Kinked robot hand

Abstract

The utility model relates to a kind of kink manipulator, belong to mechanical equipment technical field, kink manipulator includes drive assembly, transmission assembly and torsion clamping assembly;The linear stroke of first arc guide slot in transmission assembly one end is less than the linear stroke of second arc guide slot;Torsion clamping assembly includes pivot, main shaft, mechanical claw and rack;Drive assembly rotates main shaft by transmission assembly;Pivot one end is connected with first arc guide slot by connecting piece, and the other end passes through main shaft and is coaxially connected with rack;Main shaft one end is connected with second arc guide slot by connecting piece, and the other end installs the fixed part of mechanical claw;Two pincers of mechanical claw are symmetrically engaged connection with the two sides of rack;Two pincers are rotated by rack and drive pivot rotation when rotating;Two pincers are realized clamping, opening by engagement transmission when pivot and main shaft telescopic movement.This utility model is high in repeat positioning accuracy, clamping force is controllable, avoid product deformation or breakage, packaging film has no loose, wrinkle phenomenon.

Description

Technical Field

[0001] This utility model relates to the field of mechanical equipment technology, and in particular to a twisting manipulator. Background Technology

[0002] In the candy production process, the twisting of the candy wrapper is a troublesome but important step. Initially, manual packaging was used, which was not only inefficient and labor-intensive, but also prone to causing the packaging to loosen due to uneven twisting force. Currently, most candy wrapping robots on the market perform this process. However, existing torque robots mostly rely on chains to drive the operation of various components, resulting in complex structures, high costs, poor repeatability, uncontrollable clamping force, and a tendency to deform the candy. Utility Model Content

[0003] To address the problems existing in the prior art, this utility model provides a twisting robot that can package products with packaging film through precise twisting, stretching, and clamping actions.

[0004] To achieve the above objectives, the present invention adopts the following specific solution:

[0005] A twisting robot includes a drive assembly, a transmission assembly, and a twisting clamping assembly; the transmission assembly and the twisting clamping assembly are axially parallel.

[0006] The transmission component has a first arc-shaped guide groove and a second arc-shaped guide groove in sequence from the outside to the inside, and the linear travel of the first arc-shaped guide groove is less than the linear travel of the second arc-shaped guide groove.

[0007] The torsion clamping assembly includes a rotating shaft, a main shaft, a mechanical claw, and a rack;

[0008] The drive assembly drives the main shaft to rotate via the transmission assembly;

[0009] One end of the rotating shaft is connected to the first arc-shaped guide groove via a connector, and the other end passes through the main shaft and is coaxially connected to the rack; one end of the main shaft is connected to the second arc-shaped guide groove via the connector, and the other end is fitted with the fixing part of the mechanical claw; when the transmission assembly rotates, the two connectors move along the first arc-shaped guide groove and the second arc-shaped guide groove respectively;

[0010] The two grippers of the mechanical claw are symmetrically hinged between the two side walls of the fixed part and symmetrically meshed with the two sides of the rack; when the two grippers rotate, they drive the rotating shaft to rotate through the rack; the two grippers clamp and open when the rotating shaft and the main shaft move telescopically through meshing transmission.

[0011] Furthermore, the transmission assembly includes a transmission shaft for transmitting the driving force of the drive assembly to the main shaft.

[0012] Furthermore, a spur gear is coaxially mounted on the transmission shaft, and a spur gear is provided on the main shaft. The spur gear meshes with the spur gear to transmit the driving force of the drive assembly to the main shaft.

[0013] Furthermore, the torsion clamping assembly also includes a first limiting groove and a second limiting groove; the first limiting groove is coaxially mounted on one end of the rotating shaft, and the second limiting groove is coaxially mounted on one end of the main shaft near the first limiting groove; one end of each of the two connecting pieces is respectively sleeved on the first limiting groove and the second limiting groove; the spur gear is coaxially sleeved on the main shaft and connected to the second limiting groove.

[0014] Furthermore, the connector has an L-shaped structure, with one end having a ring whose central axis is perpendicular to the axis of this end; the rings of the two connectors are respectively sleeved on the first limiting groove and the second limiting groove; the other ends of the two connectors are respectively embedded in the first arc-shaped guide groove and the second arc-shaped guide groove, and can move along the first arc-shaped guide groove and the second arc-shaped guide groove respectively when the transmission shaft rotates.

[0015] Furthermore, the drive assembly includes a first helical gear, and the transmission assembly has a second helical gear with the same helix angle as the first helical gear but opposite in direction; the first helical gear meshes with the second helical gear to transmit the driving force of the drive assembly to the transmission assembly.

