Electrical ring pull gripper

Abstract

An electric lifting ring gripper comprises a lifting ring grabbing assembly, a rotary drive assembly, a conductive slip ring and an air source distributor; the air source distributor comprises a cylindrical air distribution body and a distribution shaft, the distribution shaft is rotationally installed at the center of the air distribution body, the air distribution body is provided with a plurality of air distribution channels, and the distribution shaft is provided with a plurality of air guide channels that are in butt joint with the air distribution channels; the conductive slip ring comprises a brush part and a slip ring part, the slip ring part is rotationally installed at the center of the brush part, the slip ring part is fixedly installed at the upper end of the distribution shaft, the brush part is fixedly installed at the air distribution body, the center of the distribution shaft is provided with a wire hole, and a wire connected with the slip ring part is arranged through the wire hole; the rotary drive assembly is fixedly installed at the upper part of the air distribution body, the rotary shaft of the rotary drive assembly is assembled with the distribution shaft; the lifting ring grabbing assembly is fixedly installed at the distribution shaft, and the air outlet of the distribution shaft and the wire in the wire hole are connected with the lifting ring grabbing assembly. Through the arrangement of the air source distributor and the conductive slip ring, the problem of abrasion of the air pipe and the wire caused by rotation is eliminated.

Description

Technical Field

[0001] This utility model relates to a gripping robot, and in particular to a lifting ring gripper. Background Technology

[0002] The oil drum lifting ring is a ring-shaped component installed on the oil drum, mainly used for lifting the oil drum. It is a key structure in the oil drum design that takes practicality into account.

[0003] The post-assembly snap-on lifting ring is used for large drums. The lifting ring is produced separately and needs to be installed on the neck of the drum opening by pressing and snapping it in. Currently, this process is done by the lifting ring gripper grabbing the lifting ring and then pressing it onto the neck of the drum opening.

[0004] When the lifting ring gripper picks up the lifting ring, the lifting ring constraint mold needs to rotate according to the position of the lifting ring so that the lifting ring constraint mold is aligned with the lifting ring for pickup. After that, the robotic arm needs to move from the lifting ring pickup position to the position of the oil drum and install the lifting ring onto the oil drum. During this process, the air and electrical circuits used by the lifting ring gripper will frequently rub against the rotating shaft of the constraint mold, resulting in wear and tear on the air pipes and wires. Maintaining the air pipes and wires will affect production efficiency.

[0005] To solve the above problems, it is necessary to eliminate the friction between the rotating shaft of the constraint mold and the air pipe and wire. Utility Model Content

[0006] To address the aforementioned shortcomings, the purpose of this invention is to propose an electric lifting ring gripper. This solution eliminates the problem of wear and tear on air pipes and wires caused by rotation by setting up an air source distributor and a conductive slip ring.

[0007] To achieve this objective, the present invention adopts the following technical solution:

[0008] An electric ring-lifting gripper includes a ring-lifting gripping assembly, a rotary drive assembly, a conductive slip ring, and an air supply distributor;

[0009] The gas source distributor includes a cylindrical gas distribution body and a distribution shaft. The distribution shaft is rotatably mounted at the center of the gas distribution body. The gas distribution body is provided with multiple gas distribution channels, and the distribution shaft is provided with multiple gas guiding channels that are connected to the gas distribution channels.

[0010] The conductive slip ring includes a brush part and a slip ring part. The slip ring part is rotatably mounted at the center of the brush part and is fixedly mounted at the upper end of the distribution shaft. The brush part is fixedly mounted on the gas distribution body. A wire hole is opened at the center of the distribution shaft, and the wire connected to the slip ring part is set through the wire hole.

[0011] The rotary drive assembly is fixedly installed on the upper part of the gas distribution body, and the rotating shaft of the rotary drive assembly is assembled with the distribution shaft;

[0012] The lifting ring gripping assembly is fixedly installed on the distribution shaft, and the air outlet of the distribution shaft and the wire in the wire hole are connected to the lifting ring gripping assembly.

[0013] Preferably, the gas distribution body includes a main cylinder and a gas distribution ring;

[0014] The main body of the valve distribution ring is ring-shaped. The outer ring of the valve distribution ring has an outer ring air cavity, which is an annular groove formed along the outer peripheral wall of the valve distribution ring. The inner ring of the valve distribution ring has an inner ring air cavity, which is an annular groove formed along the inner peripheral wall of the valve distribution ring. A vent is provided between the inner ring air cavity and the outer ring air cavity.

