on a transition plate 5. The other side of the transition plate 5 is mounted on the execution end of a robot 6 via a connecting flange. The female disc 401 and male disc 402 of the quick-connect coupling 4 are quickly connected and installed via a tapered pin 403. Through the cooperation of the female disc 401 and male disc 402 of the quick-connect coupling 4, the support frame 3 can be quickly installed and disassembled, thereby enabling rapid replacement of the support frame 3.

[0010] The remaining sides of the support frame 3 are equipped with pneumatic grippers 8 that control the opening and closing of the combined grippers 1 as needed. Each pneumatic gripper 8 is equipped with a pair of connecting plates 9, and each connecting plate 9 is equipped with a connecting arm. The end of the connecting arm is equipped with a combined gripper 1 for use.

[0011] The preferred technical solution provided by this utility model is:

[0012] One end of the connecting arm is provided with an adjustment plate 13, and the adjustment plate 13 has a waist-shaped fixing hole 131; the other end of the connecting arm is provided with a claw mounting bracket 14.

[0013] Preferably, the connecting arm is one or a combination of a long arm 2, a short arm 7, or a curved arm 10.

[0014] The further preferred technical solution provided by this utility model is:

[0015] The support frame 3 is equipped with a female disk 401 of quick-change connector 4 at one end, and a positioning boss 303 corresponding to the female disk 401 is provided. The positioning boss 303 has positioning holes 302 on its periphery. The positioning holes 302 are fitted with positioning pins to realize quick installation of the female disk 401.

[0016] Another preferred technical solution provided by this utility model is:

[0017] The combined gripper 1 includes symmetrically arranged grippers 101. Each gripper 101 includes a support rod 102. Curved rods 103 are respectively installed at the upper and lower ends of the support rod 102. At least two gripping teeth 11 are installed on the inner end of the curved rod 103.

[0018] Preferred,

[0019] The contact surface between the clamping teeth 11 and the ultra-clean high-purity reagent glass storage bottle 12 is a conical surface 1101, and it also includes an installation step surface 1102. The installation step surfaces 1102 are installed in opposite pairs to ensure that after the clamping teeth 11 on the upper and lower parts of the combined gripper 1 clamp the ultra-clean high-purity reagent glass storage bottle 12, the ultra-clean high-purity reagent glass storage bottle 12 will not be displaced.

[0020] Preferably, the clamping teeth 11 are made of polytetrafluoroethylene.

[0021] Preferably, the combined gripper 1 and the connecting arm are both made of 022Cr17Ni12Mo2 material, and the surface is coated with Teflon.

[0022] Beneficial effects:

[0023] 1. This device can be adapted to grip glass storage bottles of different diameters by adjusting the opening of the gripper;

[0024] 2. This device enables quick change of the gripping mechanism, adapting to the requirements of different process equipment;

[0025] 3. This device has a simple structure, is easy to install, and has low cost;

[0026] 4. When the gripping mechanism wears out, only the gripping teeth need to be replaced, making maintenance convenient.

[0027] Actual usage effect:

[0028] This device is used on a fully automated production line for the deep processing of high-end glass storage bottles. It features precise positioning, strong adaptability, stable performance, and excellent results. Attached Figure Description

[0029] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0030] Figure 2 for Figure 1 A three-dimensional structural diagram of the gripper 1;

[0031] Figure 3 for Figure 1 A three-dimensional structural diagram of the mid-to-long arm 2;

[0032] Figure 4 for Figure 3A three-dimensional structural schematic diagram of the adjustment plate 13;

[0033] Figure 5 for Figure 1 A three-dimensional structural diagram of the middle support frame 3;

[0034] Figure 6 for Figure 1 A three-dimensional structural diagram of the medium-speed quick-change connector 4;

[0035] Figure 7 for Figure 1 A three-dimensional structural diagram of the mid-short arm 7;

[0036] Figure 8 This is a three-dimensional structural diagram of a single-unit bending gripping mechanism;

[0037] Figure 9 for Figure 8 A three-dimensional structural diagram of the middle connecting plate 9;

[0038] Figure 10 for Figure 8 A three-dimensional structural diagram of the curved arm 10;

[0039] Figure 11 for Figure 8 A three-dimensional structural diagram of the middle clamping tooth 11;

[0040] Figure 12 for Figure 1 A three-dimensional structural diagram of the intermediate transition plate 5;

[0041] Figure 13 This is a three-dimensional structural diagram of another embodiment of the device;

[0042] Meaning of the markings in the attached diagram:

[0043] 1. Handle,

[0044] 101. Gripper; 102. Support rod; 103. Curved rod;

