Vacuum grabbing manipulator for condensed milk tank

Abstract

The utility model discloses a milk tank vacuum grabbing manipulator, including base, rotary arm, drive mechanism, electric telescopic rod, circular lifting frame, vacuum grabbing mechanism and anti -sway mechanism, the downside of rotary arm is fixed with the pivot, and the pivot rotation is connected on the base, and drive mechanism installs on the base and is linked with the pivot, and electric telescopic rod is fixed on rotary arm, and the telescopic end of electric telescopic rod is fixed with circular lifting frame, and vacuum grabbing mechanism is connected on rotary arm and circular lifting frame, and the bottom of circular lifting frame is installed with three anti -sway mechanisms, and three anti -sway mechanisms are in round even distribution with the central axis of circular lifting frame as reference. The utility model discloses a vacuum grabbing mechanism realizes tank nondestructive grabbing, stable release and reliable pressure -retaining, and relies on three point positioning anti -sway mechanism and spacing rod, promotes the stability when transfer, and prevents tank from shaking and falling off when transfer.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a vacuum gripper for condensed milk tanks. Background Technology

[0002] In condensed milk production lines, robotic arms are needed to transfer condensed milk cans between different production lines. Vacuum gripping is a common gripping method; however, existing vacuum gripping robotic arms only have vacuum adsorption capabilities and lack effective anti-sway structures. During transfer, cylindrical condensed milk cans are prone to radial swaying due to equipment start-up, shutdown, rotation, and repositioning, which can even cause them to fall off. Therefore, to address these issues, there is an urgent need to develop a vacuum gripping robotic arm that can achieve non-destructive gripping, smooth release, and reliable pressure maintenance of the cans. This arm should utilize a three-point positioning anti-sway mechanism and limit rods to improve stability during transfer and prevent condensed milk cans from swaying and falling off during transfer, thus overcoming the shortcomings of current applications and meeting current needs. Utility Model Content

[0003] The purpose of this invention is to provide a vacuum gripper for condensed milk tanks to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: A vacuum gripping robot for condensed milk tanks includes a base, a rotating arm, a drive mechanism, an electric telescopic rod, a circular lifting frame, a vacuum gripping mechanism, and an anti-sway mechanism. A rotating shaft is fixed to the lower side of the rotating arm and rotatably connected to the base. The drive mechanism is mounted on the base and connected to the rotating shaft. The electric telescopic rod is fixed to the rotating arm, and its telescopic end is fixed to the circular lifting frame. The vacuum gripping mechanism is connected to the rotating arm and the circular lifting frame. Three anti-sway mechanisms are installed at the bottom of the circular lifting frame. The anti-sway mechanism is evenly distributed in a circle with the central axis of the circular lifting frame as the reference. The anti-sway mechanism includes: a transfer frame, an electromagnet, a permanent magnet, a guide rod, a spring, and an anti-sway column. The transfer frame is fixed to the circular lifting frame. The electromagnet is fixed on the transfer frame. The like magnetic poles of the permanent magnet and the electromagnet are arranged opposite each other. The permanent magnet is fixed to the guide rod. The guide rod passes through the transfer frame and slides in contact with it. The guide rod is fixed to the anti-sway column. A spring is installed on the outside of the guide rod. One end of the spring is fixed to the permanent magnet and the other end is fixed to the transfer frame.

[0005] Preferably, the circular lifting frame has two limiting rods that pass through the rotating arm, and the limiting rods are slidably connected to the rotating arm.

[0006] Preferably, the vacuum gripping mechanism includes a vacuum pump, a hose, a solenoid valve, a vacuum breaking valve, and a vacuum suction cup. The vacuum pump, solenoid valve, and vacuum breaking valve are all fixed on the rotating arm. The vacuum pump is connected to the solenoid valve, vacuum breaking valve, and vacuum suction cup respectively through the hose. The vacuum suction cup is fixed to the lower side of the circular lifting frame.