[0015] The main body cylinder is provided with multiple air inlets from top to bottom, and multiple air distribution rings are fitted into the inner cavity of the main body cylinder. The distribution shaft is rotatably installed in the main body cylinder and passes through the middle of the multiple air distribution rings.

[0016] The outer ring air chambers of the longitudinally stacked air distribution rings correspond to the air inlets of the main cylinder, and the inner ring air chambers correspond to the distribution shaft. The air inlets of the air guide channels are opened at the positions of the distribution shaft and the inner ring air chambers.

[0017] Preferably, the air guide channel includes an upper transverse receiving part, a vertical conveying part, and a lower transverse receiving part. The inlet of the upper transverse receiving part corresponds to the inner annular air chamber, the outlet of the upper transverse receiving part corresponds to the upper end of the vertical conveying part, the lower transverse receiving part is located at the lower part of the distribution shaft, the inner end of the lower transverse receiving part is connected to the lower end of the vertical conveying part, and the other end of the lower transverse receiving part is connected to the outside from the side wall of the distribution shaft, forming the air outlet of the air guide channel.

[0018] The distribution shaft is provided with multiple air guide channels, and the side wall of the distribution shaft has multiple air inlets for the air guide channels from top to bottom. The air inlets of the multiple air guide channels correspond to the inner ring air chambers respectively.

[0019] Preferably, the outer ring of the valve ring is provided with a sealing ring that forms a seal with the main cylinder;

[0020] The inner ring of the valve train is provided with a sealing ring that forms a seal with the side wall of the distribution shaft.

[0021] Preferably, a plurality of support shafts are vertically mounted on the upper end of the main body cylinder, and the rotation drive assembly is fixedly mounted on the upper end of the plurality of support shafts;

[0022] The brush portion of the conductive slip ring is fixedly mounted on the surrounding support shaft.

[0023] Furthermore, the lifting ring gripping assembly includes a rotating base, which is fixedly mounted on the lower end of the distribution shaft;

[0024] A guide rod cylinder and a finger clamping cylinder are respectively installed on both sides of the rotating seat, and a lifting ring constraint mold is fixedly installed on the working end of the guide rod cylinder;

[0025] The lifting ring constraint mold has an annular lifting ring receiving position. When the guide rod cylinder is in the retracted state, the working head of the finger clamping cylinder is located in the lifting ring receiving position. Both working heads of the finger clamping cylinder are equipped with constraint heads for blocking the lifting ring.

[0026] Furthermore, the lifting ring receiving position is annular, and the inner wall of the annular lifting ring receiving position is shaped like a trumpet with a gradually narrowing diameter from bottom to top.

[0027] Furthermore, the rotary drive assembly includes a servo motor and a speed reducer;

[0028] The speed reducer is fixedly installed on the upper end of the plurality of support shafts, the servo motor is fixedly installed on the speed reducer, and the output end of the servo motor is connected to the input end of the speed reducer for transmission assembly.

[0029] One of the above technical solutions includes the following beneficial effects: After the lifting ring gripper is equipped with a conductive slip ring and a gas source distribution system, the distribution shaft rotates relative to the gas distribution body. Rotational gas distribution is completed through the gas distribution channel between the distribution shaft and the gas distribution body. In addition, a rotational conductive structure is formed between the gas distribution body and the distribution shaft through the conductive slip ring, thereby preventing the wires and gas delivery pipes from getting tangled, pulled, or even broken during rotation, which could lead to power or gas supply interruptions. Attached Figure Description

[0030] Figure 1 This is an installation structure diagram of one embodiment of the present invention;

[0031] Figure 2 This is a cross-sectional view of one embodiment of the present invention;

[0032] Figure 3 yes Figure 2 A magnified view of a portion of the image;

[0033] Figure 4 This is a schematic diagram of the valve ring structure according to one embodiment of the present invention;

[0034] Figure 5 This is a schematic diagram of the distribution shaft of this utility model.

[0035] The components include: a lifting ring gripping assembly 100, a rotating seat 110, a guide rod cylinder 120, a finger clamping cylinder 130, a lifting ring constraint mold 140, a lifting ring receiving position 141, a rotary drive assembly 200, a servo motor 210, a reducer 220, a conductive slip ring 300, a brush section 310, a slip ring section 320, an air source distributor 400, an air distribution body 410, a main body cylinder 411, an air distribution ring 412, an outer ring air chamber 413, an inner ring air chamber 414, a vent 415, a distribution shaft 420, an air guide channel 421, an upper transverse receiving section 422, a vertical conveying section 423, and a lower transverse receiving section 424. Detailed Implementation

[0036] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0037] like Figure 1 As shown, an electric ring gripper includes a ring gripping assembly 100, a rotary drive assembly 200, a conductive slip ring 300, and an air source distributor 400.