[0045] 2. Long arm,

[0046] 3. Support frame,

[0047] 301. Pin hole; 302. Locating hole; 303. Locating step;

[0048] 4. Quick-change connector,

[0049] 401. Mother plate, 402. Male plate, 403. Tapered pin;

[0050] 5. Transition plate, 6. Robot, 7. Short arm, 8. Gripper, 9. Connecting plate, 10. Bending arm, 11. Gripper teeth,

[0051] 1101. Conical surface; 1102. Stepped surface;

[0052] 12. Glass storage bottles;

[0053] 13. Adjustment plate; 131. Oval hole;

[0054] 14. Gripper mounting bracket. Detailed Implementation

[0055] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0056] Figure 1 This is a schematic diagram of the overall structure of this utility model. Figure 5 for Figure 1 A three-dimensional structural diagram of the middle support frame 3. Figure 6 for Figure 1 A three-dimensional structural diagram of the medium-speed quick-connect coupling 4. Figure 8 This is a three-dimensional structural diagram of a single-unit bending gripping mechanism, as shown below. Figure 1 , Figure 5 , Figure 6 , Figure 8 As shown, the gripping device for ultra-clean high-purity reagent glass storage bottles of this utility model includes a support frame 3. A female disc 401 of a quick-change connector 4 is installed on one end of the support frame 3, and a male disc 402 of the quick-change connector 4 is installed on a transition plate 5. Figure 12 As shown in the diagram, the other side of the transition plate 5 is installed on the execution end of the robot 6 via a connecting flange; the female disc 401 and male disc 402 of the quick-connect coupling 4 are quickly connected and installed via a tapered pin 403; through the cooperation of the female disc 401 and male disc 402 of the quick-connect coupling 4, the support frame 3 can be quickly installed and disassembled, thereby enabling the quick replacement of the support frame 3 (e.g., Figure 13 The carrier frame 3 of another embodiment is shown.

[0057] The remaining ends of the support frame 3 are equipped with pneumatic grippers 8 for controlling the opening and closing of the combined grippers 1 as needed, and each pneumatic gripper 8 is equipped with a pair of connecting plates 9. Figure 9 As shown in the figure, each connecting plate 9 is equipped with a connecting arm, and the end of the connecting arm is equipped with a matching combination gripper 1.

[0058] like Figure 3 , Figure 4 , Figure 7 , Figure 10As shown, one end of the connecting arm is provided with an adjustment plate 13, and the adjustment plate 13 has a waist-shaped fixing hole 131; the other end of the connecting arm is provided with a claw mounting bracket 14.

[0059] The connecting arm is one or a combination of a long arm 2, a short arm 7, or a curved arm 10.

[0060] like Figure 5 , Figure 6 As shown,

[0061] The support frame 3 is equipped with a female disk 401 of quick-change connector 4 at one end, and a positioning boss 303 corresponding to the female disk 401 is provided. The positioning boss 303 has positioning holes 302 on its periphery. The positioning holes 302 are fitted with positioning pins to realize quick installation of the female disk 401.

[0062] like Figure 2 , Figure 8 , Figure 11 As shown,

[0063] The combined gripper 1 includes symmetrically arranged grippers 101. Each gripper 101 includes a support rod 102. Curved rods 103 are respectively installed at the upper and lower ends of the support rod 102. At least two gripping teeth 11 are installed on the inner end of the curved rod 103.

[0064] This device must be assembled before use.

[0065] Step S1: Fix the connecting plate 9 to the corresponding position of the pneumatic gripper 8 with countersunk screws, then fix the pneumatic gripper 8 to the corresponding position of the support frame 3 with screws, and insert a positioning pin into the pin hole 301 on the support frame 3 for positioning.

[0066] Step S2: Fix the clamping teeth 11 to the corresponding position of the gripper 1 with countersunk screws, then fix the gripper 1 to the corresponding position of the long arm 2 with bolts, and then fix the adjusting plate 13 of the long arm 2 to the connecting plate 9 already installed on the bearing frame 3 with screws.

[0067] Step S3: Repeat step S2 to complete the installation of short arm 7;

[0068] Step S4: Repeat step S2 to complete the installation of the bending arm 10;

[0069] Step S5: Install the female disc 401 of the quick-connect coupling 4 onto the end of the support frame 3 with the positioning boss 303, and insert the positioning pin into the positioning hole 302 to make it fit; install the transition plate 5 on the connecting flange of the robot 6, and install the male disc 402 of the quick-connect coupling 4 on the other side of the transition plate 5.

[0070] Step S6: Quickly connect the female disc 401 and male disc 402 of the quick-connect coupling 4 using the tapered pin 403;

[0071] Step S7: Adjust the spacing of the grippers 1 according to the diameter of the glass storage bottle 12 by adjusting the oblong hole 131 of the adjusting plate 13.

