Self-locking robotic can-opening clamp executor

Abstract

The utility model provides a kind of self-locking robot can opener clamp executor, including finger cylinder and uncovering mechanism, finger cylinder includes two groups of clamping block that can be relatively close or far away movement, uncovering mechanism includes can opener block and driving assembly.When the finger cylinder drives two groups of clamping block to be relatively close and move to take pop can, and through collaborative robot, pop can is placed into specified position, then through collaborative robot, make can opener block vertical orientation, again make can opener block bottom tip insert between pull ring and can top of pop can, and simultaneously through driving assembly, drive can opener block to rotate upwards, at this time, the slope below V-shaped can opening groove arches pull ring, can opener block drives pull ring to move upwards and opens lid action, when the two slopes of V-shaped can opening groove and clamping block adhere to close V-shaped can opening groove opening, pull ring can be closed in V-shaped can opening groove, to avoid pull ring and pop can completely separate from can opener block and fly out, avoid to cause pollution to working environment.

Description

Technical Field

[0001] This utility model specifically relates to a self-locking robotic can-opening clamp actuator. Background Technology

[0002] In beverage production, logistics sorting, and vending systems, the automated opening of aluminum cans is typically performed by industrial robots. These robots use a can-opening gripper at the end of their robotic arm to hold the pull tab and apply a preset force and motion trajectory to open the can lid.

[0003] Most existing can-opening grippers have simple structures, often using hooks at the bottom or side of the grippers to catch the pull tab. When the hooks completely separate the pull tab from the can, the pull tab often bounces off the hooks, causing pollution to the working environment. Therefore, to address the above technical problems, a self-locking robotic can-opening gripper actuator is proposed. Utility Model Content

[0004] To address the shortcomings of existing technologies, this invention proposes a self-locking robotic can-opening clamp actuator, which prevents the pull tab from being ejected from the can-opening block when it is completely separated from the can, thus avoiding pollution of the working environment.

[0005] A self-locking robotic can-opening actuator includes a finger cylinder and a can-opening mechanism. The finger cylinder includes two sets of gripping blocks that can move relative to or away from each other. The can-opening mechanism includes:

[0006] A can-opening block, wherein one set of clamping blocks has a mounting groove at its end away from the finger cylinder, one end of the can-opening block is rotatably disposed in the mounting groove about a vertical axis, and the other end extends outside the clamping block, and a V-shaped can-opening groove is formed on the side away from the other set of clamping blocks, the V-shaped can-opening groove extending from the inclined surface away from the clamping block to the end face of the can-opening block away from the clamping block; and

[0007] A drive assembly is used to drive the can-opening block to rotate so that the two inclined surfaces of the V-shaped can-opening groove fit into the clamping block and close the opening of the V-shaped can-opening groove.

[0008] The beneficial effects of the above-mentioned self-locking robotic can-opening actuator are as follows:

[0009] When the finger cylinder drives two sets of gripping blocks to move closer together to grasp the can, and the collaborative robot places the can in the designated position, the collaborative robot then makes the can-opening block vertically oriented, and then inserts the bottom tip of the can-opening block between the pull ring and the top of the can. At the same time, the drive component drives the can-opening block to rotate upward. At this time, the inclined surface below the V-shaped can-opening groove arches the pull ring, and the can-opening block drives the pull ring to move upward to open the lid. When the two inclined surfaces of the V-shaped can-opening groove are in contact with the gripping block to close the opening of the V-shaped can-opening groove, the pull ring can be sealed in the V-shaped can-opening groove, thereby preventing the pull ring from jumping off the can-opening block when it is completely separated from the can, and avoiding pollution to the working environment.

[0010] In one embodiment, the can-opening block is detachably connected to the clamping block.

[0011] In one embodiment, a connecting bolt is vertically arranged on one of the clamping blocks, and a connecting hole is opened at one end of the can opening block. The bottom end of the connecting bolt passes through the connecting hole and is threaded to the bottom surface of the mounting groove.

[0012] In one embodiment, the drive assembly includes a worm gear, a worm, and a motor; the worm gear is fixed on the can-opening block and coaxial with the rotation axis of the can-opening block; the worm is rotatably disposed in the mounting groove and meshes with the worm gear; and the motor is disposed on the clamping block, with its output end coaxially connected to the worm.

[0013] In one embodiment, arc-shaped grooves are provided on opposite sides of both sets of clamping blocks.

[0014] In one embodiment, the finger cylinder is also provided with a mounting plate. Attached Figure Description

[0015] To more clearly illustrate the specific embodiments of this utility model, the accompanying drawings used in the specific embodiments will be briefly described below. In all the drawings, the elements or parts are not necessarily drawn to scale.