[0038] The gas source distributor 400 includes a cylindrical gas distribution body 410 and a distribution shaft 420. The distribution shaft 420 is rotatably mounted at the center of the gas distribution body 410. The gas distribution body 410 is provided with multiple gas distribution channels, and the distribution shaft 420 is provided with multiple air guiding channels 421 that are connected to the gas distribution channels.

[0039] The conductive slip ring 300 includes a brush part 310 and a slip ring part 320. The slip ring part 320 is rotatably mounted at the center of the brush part 310. The slip ring part 320 is fixedly mounted at the upper end of the distribution shaft 420. The brush part 310 is fixedly mounted on the gas distribution body 410. A wire hole 430 is opened at the center of the distribution shaft 420. The wire connected to the slip ring part 320 is set through the wire hole 430.

[0040] The rotary drive assembly 200 is fixedly installed on the upper part of the gas distribution body 410, and the rotating shaft of the rotary drive assembly is assembled with the distribution shaft 420.

[0041] The lifting ring gripping assembly 100 is fixedly installed on the distribution shaft 420, and the air outlet of the distribution shaft 420 and the wire in the wire hole 430 are connected to the lifting ring gripping assembly 100.

[0042] After the lifting ring gripper is equipped with a conductive slip ring 300 and an air source distribution air 400, the distribution shaft 420 rotates relative to the air distribution body 410. Rotational air distribution is completed through the air distribution channel between the distribution shaft 420 and the air distribution body 410. In addition, the conductive slip ring 300 forms a rotational conductive structure between the air distribution body 410 and the distribution shaft 420 to prevent the wires and air supply pipes from getting tangled, pulled, or even broken during rotation, which could lead to power or air supply interruptions.

[0043] like Figure 2 , Figure 3 and Figure 4 As shown, the gas distribution body 410 includes a main cylinder 411 and a gas distribution ring 412;

[0044] The main body of the air distribution ring 412 is ring-shaped. The outer ring of the air distribution ring 412 has an outer ring air cavity 413, which is an annular groove formed along the outer peripheral wall of the air distribution ring 412. The inner ring of the air distribution ring 412 has an inner ring air cavity 414, which is an annular groove formed along the inner peripheral wall of the air distribution ring 412. A vent hole 415 is formed between the inner ring air cavity 414 and the outer ring air cavity 413.

[0045] The main body cylinder 411 is provided with multiple air inlets from top to bottom, and multiple air distribution rings 412 are fitted into the inner cavity of the main body cylinder 411. The distribution shaft 420 is rotatably mounted on the main body cylinder 411 and passes through the middle of the multiple air distribution rings 412.

[0046] The outer ring air chambers 413 of the longitudinally stacked air distribution rings 412 correspond to the air inlets opened in the main body cylinder 411, and the inner ring air chambers 414 correspond to the distribution shaft. The air inlets of the air guide channels 421 are opened at the positions corresponding to the distribution shaft and the inner ring air chambers 414.

[0047] The outer and inner rings of the gas distribution body are respectively provided with an outer ring gas chamber 413 and an inner ring gas chamber 414. The outer ring gas chamber 413 corresponds to the air inlet of the main body cylinder 411 to form an air inlet ring chamber, and the inner ring gas chamber corresponds to the air inlet of one of the air guide channels 421 of the distribution shaft 420 to form an air delivery ring chamber. The air inlet ring chamber and the air delivery ring chamber are connected by a vent hole 415. The setting of the air delivery ring chamber ensures that the distribution shaft 420 is always connected to the air delivery ring chamber when it is rotating continuously in 360 degrees, so as to keep the gas continuously entering the air guide channel 421.

[0048] like Figure 5As shown, the air guide channel 421 includes an upper transverse receiving part 422, a vertical conveying part 423, and a lower transverse receiving part 424. The inlet of the upper transverse receiving part 422 corresponds to the inner annular air chamber 414, and the outlet of the upper transverse receiving part 422 corresponds to the upper end of the vertical conveying part 423. The lower transverse receiving part 424 is located at the lower part of the distribution shaft 420. The inner end of the lower transverse receiving part 424 is connected to the lower end of the vertical conveying part 423, and the other end of the lower transverse receiving part 424 is connected to the outside from the side wall of the distribution shaft, forming the air outlet of the air guide channel 421.