[0007] Preferably, the driving mechanism includes a drive motor, a first gear, and a second gear. The drive motor is fixed on a base, and the first gear is fixed on the output shaft of the drive motor. A second gear is provided on one side of the first gear to mesh with it, and the second gear is fixed on a rotating shaft.

[0008] The beneficial effects of this utility model are as follows: When using this vacuum gripper for condensed milk tanks, the electric telescopic rod first moves the circular lifting frame and vacuum suction cup downwards, causing the vacuum suction cup to press against the top of the condensed milk tank. After it reaches its position, the electromagnet is activated. The repulsive force between the electromagnet and the permanent magnet moves the guide rod and anti-sway posts, causing the anti-sway posts to press against the outer surface of the condensed milk tank. The three anti-sway posts form a three-point positioning system, restricting the radial movement of the condensed milk tank. This prevents shaking during transport, improves stability, and prevents the tank from falling off. A vacuum pump evacuates the vacuum suction cup, causing it to grip the condensed milk can. The solenoid valve is then closed to maintain pressure on the suction cup. An electric telescopic rod then lifts the can by moving the circular lifting frame and vacuum suction cup upwards. A drive mechanism rotates the rotating arm, which in turn rotates the circular lifting frame and vacuum suction cup, transferring the can to the desired position. The electromagnet is then deactivated, causing the anti-sway pin to loosen the outer wall of the can. Finally, the vacuum breaking valve is opened to break the vacuum in the suction cup, allowing it to lower the can. In summary, this invention achieves non-destructive can gripping, stable release, and reliable pressure maintenance through a vacuum gripping mechanism. A three-point positioning anti-sway mechanism and limit rods enhance stability during transport, preventing the can from swaying and falling off. It balances automation efficiency with gripping stability, improving the safety and efficiency of condensed milk can handling and meeting the requirements for non-destructive handling of food-grade cans. Attached Figure Description

[0009] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0010] Figure 2 This is a partial structural diagram of the present invention. Figure 1 .

[0011] Figure 3 This utility model Figure 2 A diagram illustrating the usage status.

[0012] Figure 4 This is a partial structural diagram of the present invention. Figure 2.

[0013] Legend: 1. Base; 2. Rotating arm; 201. Rotating shaft; 3. Drive mechanism; 301. Drive motor; 302. First gear; 303. Second gear; 4. Electric telescopic rod; 5. Circular lifting frame; 501. Limiting rod; 6. Vacuum gripping mechanism; 601. Vacuum pump; 602. Hoses; 603. Solenoid valve; 604. Vacuum breaker valve; 605. Vacuum suction cup; 7. Anti-sway mechanism; 701. Adapter frame; 702. Electromagnet; 703. Permanent magnet; 704. Guide rod; 705. Spring; 706. Anti-sway column; 8. PLC controller. Detailed Implementation

[0014] 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 skilled in the art without creative effort are within the protection scope of the present utility model.

[0015] Specific implementation examples are given below.

[0016] See Figures 1-4 In this embodiment of the utility model, the vacuum gripping robot for condensed milk tanks includes a base 1, a rotating arm 2, a drive mechanism 3, an electric telescopic rod 4, a circular lifting frame 5, a vacuum gripping mechanism 6, and an anti-sway mechanism 7. The base 1 is fixed to the ground, and a rotating shaft 201 is fixed to the lower side of the rotating arm 2. The rotating shaft 201 is rotatably connected to the base 1. The drive mechanism 3 is installed on the base 1 and connected to the rotating shaft 201. The drive mechanism 3 is used to drive the rotating shaft 201 and the rotating arm 2 to rotate and change position.

[0017] The electric telescopic rod 4 is fixed to the rotating arm 2. The telescopic end of the electric telescopic rod 4 is fixed to the circular lifting frame 5. Two limiting rods 501 that pass through the rotating arm 2 are fixed on the circular lifting frame 5. The limiting rods 501 are slidably connected to the rotating arm 2. The circular lifting frame 5 can only move up and down and will not shake due to the restriction of the two limiting rods 501.