[0016] Furthermore, the drive assembly also includes a motor, an output shaft, and a drive shaft; the motor is coaxially connected to the drive shaft via the output shaft; the first helical gear is fixed to the drive shaft via a key connection.

[0017] Furthermore, a pressure detection element is provided on the clamping surface of the clamping hand. The pressure detection element is connected to the control unit and transmits the real-time detected clamping force to the control unit. When the real-time clamping force exceeds a predetermined threshold, the control unit controls the drive component to stop or reverse.

[0018] Furthermore, the two gripping surfaces of the mechanical claw have a flexible contact layer.

[0019] Furthermore, the transmission assembly sequentially fixes the first cam and the second cam from the outside in; the first arc-shaped guide groove is disposed on the outer peripheral surface of the first cam, and the second arc-shaped guide groove is disposed on the outer peripheral surface of the second cam.

[0020] The beneficial effects of this utility model are:

[0021] Compared with existing robotic arms, the twisting robot disclosed in this utility model has a simpler structure and a more compact overall design. The moving parts adopt a modular design, facilitating later maintenance and component replacement, and reducing production and maintenance costs. This utility model controls the movement trajectory of the robotic gripper by having a connecting piece move along an arc-shaped guide groove, thereby controlling the extension and retraction process of the gripper to improve repeatability and positioning accuracy. Furthermore, the clamping force of the gripper can be flexibly adjusted according to the hardness of the product, preventing product deformation or damage. The twisting action is stable, and the packaging film remains intact and wrinkle-free after twisting.

[0022] This invention optimizes the motion coordination logic and shortens the single-cycle motion time, enabling the robotic arm's processing efficiency to match the production line speed, replacing traditional manual labor, reducing the number of production line operators, and avoiding the efficiency decline caused by human fatigue, thus achieving continuous and stable operation of the production line.

[0023] The extension stroke of the mechanical gripper of this utility model can be designed according to the conventional station spacing of the product packaging production line, and can be adjusted according to different products. At the same time, the gripper can also be replaced according to product specifications to realize the packaging and processing of products of different specifications and shapes, improve its applicability, and also help reduce production costs.

[0024] This invention achieves clamping and twisting actions during the extension and retraction process. The single-cycle completion time meets the high-efficiency processing requirements of the production line. The action switching is smooth without jamming or impact, ensuring the stable operation of the production line. Attached Figure Description

[0025] Figure 1 This is a front view of the twisting robot of this utility model;

[0026] Figure 2 The side of the twisting robot arm of this utility model Figure 1 ;

[0027] Figure 3 The side of the twisting robot arm of this utility model Figure 2 ;

[0028] Figure 4 This is a simplified diagram of the motion of this utility model;

[0029] Figure 5 This is a schematic diagram of the connecting component structure in this utility model;

[0030] Figure 6 This is a schematic diagram of the mechanical claw in the open state of this utility model;

[0031] Figure 7 This is a mechanical motion cycle diagram of this utility model.

[0032] Wherein: 1-motor, 2-output shaft, 3-first helical gear, 4-drive shaft, 5-second helical gear, 6-transmission shaft, 7-spur gear, 8-first cam, 8.1-first arc-shaped guide groove, 9-second cam, 9.1-second arc-shaped guide groove, 10-connector, 11-first limiting groove, 12-rotating shaft, 13-second limiting groove, 14-spur gear, 15-main shaft, 16-mechanical claw, 16.1-gripper, 16.2-fixed part, 16.3-bolt, 17-rack. Detailed Implementation

[0033] To enable those skilled in the art to better understand the technical solutions of this application, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0034] The directional terms such as above, below, left, right, front, and back used in this application are based on the positional relationships shown in the attached drawings. Different attached drawings may result in different positional relationships, therefore they should not be interpreted as limitations on the scope of protection.

[0035] In this utility model, the terms "installation," "connection," "interlocking," "linking," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, an integral connection, a mechanical connection, an electrical connection, a connection that allows communication, a direct connection, or an indirect connection through an intermediate medium. They can also refer to the internal connection of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of these terms in this utility model based on the specific circumstances.

[0036] This embodiment describes a twisting robot that can perform telescopic, clamping, and twisting actions to complete the packaging process of wrapping products with packaging film, such as twisting when wrapping candy wrappers.