[0049] The distribution shaft is provided with multiple air guide channels 421. The side wall of the distribution shaft 420 has multiple air inlets of the air guide channels 421 from top to bottom. The air inlets of the multiple air guide channels 421 correspond to the inner ring air chamber 414 respectively.

[0050] Since the air guide channel 421 is machined on the body of the distribution shaft 420, the simplest horizontal or vertical machining method is adopted. The inlet of the upper horizontal receiving part 422 corresponds to the inner ring air chamber 414, and forms a rotating air distribution structure with the inner ring air chamber 414.

[0051] like Figure 3 As shown, the outer ring of the air distribution ring 412 is provided with a sealing ring that forms a seal with the main body cylinder 411;

[0052] The inner ring of the valve ring 412 is provided with a sealing ring that forms a seal with the side wall of the distribution shaft.

[0053] Multiple valve rings 412 are arranged in a stacked manner, with sealing rings set on the inner and outer rings, so that the stacked valve rings 412 form an independent valve distribution channel.

[0054] In addition, multiple support shafts are vertically installed at the upper end of the main body cylinder 411, and the rotation drive assembly 200 is fixedly installed at the upper end of the multiple support shafts.

[0055] The brush portion 310 of the conductive slip ring 300 is fixedly installed on the surrounding support shaft.

[0056] The rotary drive assembly 200 is vertically mounted above the main body cylinder 411.

[0057] like Figure 1 and Figure 2 As shown, the lifting ring gripping assembly 100 includes a rotating base 110, which is fixedly installed at the lower end of the distribution shaft 420;

[0058] The rotating seat 110 is equipped with a guide rod cylinder 120 and a finger clamping cylinder 130 on both sides respectively, and a lifting ring constraint mold 140 is fixedly installed at the working end of the guide rod cylinder 120.

[0059] The lifting ring constraint mold 140 is provided with an annular lifting ring receiving position 141. When the guide rod cylinder 120 is in the retracted state, the working head of the finger clamping cylinder 130 is located in the lifting ring receiving position 141. Both working heads of the finger clamping cylinder 130 are equipped with constraint heads for blocking the lifting ring.

[0060] When picking up the lifting ring, the rotary drive assembly 200 drives the rotating seat 210 to rotate, allowing the device to rotate according to the position of the lifting ring and find the correct picking angle. Then, the robotic arm drives the entire lifting ring gripper to fall, bringing the lifting ring constraint mold 140 into contact with the lifting ring. Next, the two working heads of the gripping cylinder 130 open to the left and right, constraining the ring within the lifting ring receiving position 141 of the gripping ring constraint mold 140. During installation, the robotic arm moves the entire mechanism to the bottle mouth. After the lifting ring receiving position 141 of the gripping ring constraint mold 140 aligns with the bottle mouth, the working heads of the gripping cylinder 130 retract, and the guide rod cylinder 120 presses down, pressing the entire lifting ring into the installation position on the bottle mouth by the falling lifting ring constraint mold 140. This robotic arm can be combined with a vision robotic arm to read the position of the lifting ring and then adjust the picking angle, replacing manual labor in this process during installation and improving production efficiency.

[0061] In addition, the lifting ring receiving position 141 is annular, and the inner wall of the annular lifting ring receiving position 141 is a funnel shape with the diameter gradually narrowing from bottom to top.

[0062] The funnel-shaped position of the lifting ring receiving position 141 is to match the structure of the funnel-shaped locking opening on the lifting ring. This design also allows the lifting ring to slide out from the bottom upwards.

[0063] In addition, the rotary drive assembly 200 includes a servo motor 210 and a reducer 220;

[0064] The reducer 220 is fixedly installed on the upper end of the plurality of support shafts, and the servo motor 210 is fixedly installed on the reducer 220. The output end of the servo motor 210 is connected to the input end of the reducer 220 for transmission assembly.

[0065] The technical principles of this utility model have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of this utility model and should not be construed as limiting the scope of protection of this utility model in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of this utility model without any inventive effort, and these embodiments will all fall within the scope of protection of this utility model.

