A multifunctional gripper suitable for a robot end

Abstract

The application belongs to the field of automation and robot end clamp design, and specifically relates to a multifunctional clamp suitable for a robot end, which comprises a clamp body, a driving unit and a functional unit. The clamp body comprises a detachable hand claw main side, a first detachable hand claw tool side, a second detachable hand claw tool side and a first screw and a second screw. The detachable hand claw main side and the first detachable hand claw tool side are detachably fixedly connected through the first screw. The detachable hand claw main side and the second detachable hand claw tool side are detachably fixedly connected through the first screw. The driving unit comprises a cylinder and a sliding block. The cylinder is connected with the detachable hand claw main side through the sliding block, the first screw and the second screw. The functional unit is integrally arranged on the first detachable hand claw tool side and the second detachable hand claw tool side. The application can be used for intelligent grabbing and diversified uncapping of various beverage bottles and cans.

Description

Technical Field

[0001] This application belongs to the fields of automation and robot end effector design, specifically a multifunctional gripper suitable for robot end effectors. Background Technology

[0002] With the continuous advancement of intelligent manufacturing and service robot technologies, robots are increasingly being used in automated beverage sorting, assembly, logistics distribution, and unmanned retail. Beverage bottles and cans, as common consumer goods, come in various packaging forms, including cans, glass bottles, and plastic bottles. These different packages not only differ in shape, size, and structural specifications, but also in their opening methods. For example, some functional beverages (such as Red Bull) use pull-tab caps; herbal tea beverages (such as Jia Duo Bao) use retainer-style pull-tab caps; medicinal beverages (such as honeysuckle dew) use screw caps; sparkling beverages (such as soda water) use beer crown caps; and dairy beverages (such as AD calcium) use insert-type caps. Meanwhile, in automated production scenarios, the limitations of these specialized tools become even more apparent: For different packaging formats such as Red Bull cans, honeysuckle dew bottles, AD calcium milk bottles, and Taixiang soda water bottles, frequent changes to the robot's end effector (gripper) are required. This not only extends production line downtime, increases equipment costs and warehouse management complexity, but also, due to the instability of some grippers, easily causes beverage spillage or bottle mouth damage, affecting the product's drinking experience and subsequent storage. The recycling process for pull-tab bottle caps and beer crown caps is relatively complex and difficult. Because pull tabs and beer crown caps are difficult to grasp when opening, and are small in size with sharp edges, traditional grippers are ineffective at recycling them.

[0003] Most existing robotic gripping and opening devices are designed for a single type of bottle or can, and the gripper structure is usually strongly correlated with the shape of the bottle or can or the opening method. When the robot needs to handle different types of bottles or cans, the corresponding grippers or special tools must be changed to achieve the corresponding gripping or opening actions, which increases the number of process steps, reduces automation efficiency, and greatly limits the flexibility and intelligence of the production line.

[0004] Therefore, improvements are needed. Utility Model Content

[0005] To address the above technical problems, this application provides a multifunctional gripper suitable for robot end effectors.

[0006] The first objective of this invention is achieved through the following technical solution:

[0007] A multi-functional gripper suitable for robot end effectors includes: a gripper body, a drive unit, and a functional unit;

[0008] The fixture body includes a detachable main gripper side, a first detachable tool gripper side, a second detachable tool gripper side, a first screw, and a second screw;

[0009] The detachable main side of the gripper is detachably fixed to the first detachable tool side of the gripper by the first screw;

[0010] The detachable main side of the gripper and the second detachable tool side of the gripper are detachably fixedly connected by the first screw;

[0011] The drive unit includes a cylinder and a slider. The cylinder is connected to the main side of the detachable gripper via the slider, the first screw, and the second screw.

[0012] The functional unit is integrated on the first detachable gripper tool side and the second detachable gripper tool side. The functional unit includes a first opening device, a recycling device, a second opening device, a gripping device, a third opening device, and a clamping device.

