A claw type cover opening robot gripping structure

Abstract

The utility model relates to uncapping robot technical field discloses a kind of clamping structure of clamping jaw type uncapping robot, including mechanical arm, the mechanical arm right end is connected with carousel by drive assembly, the carousel right end outer wall is rotatably connected with three clamping jaws, the clamping jaw right end inboard is fixedly connected with silica gel buffer layer, the clamping jaw middle part is rotatably connected with connecting rod, the connecting rod one end is rotatably connected with three head rod, the carousel inner wall is fixedly connected with first electric telescopic rod, the first electric telescopic rod drive end is fixedly connected in three head rod left side, the mechanical arm outer wall is connected with side plate by telescopic component. In the utility model, by the transmission clamping band of flexible silica gel material and the silica gel buffer layer in clamping jaw inboard, without replacing clamp can be adapted to the bottle body and bottle cap of multiple shapes and sizes, improve versatility. While with the aid of increasing contact area, anti-skid texture and bidirectional collaborative action, avoid sliding and damage, guarantee uncapping stable and reliable.

Description

Technical Field

[0001] This utility model relates to the field of lid-opening robot technology, and in particular to a claw-type lid-opening robot clamping structure. Background Technology

[0002] In automated production lines across numerous industries such as food, pharmaceuticals, chemicals, and daily chemicals, bottle opening is a crucial pre-processing step before material storage, subsequent processing, inspection, and packaging. Claw-type bottle opening robots, with their high degree of automation and outstanding operational efficiency, have become core equipment replacing manual bottle opening in mass production scenarios, and are widely used in opening various types of bottles, including round, square, and irregularly shaped bottles.

[0003] The existing gripper-type cap-opening robot has significant limitations in its clamping structure: On the one hand, its gripping components are mostly made of rigid metal or have fixed specifications, which cannot flexibly adapt to the curved surfaces of bottles with different curvatures and caps with different diameters and shapes. When faced with diverse bottle specifications, it is necessary to frequently change special grippers, which not only increases the cost of equipment investment and manual debugging time, but also seriously interrupts the production process and reduces the overall production efficiency. On the other hand, the traditional gripping structure has a single contact method with the bottle and cap, a small contact area, and lacks targeted anti-slip and anti-damage design. During the gripping and capping process, uneven force can easily cause the bottle to slide and the cap to slip, which not only affects the success rate of opening the cap, but may also cause damage such as bottle deformation and cap scratches, making it difficult to meet the requirements of high-precision and low-loss automated production. Utility Model Content

[0004] The purpose of this invention is to address the shortcomings of existing technologies by proposing a claw-type cap-opening robot gripping structure. Through a flexible silicone conveyor gripping belt and a silicone buffer layer on the inner side of the claws, it can adapt to bottles and caps of various shapes and sizes without changing the grippers, thus improving versatility. Simultaneously, by increasing the contact area, using anti-slip textures, and employing bidirectional coordinated movements, it avoids slippage and damage, ensuring smooth and reliable cap opening.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a claw-type lid-opening robot clamping structure, including a robotic arm. The right end of the robotic arm is connected to a turntable via a drive assembly. Three claws are rotatably connected to the outer wall of the right end of the turntable. A silicone buffer layer is fixedly connected to the inner side of the right end of each claw. A connecting rod is rotatably connected to the middle of each claw. A three-pronged rod is rotatably connected to one end of the connecting rod. A first electric telescopic rod is fixedly connected to the inner wall of the turntable. The drive end of the first electric telescopic rod is fixedly connected to the left side of the three-pronged rod. A side plate is connected to the outer wall of the robotic arm via a telescopic assembly. A micro motor is fixedly connected to the upper right end of the side plate. A conveyor clamping belt is provided at the drive end of the micro motor.

[0006] Furthermore, the drive assembly includes a base fixedly connected to the inner wall of the robotic arm, a motor fixedly connected to the upper end of the base, a rotating rod fixedly connected to the drive end of the motor, and a turntable fixedly connected to the right end of the rotating rod.

[0007] Furthermore, the telescopic assembly includes two C-shaped rods fixedly connected to the outer wall of the robotic arm. A second electric telescopic rod is fixedly connected to the inner wall of the right end of the C-shaped rod. A support frame is fixedly connected to the drive end of the second electric telescopic rod. The front sides of the two side plates are respectively fixedly connected to the upper and lower ends of the support frame.

[0008] Furthermore, the outer wall of the rotating rod is rotatably connected to the inner wall of the robotic arm, and the left end of the turntable is rotatably connected to the right end of the robotic arm.

[0009] Furthermore, the conveyor clamping belt is disposed between the two side plates.

[0010] Furthermore, the outer wall of the robotic arm is provided with heat dissipation holes for the motor to dissipate heat.