[0037] like Figures 1 to 4 As shown, the twisting robot includes a drive assembly, a transmission assembly, a twisting clamping assembly, and a support frame (not shown in the figure). The drive assembly transmits power to the twisting clamping assembly through the transmission assembly to complete actions such as extension, twisting, and clamping.

[0038] The drive assembly includes a motor 1, an output shaft 2, a first helical gear 3, and a drive shaft 4. The motor 1 is mounted on a support frame and is coaxially splined to the drive shaft 4 via the output shaft 2. The other end of the drive shaft 4 is mounted on the support frame via a bearing. The motor 1 drives the drive shaft 4 to rotate at a predetermined speed and direction via the output shaft 2. The first helical gear 3 is fixed to the drive shaft 4 via a key connection and is used to transmit power to the transmission assembly. In this embodiment, the motor 1 is connected to a control unit, which sends the required motion parameters such as speed, rotation angle, and direction to the motor 1 to control its operation.

[0039] The transmission assembly includes a second helical gear 5, a drive shaft 6, a spur gear 7, a first cam 8, and a second cam 9. The drive shaft 6 is supported on a support frame by bearings and is parallel to the axis of the drive shaft 4. The second helical gear 5 and the spur gear 7 are fixed to the drive shaft 6 by key connections. The second helical gear 5 meshes with the first helical gear 3, and their helix angles are equal in magnitude but opposite in direction. The spur gear 7 is used to transmit power to the torsional clamping assembly. The first cam 8 and the second cam 9 are fixed sequentially from the outside to the inside at the end of the transmission shaft 6 away from the second helical gear 5. The outer circumferential surface of the first cam 8 is provided with a first arc-shaped guide groove 8.1, and the outer circumferential surface of the second cam 9 is provided with a second arc-shaped guide groove 9.1. The first arc-shaped guide groove 8.1 and the second arc-shaped guide groove 9.1 are respectively set according to a predetermined cam curve, and the trajectory length of the first arc-shaped guide groove 8.1 is shorter and the curvature is larger than that of the second arc-shaped guide groove 9.1. The helix angles of the two are the same, so that the linear stroke of the first arc-shaped guide groove 8.1 is less than that of the second arc-shaped guide groove 9.1. The resulting stroke difference is set according to the predetermined displacement difference between the mechanical claw 16 and the rack 17. Preferably, the first arc-shaped guide groove 8.1 and the second arc-shaped guide groove 9.1 are closed arc-shaped guide grooves, and the arc-shaped guide groove includes a circumferential section and a main arc-shaped section extending along the axial direction. The circumferential section extends along the circumferential direction of the cam, and the two ends of the main arc-shaped section are smoothly connected to the circumferential section to form a closed guide path.

[0040] The torsion clamping assembly includes a first limiting groove 11, a rotating shaft 12, a second limiting groove 13, a spur gear 14, a main shaft 15, a mechanical gripper 16, and a rack 17. One end of the rotating shaft 12 is mounted on a support frame via a bearing and is coaxially fixed to the first limiting groove 11. The other end passes through the main shaft 15 and is coaxially connected to the rack 17. The outer diameter of the rotating shaft 12 matches the inner diameter of the main shaft 15, and the two are coaxial. The rotating shaft 12 can rotate within the main shaft 15 and can move axially along the main shaft 15. The main shaft 15 is mounted on the support frame via a bearing and is arranged parallel to the drive shaft 6. The second limiting groove 13 is fixed at the end of the main shaft 15 near the first limiting groove 11. The spur gear 14 is coaxially sleeved on the main shaft 15, with one end connected to the end of the second limiting groove 13. The mechanical gripper 16 is mounted on the other end of the main shaft 15. The first limiting groove 11 and the second limiting groove 13 are respectively connected to the first cam 8 and the second cam 9 through the connecting piece 10, and the spur gear 14 is meshed with the spur gear 7.

[0041] Preferably, the connector 10 in this embodiment is as follows: Figure 5 The structure shown is L-shaped, with one end having a diameter matching the inner diameter of the arc-shaped guide groove. It is embedded in the first arc-shaped guide groove 8.1 and the second arc-shaped guide groove 9.1, allowing it to move along the arc-shaped guide groove. The other end has a ring with its central axis perpendicular to this end's axis. The rings of the two connecting pieces 10 are respectively fitted onto the first limiting groove 11 and the second limiting groove 13, and both ends of the first limiting groove 11 and the second limiting groove 13 have flanges to prevent the rings from detaching. When the first cam 8 and the second cam 9 rotate synchronously, the connecting piece 10 moves with the arc-shaped guide groove, thereby causing the first limiting groove 11 and the second limiting groove 13 to respectively push the rotating shaft 12 and the main shaft 15 to move linearly.