[0072] The gripper and connecting arm of this utility model are assembled and do not distinguish between left and right, which greatly improves interchangeability. In order to meet the requirements of consistent action, the precision requirements are very high, and all machining must be completed in one clamping at the machining center.

[0073] To meet cleanliness requirements, both the gripper and connecting arm are made of 022Cr17Ni12Mo2 material with a Teflon coating, utilizing its excellent non-stick, heat-resistant, and chemical-resistant properties.

[0074] To avoid scratching the surface of the glass storage bottle 12 during clamping, the clamping teeth 11 are made of polytetrafluoroethylene (PTFE), whose excellent wear resistance, chemical stability, corrosion resistance, and heat resistance meet the process requirements of the fully automated production line for deep processing of glass storage bottles.

[0075] The contact surface between the clamping teeth 11 and the ultra-clean high-purity reagent glass storage bottle 12 is a conical surface 1101, and it also includes an installation step surface 1102. The installation step surfaces 1102 are installed in opposite pairs to ensure that after the clamping teeth 11 on the upper and lower parts of the combined gripper 1 clamp the ultra-clean high-purity reagent glass storage bottle 12, the ultra-clean high-purity reagent glass storage bottle 12 will not be displaced.

[0076] The described embodiments are merely some, not all, of the embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without inventive effort are within the scope of protection of this utility model.

Claims

1. A gripping device for ultra-clean, high-purity reagent glass storage bottles, characterized in that, It includes a support frame (3), on one side of which is installed a female disc (401) of a quick-connect connector (4), and a male disc (402) of the quick-connect connector (4) is installed on a transition plate (5). The other side of the transition plate (5) is installed on the execution end of the robot (6) through a connecting flange. The female disc (401) and the male disc (402) of the quick-connect connector (4) are quickly connected and installed through a tapered pin (403). The remaining sides of the support frame (3) are equipped with pneumatic grippers (8) that control the opening and closing of the combined grippers (1) as needed. Each pneumatic gripper (8) is equipped with a pair of connecting plates (9), each connecting plate (9) is equipped with a connecting arm, and the end of the connecting arm is equipped with a combined gripper (1) for use. By using the female disc (401) and male disc (402) of the quick-change connector (4), the support frame (3) can be quickly installed and disassembled, thereby enabling the quick replacement of the support frame (3).

2. The gripping device for ultra-clean, high-purity reagent glass storage bottles according to claim 1, characterized in that, One end of the connecting arm is provided with an adjustment plate (13), and the adjustment plate (13) has a waist-shaped fixing hole (131); the other end of the connecting arm is provided with a claw mounting bracket (14).

3. The gripping device for ultra-clean, high-purity reagent glass storage bottles according to claim 2, characterized in that, The connecting arm is one or a combination of a long arm (2), a short arm (7), or a curved arm (10).

4. The gripping device for ultra-clean, high-purity reagent glass storage bottles according to claim 1, characterized in that, The support frame (3) is equipped with a positioning boss (303) corresponding to the mother plate (401) of the quick-change connector (4) at one end. The positioning boss (303) has a positioning hole (302) on its periphery. The positioning hole (302) is fitted with a positioning pin to realize the quick installation of the mother plate (401).

5. The gripping device for ultra-clean, high-purity reagent glass storage bottles according to claim 1, characterized in that, The combined gripper (1) includes grippers (101) arranged symmetrically on the left and right sides. Each gripper (101) includes a support rod (102). Curved rods (103) are respectively installed at the upper and lower ends of the support rod (102). At least two gripping teeth (11) are installed on the inner end of the curved rod (103).

6. The gripping device for ultra-clean, high-purity reagent glass storage bottles according to claim 5, characterized in that, The contact surface between the clamping teeth (11) and the ultra-clean high-purity reagent glass storage bottle (12) is a conical surface (1101), and also includes an installation step surface (1102). The installation step surfaces (1102) are installed in opposite pairs to ensure that after the clamping teeth (11) on the upper and lower parts of the combined gripper (1) clamp the ultra-clean high-purity reagent glass storage bottle (12), the ultra-clean high-purity reagent glass storage bottle (12) will not be displaced.

7. The gripping device for ultra-clean, high-purity reagent glass storage bottles according to claim 6, characterized in that, The clamping teeth (11) are made of polytetrafluoroethylene.

8. The gripping device for ultra-clean, high-purity reagent glass storage bottles according to claim 1, characterized in that, The combined gripper (1) and connecting arm are both made of 022Cr17Ni12Mo2 material, with a Teflon coating on the surface.

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