[0011] Furthermore, the inner side of the silicone buffer layer is provided with anti-slip texture to enhance friction.

[0012] This utility model has the following beneficial effects: In this invention, the conveyor clamping belt is made of flexible silicone material, which can closely fit the curved surfaces of various bottles. The silicone buffer layer on the inside of the claws can be adapted to bottle caps of different specifications. It can handle bottles and caps of various shapes and sizes without changing the clamps, greatly improving the versatility and flexibility of the device.

[0013] In this invention, by increasing the contact area and using the anti-slip texture design of the silicone buffer layer, combined with the coordinated clamping action of the conveyor belt and the claws, the bottle body sliding, the cap slipping and surface damage are effectively avoided. At the same time, the bidirectional coordinated opening and transfer action ensures that the whole process is stable and controllable, significantly improving the reliability and success rate of the cap opening operation. Attached Figure Description

[0014] Figure 1 This is a perspective view of a claw-type gripping structure for a lid-opening robot proposed in this utility model; Figure 2 This is a cross-sectional view of the robotic arm and turntable of a claw-type lid-opening robot clamping structure proposed in this utility model; Figure 3 This is a structural diagram of a telescopic component of a claw-type lid-opening robot clamping structure proposed in this utility model.

[0015] Legend: 1. Robotic arm; 2. Motor; 3. Rotating rod; 4. Turntable; 5. Claw; 6. Silicone buffer layer; 7. Anti-slip texture; 8. Connecting rod; 9. Tripod rod; 10. First electric telescopic rod; 11. C-shaped rod; 12. Second electric telescopic rod; 13. Support frame; 14. Side plate; 15. Micro motor; 16. Conveyor clamping belt; 17. Heat dissipation holes; 18. Base. Detailed Implementation

[0016] 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.

[0017] Reference Figures 1-3 This utility model provides an embodiment of a claw-type lid-opening robot gripping structure, including a robotic arm 1, a base 18 fixedly connected to the inner wall of the robotic arm 1, a motor 2 fixedly connected to the upper end of the base 18, a rotating rod 3 fixedly connected to the drive end of the motor 2, the outer wall of the rotating rod 3 rotatably connected to the inner wall of the robotic arm 1, a turntable 4 fixedly connected to the right end of the rotating rod 3, the left end of the turntable 4 rotatably connected to the right end of the robotic arm 1, three claws 5 rotatably connected to the outer wall of the right end of the turntable 4, a silicone buffer layer 6 fixedly connected to the inner side of the right end of the claws 5, the inner side of the silicone buffer layer 6 is provided with anti-slip texture 7 to enhance friction, a connecting rod 8 rotatably connected to the middle of the claws 5, one end of the connecting rod 8 rotatably connected to The robot arm 1 has a three-headed rod 9. A first electric telescopic rod 10 is fixedly connected to the inner wall of the turntable 4. The drive end of the first electric telescopic rod 10 is fixedly connected to the left side of the three-headed rod 9. Two C-shaped rods 11 are fixedly connected to the outer wall of the robot arm 1. A second electric telescopic rod 12 is fixedly connected to the inner wall of the right end of the C-shaped rod 11. A support frame 13 is fixedly connected to the drive end of the second electric telescopic rod 12. The front sides of two side plates 14 are fixedly connected to the upper and lower ends of the support frame 13, respectively. A micro motor 15 is fixedly connected to the upper right end of the side plate 14. A conveyor clamping belt 16 is provided at the drive end of the micro motor 15. The conveyor clamping belt 16 is located between the two side plates 14. A heat dissipation hole 17 is provided on the outer wall of the robot arm 1 for heat dissipation of the motor 2.

[0018] Specifically, when using this device to open the bottle cap, the robot first moves the robotic arm 1 directly above the target bottle opening. Then, two second electric telescopic rods 12 are simultaneously activated, pushing the support frame 13 and the conveyor clamping belt 16 smoothly towards the outer wall of the bottle until the bottle is stably clamped. The conveyor clamping belt 16 is made of flexible silicone, which can conform to various bottle curves, effectively increasing the contact area and preventing slippage during operation. Next, the micro motor 15 is activated, driving the conveyor clamping belt 16 to rotate at a constant speed, moving the bottle smoothly until the cap is moved into the working area of ​​the jaws 5, aligning the cap with the silicone buffer layer 6 inside the jaws 5. After alignment, the first electric telescopic rod 10 is activated, its drive end retracting to pull the three-pronged rod 9 towards the turntable 4. Through the coordinated action of the connecting rod 8, the three jaws 5 simultaneously retract towards the center. The silicone buffer layer 6 then tightly wraps around the outer wall of the cap, and its specially designed anti-slip texture 7 further enhances the clamping stability, effectively preventing slippage during rotation. Finally, the drive motor 2 is started, which drives the turntable 4 to rotate via the rotating rod 3. The three grippers 5 then perform synchronous circular motion, thus smoothly loosening the bottle cap. The heat dissipation holes 17 are used for heat dissipation of the motor 2. At the same time, the conveyor belt 16 continues to operate, smoothly moving the bottle away from the grippers 5. Through bidirectional synergy, the bottle cap is fully opened. The entire operation process is interconnected, ensuring reliable cap opening while also exhibiting good adaptability and stability.