[0013] By adopting the above technical solutions, a modular and multifunctional integrated design of the gripper has been achieved. With the detachable gripper tool side and various functional devices integrated on it, a single gripper can complete tasks such as grasping bottles and cans of different shapes, opening various mainstream bottle caps, recycling specific bottle caps, and gripping straws, greatly improving the versatility of the robot in automated production lines for beverages, food, and other industries.

[0014] Optionally, the first opening device is a metal screwdriver fixed to the first detachable gripper tool side and the second detachable gripper tool side, and the end of the first opening device is provided with an opening protrusion.

[0015] By adopting the above technical solutions, the specially designed metal screwdriver can use the protrusion at its end to accurately pry open beer crown caps under the drive of a cylinder. It has a simple structure, reliable operation, and effectively solves the problem of difficulty in opening such bottle caps.

[0016] Optionally, the recycling device includes a bracket fixed to the first detachable gripper tool side and the second detachable gripper tool side, and a magnet mounted on the bracket.

[0017] By adopting the above technical solutions, and through magnetic adsorption and fixation with a special bracket, the metal beer crown caps can be reliably picked up and released under the control of the clamping and opening action of the cylinder, realizing automatic recycling after opening and preventing the bottle caps from scattering.

[0018] Optionally, the second opening device is a clamping block fixed to the side of the second detachable gripper tool, and the contact surface of the second opening device is adhered with rubber material.

[0019] By adopting the above technical solutions, the rubber material adhered to the surface greatly increases the friction between the rubber material and the smooth bottle cap. By clamping and rotating the bottle cap, the screw-on bottle cap can be opened effectively without slipping or damaging the bottle cap.

[0020] Optionally, the gripping device is a clamping block fixed to the side of the first detachable gripper tool, and the inner side of the gripping device is provided with a protruding structure for limiting the bottle cap head.

[0021] By adopting the above technical solutions, the inner protrusion limiting design can precisely match the bottle cap or specific structure of small bottles to achieve stable gripping and prevent the bottle from slipping or rotating during transportation.

[0022] Optionally, the third opening device is a pair of symmetrical hooks movably connected to the side of the first detachable claw tool.

[0023] By adopting the above technical solution, a pair of symmetrical hooks can flexibly hook the pull ring, and the opening action can be completed by the action of the cylinder; at the same time, by controlling the closing of the hooks, the pull ring cover can be effectively clamped and retrieved, solving the problem of small-sized, sharp pull ring covers being difficult to handle and retrieve.

[0024] Optionally, the gripping device is a pair of symmetrical wave-shaped grippers movably connected to the side of the first detachable gripper tool.

[0025] By adopting the above technical solutions, the symmetrical wave-shaped clamping blocks increase the contact area and friction with the cylindrical straw. The clamping force is precisely controlled by the cylinder, which can stably clamp and release the straw, making it suitable for automated operation of straw-type beverages.

[0026] Optionally, it may also include a flange fixedly connected to the end of the cylinder away from the main side of the detachable gripper.

[0027] By adopting the above technical solutions, the flange provides a standardized robot interface, enabling the fixture to be quickly installed on the end effector of different models of industrial robots, thus enhancing the interchangeability and application flexibility of the equipment.

[0028] In summary, this application includes at least one of the following beneficial technical effects:

[0029] Exceptional versatility: One set of fixtures integrates gripping, multiple opening methods, and recycling functions, adapting to various bottle types and caps. This completely avoids the problem of frequently switching between dedicated fixtures due to product changes, greatly improving the flexibility of the production line.

[0030] Highly efficient bottle cap recycling capability: A recycling device specifically designed for beer crown caps and pull tab caps solves the industry pain point of difficulty in recycling small, sharp bottle caps, simplifies subsequent processes, and improves operational safety.

[0031] Stable adaptive gripping: The gripping device adopts designs such as raised limit and wave surface clamping, which can adapt to bottles and cans of different diameters and shapes, ensuring gripping stability while effectively preventing pinching or slippage.

[0032] Modular and highly integrated: Multiple functions are integrated into one through a detachable gripper tool side, resulting in a compact structure, powerful functions, and easy integration and promotion into existing robot systems.