[0042] The mechanical gripper 16 in this embodiment includes grippers 16.1, a fixing part 16.2, and bolts 16.3. The fixing part 16.2 is fixed to the end of the main shaft 15 and has a U-shaped structure. The two grippers 16.1 are symmetrically hinged between the two side walls of the fixing part 16.2 by bolts 16.3. A rack 17 is positioned at the center of the fixing part 16.2, between the two grippers 16.1. The hinged ends of the two grippers 16.1 have gears that symmetrically mesh with the two sides of the rack 17. Figure 6 As shown.

[0043] A pressure detection element is also provided on the clamping surface of the clamping hand 16.1. The pressure detection element is connected to the control unit and transmits the real-time detected clamping force to the control unit. When the control unit detects that the clamping force exceeds a predetermined threshold, it can perform overload protection by stopping the motor 1 or reversing the motor 1. When the clamping force is lower than the predetermined threshold, the control unit controls the motor 1 to continue rotating to ensure stable clamping force.

[0044] If the product is food, the clamp 16.1 is made of food-grade materials, complying with relevant national food safety standards. The clamping surface of the clamp 16.1 features a flexible contact layer. Utilizing the high elasticity and high coefficient of friction of the flexible material, it avoids scratching the packaging film during clamping and increases the friction between the clamping surface and the product, preventing the packaging from slipping. Furthermore, the flexible contact layer can be customized to fit the product shape, ensuring a tight fit and improving clamping stability. The clamp 16.1 can be replaced according to product specifications to meet the packaging processing needs of different products.

[0045] In this embodiment, a torque detection element can also be installed on the main shaft 15, and position detection elements can be installed on the first cam 8 and the second cam 9 respectively. The torque detection element and the position detection element are respectively connected to the control unit, transmitting the real-time detected torque magnitude and real-time position information to the control unit. When the torque exceeds the set value, the control unit controls the motor 1 to stop rotating to avoid damage to the packaging film. The control unit limits the opening and closing distance and twisting position of the mechanical claw 16 by controlling the operation of the motor 1, ensuring that the length and number of twists are consistent each time, thus ensuring the uniformity of the finished product appearance.

[0046] like Figure 7 As shown, taking a stroke difference of 15mm between the gripper 16.1 and the rack 17 as an example, the action process of the torque manipulator in this embodiment is illustrated:

[0047] The motor 1 drives the transmission shaft 6 and the main shaft 15 to rotate together through the meshing transmission of the first helical gear 3 and the second helical gear 5, and the meshing transmission of the spur gear 7 and the spur cylindrical gear 14. The mechanical claw 16 rotates with the main shaft 15 and drives the rack 17 and the rotating shaft 12 to rotate together through the meshing transmission of the gripper 16.1. This achieves the torsion of the mechanical claw 16.

[0048] While twisting, the first cam 8 and the second cam 9 rotate synchronously with the transmission shaft 6, and the rotational motion is converted into linear motion through the connecting piece 10, which drives the first limiting groove 11 and the second limiting groove 13 to move axially, thereby driving the rotating shaft 12 and the main shaft 15 to move linearly axially. Under the action of the stroke difference, the mechanical claw 16 achieves clamping.

[0049] When the grippers 16.1 and rack 17 extend axially, the grippers 16.1 move outward relative to the rack 17. Through the meshing transmission, the two grippers 16.1 gradually close until the connector 10 moves to its maximum stroke along the arc-shaped guide groove. At this point, the grippers 16.1 and rack 17 move to their maximum displacement, clamping the product and achieving the twisting of the product packaging film during the continued twisting process. Conversely, when the grippers 16.1 move inward relative to the rack 17, the two grippers 16.1 gradually open and release the product until the connector 10 returns to its initial position along the arc-shaped guide groove. At this point, the grippers 16.1 and rack 17 return to their minimum displacement, and the two grippers 16.1 open to their maximum angle.

[0050] Although the principles of this utility model have been described in detail above with reference to preferred embodiments, those skilled in the art should understand that the above embodiments are merely illustrative explanations of the implementation of this utility model and are not intended to limit the scope of this utility model. The details in the embodiments do not constitute a limitation on the scope of this utility model. Any obvious changes, such as equivalent transformations or simple substitutions, based on the technical solution of this utility model without departing from its spirit and scope fall within the protection scope of this utility model.