[0018] The vacuum gripping mechanism 6 is connected to the rotating arm 2 and the circular lifting frame 5. The vacuum gripping mechanism 6 is used to grip the condensed milk tank. The vacuum gripping mechanism 6 includes: a vacuum pump 601, a hose 602, a solenoid valve 603, a vacuum breaker valve 604, and a vacuum suction cup 605. The vacuum pump 601, solenoid valve 603, and vacuum breaker valve 604 are all fixed to the rotating arm 2. The vacuum pump 601 is connected to the solenoid valve 603 and vacuum breaker valve 604 respectively via the hose 602. Connected to a vacuum suction cup 605, which is fixed to the lower side of a circular lifting frame 5, when picking up a part, the vacuum suction cup 605 is first attached to the top of the condensed milk tank. Then, the vacuum pump 601 is started to evacuate the vacuum suction cup 605, so that the vacuum suction cup 605 sucks up the condensed milk tank. Then, the solenoid valve 603 is closed to maintain pressure on the vacuum suction cup 605. When putting the part down, the vacuum breaking valve 604 is opened to break the vacuum in the vacuum suction cup 605, so that the vacuum suction cup 605 can put the condensed milk tank down.

[0019] The bottom of the circular lifting frame 5 is equipped with three anti-sway mechanisms 7. The three anti-sway mechanisms 7 are evenly distributed in a circle with the central axis of the circular lifting frame 5 as the reference. The three anti-sway mechanisms 7 are used to limit the radial movement space of the condensed milk tank through three-point positioning, so that the condensed milk tank will not shake when it is transferred, thereby improving stability and preventing it from falling off.

[0020] The anti-sway mechanism 7 includes: a transition frame 701, an electromagnet 702, a permanent magnet 703, a guide rod 704, a spring 705, and an anti-sway column 706. The transition frame 701 is fixed to the circular lifting frame 5. The electromagnet 702 is fixed to the transition frame 701. The like magnetic poles of the permanent magnet 703 and the electromagnet 702 are arranged opposite each other. The permanent magnet 703 is fixed to the guide rod 704. The guide rod 704 passes through the transition frame 701 and slides in contact with it. The guide rod 704 is fixed to the anti-sway column 706. A spring 705 is installed on the outside of the guide rod 704. One end of the spring 705 is fixed to the permanent magnet 703 and the other end is fixed to the adapter frame 701. When the electric telescopic rod 4 drives the circular lifting frame 5 to move down to the position, the electromagnet 702 is activated. The repulsive force between the electromagnet 702 and the permanent magnet 703 drives the guide rod 704 and the anti-sway column 706 to move, so that the anti-sway column 706 presses against the outer surface of the condensed milk tank.

[0021] The driving mechanism 3 includes a drive motor 301, a first gear 302, and a second gear 303. The drive motor 301 is fixed on the base 1. The first gear 302 is fixed on the output shaft of the drive motor 301. A second gear 303 is provided on one side of the first gear 302 and meshes with it. The second gear 303 is fixed on the rotating shaft 201. In use, the drive motor 301 drives the first gear 302 and the second gear 303 to rotate, and the second gear 303 drives the rotating shaft 201 and the rotating arm 2 to rotate.

[0022] A PLC controller 8 is installed on one side of the base 1 on the ground. The drive motor 301, electric telescopic rod 4, vacuum pump 601, solenoid valve 603, vacuum breaker valve 604, and electromagnet 702 are all electrically connected to the PLC controller 8 and are electrically controlled by the PLC controller 8.