Claims

1. An electric ring-lifting gripper, comprising a ring-lifting gripping assembly, a rotary drive assembly, a conductive slip ring, and an air supply distributor; Its features are, The gas source distributor includes a cylindrical gas distribution body and a distribution shaft. The distribution shaft is rotatably mounted at the center of the gas distribution body. The gas distribution body is provided with multiple gas distribution channels, and the distribution shaft is provided with multiple gas guiding channels that are connected to the gas distribution channels. The conductive slip ring includes a brush part and a slip ring part. The slip ring part is rotatably mounted at the center of the brush part and is fixedly mounted at the upper end of the distribution shaft. The brush part is fixedly mounted on the gas distribution body. A wire hole is opened at the center of the distribution shaft, and the wire connected to the slip ring part is set through the wire hole. The rotary drive assembly is fixedly installed on the upper part of the gas distribution body, and the rotating shaft of the rotary drive assembly is assembled with the distribution shaft; The lifting ring gripping assembly is fixedly installed on the distribution shaft, and the air outlet of the distribution shaft and the wire in the wire hole are connected to the lifting ring gripping assembly.

2. The electric lifting ring gripper according to claim 1, characterized in that, The gas distribution body includes a main cylinder and a gas distribution ring; The main body of the valve distribution ring is ring-shaped. The outer ring of the valve distribution ring has an outer ring air cavity, which is an annular groove formed along the outer peripheral wall of the valve distribution ring. The inner ring of the valve distribution ring has an inner ring air cavity, which is an annular groove formed along the inner peripheral wall of the valve distribution ring. A vent is provided between the inner ring air cavity and the outer ring air cavity. The main body cylinder is provided with multiple air inlets from top to bottom, and multiple air distribution rings are fitted into the inner cavity of the main body cylinder. The distribution shaft is rotatably installed in the main body cylinder and passes through the middle of the multiple air distribution rings. The outer ring air chambers of the longitudinally stacked air distribution rings correspond to the air inlets of the main cylinder, and the inner ring air chambers correspond to the distribution shaft. The air inlets of the air guide channels are opened at the positions of the distribution shaft and the inner ring air chambers.

3. The electric lifting ring gripper according to claim 2, characterized in that, The air guide channel includes an upper transverse receiving section, a vertical conveying section, and a lower transverse receiving section. The inlet of the upper transverse receiving section corresponds to the inner annular air chamber, and the outlet of the upper transverse receiving section corresponds to the upper end of the vertical conveying section. The lower transverse receiving section is located at the lower part of the distribution shaft. The inner end of the lower transverse receiving section is connected to the lower end of the vertical conveying section, and the other end of the lower transverse receiving section is connected to the outside from the side wall of the distribution shaft, forming the air outlet of the air guide channel. The distribution shaft is provided with multiple air guide channels, and the side wall of the distribution shaft has multiple air inlets for the air guide channels from top to bottom. The air inlets of the multiple air guide channels correspond to the inner ring air chambers respectively.

4. The electric lifting ring gripper according to claim 3, characterized in that, The outer ring of the valve distribution ring is provided with a sealing ring that forms a seal with the main cylinder; The inner ring of the valve train is provided with a sealing ring that forms a seal with the side wall of the distribution shaft.

5. The electric lifting ring gripper according to claim 4, characterized in that, Multiple support shafts are vertically installed at the upper end of the main body cylinder, and the rotation drive assembly is fixedly installed at the upper end of the multiple support shafts. The brush portion of the conductive slip ring is fixedly mounted on the surrounding support shaft.

6. The electric lifting ring gripper according to claim 5, characterized in that, The lifting ring gripping assembly includes a rotating base, which is fixedly installed at the lower end of the distribution shaft; A guide rod cylinder and a finger clamping cylinder are respectively installed on both sides of the rotating seat, and a lifting ring constraint mold is fixedly installed on the working end of the guide rod cylinder; The lifting ring constraint mold has an annular lifting ring receiving position. When the guide rod cylinder is in the retraction state, the working head of the finger clamping cylinder is located in the lifting ring receiving position. Both working heads of the finger clamping cylinder are equipped with constraint heads for blocking the lifting ring.

7. The electrical lifting ring gripper according to claim 6, characterized in that, The lifting ring receiving position is annular, and the inner wall of the annular receiving position is shaped like a trumpet with a gradually narrowing diameter from bottom to top.

8. The electric lifting ring gripper according to claim 7, characterized in that, The rotary drive assembly includes a servo motor and a speed reducer; The speed reducer is fixedly installed on the upper end of the plurality of support shafts, the servo motor is fixedly installed on the speed reducer, and the output end of the servo motor is connected to the input end of the speed reducer for transmission assembly.

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