[0016] Figure 1 A three-dimensional structural diagram of a self-locking robotic can-opening clamp actuator provided in an embodiment of this utility model;

[0017] Figure 2 for Figure 1 The image shown is a top view after partial cross-section of another state of a self-locking robot can-opening gripper actuator;

[0018] Figure 3 for Figure 2 Enlarged view of region A in the middle;

[0019] Figure 4 for Figure 1The diagram shows an exploded view of the drive assembly in a self-locking robot can-opening clamp actuator.

[0020] Figure label:

[0021] 1. Finger cylinder; 11. Mounting plate;

[0022] 2. Clamping block; 21. Mounting slot; 22. Connecting bolt; 23. Arc-shaped groove;

[0023] 10. Can opener block; 101. V-shaped can opener groove; 102. Connection hole;

[0024] 20. Worm gear; 201. Worm; 202. Motor. Detailed Implementation

[0025] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings. These embodiments are merely illustrative of the present invention and should not be construed as limiting the scope of protection of the present invention.

[0026] Please see Figures 1 to 3 One embodiment of a self-locking robotic can-opening actuator includes a finger cylinder 1 and a can-opening mechanism. The finger cylinder 1 includes two sets of gripping blocks 2 that can move relative to or away from each other. The can-opening mechanism includes a can-opening block 10 and a drive assembly. Specifically, one set of gripping blocks 2 has a mounting groove 21 at its end away from the finger cylinder 1. One end of the can-opening block 10 is rotatably disposed in the mounting groove 21 around a vertical axis, and the other end extends outside the gripping block 2. A V-shaped can-opening groove 101 is formed on the side away from the other set of gripping blocks 2. The inclined surface of the V-shaped can-opening groove 101 away from the gripping block 2 extends to the end face of the can-opening block 10 away from the gripping block 2. The drive assembly is used to drive the can-opening block 10 to rotate so that the two inclined surfaces of the V-shaped can-opening groove 101 fit against the gripping block 2 and close the opening of the V-shaped can-opening groove 101.

[0027] It is understandable that the finger cylinder 1 is installed on the collaborative robot (not shown in the figure), and the collaborative robot can drive the finger cylinder 1 to move and rotate in multiple directions.

[0028] In the above embodiment, when the finger cylinder 1 drives the two sets of clamping blocks 2 to move closer to each other to clamp the can (not shown), and the collaborative robot places the can into the designated position, the collaborative robot then makes the can opening block 10 vertical, and then inserts the bottom tip of the can opening block 10 between the pull ring and the top of the can. At the same time, the drive component drives the can opening block 10 to rotate upward. At this time, the inclined surface below the V-shaped can opening groove 101 arches the pull ring, and the can opening block 10 drives the pull ring to move upward to open the lid. When the two inclined surfaces of the V-shaped can opening groove 101 fit with the clamping block 2 to close the opening of the V-shaped can opening groove 101, the pull ring can be closed in the V-shaped can opening groove 101, thereby preventing the pull ring from being ejected from the can opening block 10 when it is completely separated from the can, and avoiding pollution to the working environment.

[0029] Please see Figure 1 and Figure 4 In one embodiment, the can-opening block 10 and the clamping block 2 are detachably connected. Specifically, a set of clamping blocks 2 is vertically provided with connecting bolts 22, and one end of the can-opening block 10 has a connecting hole 102. The bottom end of the connecting bolt 22 passes through the connecting hole 102 and is threaded to the bottom surface of the mounting groove 21.

[0030] In the above embodiments, the can opener 10 and the clamping block 2 are detachably connected, which facilitates the individual replacement of the can opener 10 or the clamping block 2 after damage, reducing the replacement cost of the device. Furthermore, by threading the connecting bolt 22 through the connecting hole 102 to the bottom surface of the mounting groove 21 or removing the threaded connection between the connecting bolt 22 and the bottom surface of the mounting groove 21, and pulling it out from the connecting hole 102, the can opener 10 can be installed on the clamping block 2 or removed from the clamping block 2. The installation and removal of the can opener 10 is convenient and quick.

[0031] Please see Figures 1 to 4 In one embodiment, the drive assembly includes a worm gear 20, a worm 201, and a motor 202; the worm gear 20 is fixed on the can-opening block 10 and coaxial with the rotation axis of the can-opening block 10; the worm 201 is rotatably disposed in the mounting groove 21 and meshes with the worm gear 20; the motor 202 is disposed on the clamping block 2, and its output end is coaxially connected to the worm 201.