[0023] Working Principle: This vacuum gripper for condensed milk tanks works by first lowering the circular lifting frame 5 and vacuum suction cup 605 via an electric telescopic rod 4. This allows the vacuum suction cup 605 to press against the top of the condensed milk tank. Once in position, the electromagnet 702 is activated. The repulsive force between the electromagnet 702 and the permanent magnet 703 moves the guide rod 704 and anti-sway column 706, causing the anti-sway column 706 to press against the outer surface of the condensed milk tank. The three anti-sway columns 706 form a three-point positioning system, restricting the radial movement of the condensed milk tank. This prevents shaking during transport, improves stability, and prevents the tank from falling off. The vacuum pump 601 then applies the vacuum suction... Vacuum is drawn in plate 605, causing vacuum suction cup 605 to hold the condensed milk tank. Then, solenoid valve 603 is closed to maintain pressure on vacuum suction cup 605. Then, electric telescopic rod 4 drives circular lifting frame 5 and vacuum suction cup 605 to move upward and lift the condensed milk tank. Then, drive mechanism 3 to drive rotating arm 2 to rotate. Rotating arm 2 drives circular lifting frame 5 and vacuum suction cup 605 to rotate, thereby transferring the condensed milk tank to the required position. Then, electromagnet 702 is closed, causing anti-sway column 706 to loosen the outer wall of condensed milk tank. Then, vacuum breaking valve 604 is opened to break the vacuum in vacuum suction cup 605, so that vacuum suction cup 605 can lower the condensed milk tank.

[0024] Furthermore, it should be noted that, in the description of this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0025] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A vacuum gripper for condensed milk tanks, characterized in that, The system includes a base (1), a rotating arm (2), a drive mechanism (3), an electric telescopic rod (4), a circular lifting frame (5), a vacuum gripping mechanism (6), and an anti-sway mechanism (7). A rotating shaft (201) is fixed to the lower side of the rotating arm (2), and the rotating shaft (201) is rotatably connected to the base (1). The drive mechanism (3) is installed on the base (1) and connected to the rotating shaft (201). The electric telescopic rod (4) is fixed to the rotating arm (2), and the telescopic end of the electric telescopic rod (4) is fixed to the circular lifting frame (5). The vacuum gripping mechanism (6) is connected to the rotating arm (2) and the circular lifting frame (5). Three anti-sway mechanisms (7) are installed at the bottom of the circular lifting frame (5). The three anti-sway mechanisms (7) are evenly distributed in a circle with the central axis of the circular lifting frame (5) as the reference. The anti-sway mechanism (7) includes: a transfer frame (701), an electromagnet (702), a permanent magnet (703), a guide rod (704), a spring (705), and an anti-sway column (706). The transfer frame (701) is fixed to the circular lifting frame (5). The electromagnet (702) is fixed on the transfer frame (701). The like magnetic poles of the permanent magnet (703) and the electromagnet (702) are arranged opposite to each other. The permanent magnet (703) is fixed to the guide rod (704). The guide rod (704) passes through the transfer frame (701) and slides in contact with it. The guide rod (704) is fixed to the anti-sway column (706). A spring (705) is installed on the outside of the guide rod (704). One end of the spring (705) is fixed to the permanent magnet (703), and the other end is fixed to the transfer frame (701).

2. The vacuum gripper for condensed milk tanks according to claim 1, characterized in that, Two limiting rods (501) are fixed on the circular lifting frame (5) and pass through the rotating arm (2). The limiting rods (501) are slidably connected to the rotating arm (2).

3. The vacuum gripper for condensed milk tanks according to claim 1, characterized in that, The vacuum gripping mechanism (6) includes: a vacuum pump (601), a hose (602), a solenoid valve (603), a vacuum breaking valve (604), and a vacuum suction cup (605). The vacuum pump (601), the solenoid valve (603), and the vacuum breaking valve (604) are all fixed on the rotating arm (2). The vacuum pump (601) is connected to the solenoid valve (603), the vacuum breaking valve (604), and the vacuum suction cup (605) respectively through the hose (602). The vacuum suction cup (605) is fixed on the lower side of the circular lifting frame (5).

4. The vacuum gripper for condensed milk tanks according to claim 1, characterized in that, The drive mechanism (3) includes: a drive motor (301), a first gear (302) and a second gear (303). The drive motor (301) is fixed on the base (1). The first gear (302) is fixed on the output shaft of the drive motor (301). A second gear (303) meshes with the first gear (302) on one side. The second gear (303) is fixed on the rotating shaft (201).

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