[0019] Working Principle: When using this device, the robot first moves the robotic arm 1 above the bottle to be opened. Then, simultaneously, two second electric telescopic rods 12 drive the support frame 13 and the conveyor clamping belt 16 towards the outer wall of the bottle, clamping it in place. The conveyor clamping belt 16 is made of silicone, conforming to the outer wall of the bottle and preventing slippage. Next, the micro motor 15 is activated, driving the conveyor clamping belt 16 to move the bottle towards the center of the jaws 5, aligning the bottle cap with the silicone buffer layer 6 on the jaws 5. This configuration allows for better alignment of the jaws 5 with the bottle cap. Then, the first electric telescopic rod 10 is activated, its drive end retracting and moving the three-headed rod 9 towards the turntable 4. This movement is transmitted through the connecting rod 8, causing the three jaws 5 to simultaneously move towards the center. Finally, the silicone buffer layer 6 on the jaws 5 clamps the outer wall of the bottle cap. The anti-slip texture 7 on the inner side of the silicone buffer layer 6 makes the clamping more secure and prevents slippage. Finally, start motor 2. The drive end of motor 2 drives the rotating rod 3 to rotate, and the turntable 4 rotates accordingly, thereby driving the three grippers 5 to rotate and loosen the bottle cap. Then, with the help of the conveyor belt 16, the bottle body is moved away from the grippers 5, thereby opening the bottle cap.

[0020] It is worth noting that the motors, micro motors, and electric telescopic poles involved in the above embodiments all adopt corresponding existing technologies according to the actual situation, and therefore will not be described in detail in the embodiments of this application. Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model 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 utility model should be included within the protection scope of the present utility model.

Claims

1. A gripper-type opening robot clamping structure, comprising a robotic arm (1), characterized in that: The right end of the robotic arm (1) is connected to a turntable (4) via a drive assembly. Three claws (5) are rotatably connected to the outer wall of the right end of the turntable (4). A silicone buffer layer (6) is fixedly connected to the inner side of the right end of the claws (5). A connecting rod (8) is rotatably connected to the middle of the claws (5). A three-headed rod (9) is rotatably connected to one end of the connecting rod (8). A first electric telescopic rod (10) is fixedly connected to the inner wall of the turntable (4). The drive end of the first electric telescopic rod (10) is fixedly connected to the left side of the three-headed rod (9). A side plate (14) is connected to the outer wall of the robotic arm (1) via a telescopic assembly. A micro motor (15) is fixedly connected to the upper right end of the side plate (14). A conveyor gripping belt (16) is provided at the drive end of the micro motor (15).

2. The gripper-type cap-opening robot clamping structure according to claim 1, characterized in that: The drive assembly includes a base (18) fixedly connected to the inner wall of the robotic arm (1), a motor (2) fixedly connected to the upper end of the base (18), a rotating rod (3) fixedly connected to the drive end of the motor (2), and a turntable (4) fixedly connected to the right end of the rotating rod (3).

3. The gripper-type cap-opening robot clamping structure according to claim 1, characterized in that: The telescopic assembly includes two C-shaped rods (11) fixedly connected to the outer wall of the robotic arm (1). A second electric telescopic rod (12) is fixedly connected to the inner wall of the right end of the C-shaped rod (11). A support frame (13) is fixedly connected to the driving end of the second electric telescopic rod (12). The front sides of the two side plates (14) are respectively fixedly connected to the upper and lower ends of the support frame (13).

4. The gripper-type lid-opening robot clamping structure according to claim 2, characterized in that: The outer wall of the rotating rod (3) is rotatably connected to the inner wall of the robotic arm (1), and the left end of the turntable (4) is rotatably connected to the right end of the robotic arm (1).

5. The gripper-type cap-opening robot clamping structure according to claim 1, characterized in that: The conveyor clamping belt (16) is disposed between the two side plates (14).

6. The gripper-type cap-opening robot clamping structure according to claim 1, characterized in that: The outer wall of the robotic arm (1) has heat dissipation holes (17) for the motor (2) to dissipate heat.

7. The gripper-type cap-opening robot clamping structure according to claim 1, characterized in that: The inner side of the silicone buffer layer (6) is provided with anti-slip texture (7) to enhance friction.

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