[0032] In the above embodiment, the motor 202 drives the worm 201 to rotate, and the rotation of the worm 201 meshes with the worm wheel 20 to drive the worm wheel 20 to rotate. The rotation of the worm wheel 20 can drive the can opening block 10 to rotate, driving the can opening block 10 to rotate upward so that the two inclined surfaces of the V-shaped can opening groove 101 fit with the clamping block 2 to close the opening of the V-shaped can opening groove 101, which is convenient. Conversely, the motor 202 drives the worm 201 to rotate in the opposite direction to drive the can opening block 10 to rotate in the opposite direction to reset. The can opening block 10 is easy to reset, and when the motor 202 stops rotating, the worm 201 and the worm wheel 20 cooperate to form a self-locking mechanism, which can prevent the can opening block 10 from rotating due to external impact.

[0033] Please see Figure 1 and Figure 2 In one embodiment, arc-shaped grooves 23 are provided on opposite sides of both sets of clamping blocks 2. By providing arc-shaped grooves 23, the clamping blocks 2 can better fit the body of the can, thereby better clamping the can and improving the stability of clamping the can.

[0034] Please see Figure 1 and Figure 2 In one embodiment, the finger cylinder 1 is further provided with a mounting plate 11. This facilitates the connection of the finger cylinder 1 to the collaborative robot via the mounting plate 11.

[0035] It is understandable that both the finger cylinder 1 and the collaborative robot are existing technologies, and their working principles will not be elaborated here.

[0036] The specific implementation of the above-mentioned self-locking robotic can-opening actuator is as follows:

[0037] The collaborative robot moves the finger cylinder 1 to position the two sets of gripping blocks 2 relative to each other around the can. Then, the finger cylinder 1 is controlled to move the two sets of gripping blocks 2 closer together to grip the can. The collaborative robot then moves the can to a designated position and controls the finger cylinder 1 to move the two sets of gripping blocks 2 away from each other to cancel the gripping of the can.

[0038] When the lid is opened, the collaborative robot moves the finger cylinder 1 to make the can opening block 10 vertical. Then, the bottom tip of the can opening block 10 is inserted between the pull ring and the top of the can. At the same time, the motor 202 is started to drive the worm gear 201 to rotate, making the can opening block 10 rotate upward. At this time, the inclined surface below the V-shaped can opening groove 101 arches the pull ring. The can opening block 10 drives the pull ring to move upward to open the lid. When the two inclined surfaces of the V-shaped can opening groove 101 are in contact with the clamping block 2 to close the opening of the V-shaped can opening groove 101, the pull ring can be sealed in the V-shaped can opening groove 101, thereby preventing the pull ring from being ejected from the can opening block 10 when it is completely separated from the can, thus avoiding pollution to the working environment.

[0039] The above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model, and they should all be covered within the scope of the claims and specification of this utility model.

Claims

1. A self-locking robotic can-opening actuator, characterized in that, Includes a finger cylinder (1) and a cover-opening mechanism. The finger cylinder (1) includes two sets of clamping blocks (2) that can move relatively close to or away from each other. The cover-opening mechanism includes: A can-opening block (10), wherein a set of clamping blocks (2) has an installation groove (21) at the end away from the finger cylinder (1), one end of the can-opening block (10) is rotatably disposed in the installation groove (21) about a vertical axis, and the other end extends out of the clamping block (2), and a V-shaped can-opening groove (101) is provided on the side away from the other set of clamping blocks (2), the inclined surface of the V-shaped can-opening groove (101) away from the clamping block (2) extends to the end face of the can-opening block (10) away from the clamping block (2); and A drive assembly is used to drive the can-opening block (10) to rotate so that the two inclined surfaces of the V-shaped can-opening groove (101) fit against the clamping block (2) and close the opening of the V-shaped can-opening groove (101).

2. The self-locking robotic can-opening actuator according to claim 1, characterized in that, The can-opening block (10) is detachably connected to the clamping block (2).

3. The self-locking robotic can-opening actuator according to claim 2, characterized in that, One of the clamping blocks (2) is vertically provided with connecting bolts (22), and one end of the can opening block (10) is provided with a connecting hole (102). The bottom end of the connecting bolt (22) passes through the connecting hole (102) and is threaded to the bottom surface of the mounting groove (21).

4. The self-locking robotic can-opening actuator according to claim 1, characterized in that, The drive assembly includes a worm gear (20), a worm (201), and a motor (202); the worm gear (20) is fixed on the can-opening block (10) and coaxial with the rotation axis of the can-opening block (10); the worm (201) is rotatably disposed in the mounting groove (21) and meshes with the worm gear (20); the motor (202) is disposed on the clamping block (2) and its output end is coaxially connected to the worm (201).

5. A self-locking robotic can-opening actuator according to claim 1, characterized in that, Both sets of clamping blocks (2) have corresponding arc-shaped grooves (23) on their opposite sides.

6. A self-locking robotic can-opening actuator according to claim 1, characterized in that, The finger cylinder (1) is also provided with a mounting plate (11).

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