Claims

1. A twisting manipulator, characterized in that, The twisting manipulator includes a drive assembly, a transmission assembly, and a torsion clamping assembly; the transmission assembly and the torsion clamping assembly are axially parallel. The transmission component has a first arc-shaped guide groove (8.1) and a second arc-shaped guide groove (9.1) from the outside to the inside at one end, and the linear travel of the first arc-shaped guide groove (8.1) is less than the linear travel of the second arc-shaped guide groove (9.1). The torsion clamping assembly includes a rotating shaft (12), a main shaft (15), a mechanical claw (16), and a rack (17); The drive assembly drives the main shaft (15) to rotate through the transmission assembly; One end of the rotating shaft (12) is connected to the first arc-shaped guide groove (8.1) through the connector (10), and the other end passes through the main shaft (15) and is coaxially connected to the rack (17); one end of the main shaft (15) is connected to the second arc-shaped guide groove (9.1) through the connector (10), and the other end is equipped with the fixing part (16.2) of the mechanical claw (16); when the transmission assembly rotates, the two connectors (10) move along the first arc-shaped guide groove (8.1) and the second arc-shaped guide groove (9.1) respectively; The two grippers (16.1) of the mechanical claw (16) are symmetrically hinged between the two side walls of the fixed part (16.2) and symmetrically meshed with the two sides of the rack (17); when the two grippers (16.1) rotate, they drive the rotating shaft (12) to rotate through the rack (17); the two grippers (16.1) clamp and open when the rotating shaft (12) and the main shaft (15) move in extension and retraction through meshing transmission.

2. The twisting robot according to claim 1, characterized in that, The transmission assembly includes a transmission shaft (6) for transmitting the driving force of the drive assembly to the main shaft (15).

3. The twisting robot according to claim 2, characterized in that, A spur gear (7) is coaxially mounted on the drive shaft (6), and a spur gear (14) is provided on the main shaft (15). The spur gear (7) meshes with the spur gear (14) to transmit the driving force of the drive assembly to the main shaft (15).

4. The twisting robot according to claim 3, characterized in that, The torsion clamping assembly further includes a first limiting groove (11) and a second limiting groove (13); the first limiting groove (11) is coaxially mounted on one end of the rotating shaft (12), and the second limiting groove (13) is coaxially mounted on one end of the main shaft (15) near the first limiting groove (11); one end of each of the two connecting pieces (10) is respectively sleeved on the first limiting groove (11) and the second limiting groove (13); the spur gear (14) is coaxially sleeved on the main shaft (15) and connected to the second limiting groove (13).

5. The twisting robot according to claim 4, characterized in that, The connector (10) has an L-shaped structure, with one end having a ring whose central axis is perpendicular to the axis of this end; the rings of the two connectors (10) are respectively sleeved on the first limiting groove (11) and the second limiting groove (13); the other ends of the two connectors (10) are respectively embedded in the first arc-shaped guide groove (8.1) and the second arc-shaped guide groove (9.1), and can move along the first arc-shaped guide groove (8.1) and the second arc-shaped guide groove (9.1) respectively when the transmission shaft (6) rotates.

6. The twisting robot according to claim 1, characterized in that, The drive assembly includes a first helical gear (3), and the transmission assembly has a second helical gear (5) with the same helix angle as the first helical gear (3) and opposite in direction; the first helical gear (3) and the second helical gear (5) mesh with each other to transmit the driving force of the drive assembly to the transmission assembly.

7. The twisting robot according to claim 6, characterized in that, The drive assembly also includes a motor (1), an output shaft (2), and a drive shaft (4); the motor (1) is coaxially connected to the drive shaft (4) through the output shaft (2); the first helical gear (3) is fixed on the drive shaft (4) by a key connection.

8. The twisting robot according to claim 1, characterized in that, A pressure detection element is provided on the clamping surface of the clamping hand (16.1). The pressure detection element is connected to the control unit and transmits the clamping force detected in real time to the control unit. When the clamping force exceeds a predetermined threshold in real time, the control unit controls the drive component to stop or reverse.

9. The twisting robot according to claim 1, characterized in that, The mechanical claw (16) has a flexible contact layer on the clamping surfaces of the two grippers (16.1).

10. The twisting robot according to claim 1, characterized in that, The transmission assembly fixes the first cam (8) and the second cam (9) sequentially from the outside to the inside; the first arc-shaped guide groove (8.1) is disposed on the outer peripheral surface of the first cam (8), and the second arc-shaped guide groove (9.1) is disposed on the outer peripheral surface of the second cam (9).

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