[0033] Significant efficiency improvement: The robot can automatically identify bottle and can types and call the corresponding functional modules to achieve continuous and automated operation, greatly reducing production line downtime and manual intervention, and improving overall production efficiency. Attached Figure Description

[0034] Figure 1 Schematic diagram of robot end effector.

[0035] Figure 2 Exploded view of the robot's end effector.

[0036] Reference numerals: 1. Detachable gripper main side; 2. First detachable gripper tool side; 3. Second detachable gripper tool side; 4. First screw; 5. Second screw; 6. Cylinder; 7. Slider; 8. First opening device; 9. Retrieval device; 10. Second opening device; 11. Gripping device; 12. Third opening device; 13. Clamping device; 14. Flange. Detailed Implementation

[0037] The following is in conjunction with the appendix Figure 1 This application will be described in further detail.

[0038] A multi-functional gripper suitable for robot end effectors includes: a gripper body, a drive unit, and a functional unit;

[0039] The fixture body includes a detachable main gripper side 1, a first detachable gripper tool side 2, a second detachable gripper tool side 3, a first screw 4, and a second screw 5;

[0040] The detachable main gripper 1 and the first detachable tool gripper 2 are detachably fixedly connected by the first screw 4;

[0041] The detachable main gripper 1 and the second detachable tool gripper 3 are detachably fixedly connected by a first screw 5;

[0042] The drive unit includes a cylinder 6 and a slider 7. The cylinder 6 is connected to the detachable gripper main side 1 through the slider 7, the first screw 4, and the second screw 5.

[0043] The functional units are integrated on the first detachable gripper tool side 2 and the second detachable gripper tool side 3. The functional units include a first opening device 8, a recycling device 9, a second opening device 10, a gripping device 11, a third opening device 12, and a clamping device 13.

[0044] In this embodiment, the detachable gripper main side 1 is connected to two detachable gripper tool sides 2 and 3 via a first screw 4 and a second screw 5 to form the fixture body. The cylinder 6 of the drive unit drives the detachable gripper main side 1 to move via a slider 7 and the first screw 4 and the second screw 5. Multiple functional devices are integrated on the two detachable gripper tool sides, and the functions can be quickly switched by selecting and installing different devices according to task requirements.

[0045] Furthermore, the first opening device 8 is a metal screwdriver fixed to the first detachable claw tool side 2 and the second detachable claw tool side 3, and the end of the first opening device 8 is provided with an opening protrusion.

[0046] In this embodiment, the first opening device 8 is a specially made metal screwdriver fixed to the first detachable gripper tool side 2 and the second detachable gripper tool side 3. When it is necessary to open a beer crown cap, the robot controls the gripper to insert the protrusion at the front end of the screwdriver into the edge of the bottle cap, and the cylinder 6 drives the gripper to apply an upward force, thereby prying up the bottle cap.

[0047] Furthermore, the recycling device 9 includes a bracket fixed to the first detachable gripper tool side 2 and the second detachable gripper tool side 3, and a magnet mounted on the bracket.

[0048] In this embodiment, the recycling device 9 consists of a support and a magnet. After the bottle cap is opened, the cylinder 6 drives the gripper to close, causing the magnet to approach and attract the metal bottle cap; after being transported to the recycling point, the gripper opens, and the magnet moves away from the bottle cap, thus releasing it.

[0049] Furthermore, the second opening device 10 is a clamping block fixed to the second detachable gripper tool side 3, and the contact surface of the second opening device 10 is bonded with rubber material.

[0050] In this embodiment, the second opening device 10 is a clamping block with rubber attached to its surface. During operation, the cylinder 6 drives the clamping block to close, using the high friction of the rubber to tightly hold the bottle cap in place. Then, the robot's end effector performs a rotational motion to unscrew the bottle cap.

[0051] Furthermore, the gripping device 11 is a clamping block fixed to the first detachable gripper tool side 2, and the inner side of the gripping device 11 is provided with a protruding structure for limiting the bottle cap head.

[0052] In this embodiment, the gripping device 11 is a clamping block with protrusions on the inner side. During gripping, the protruding structure engages with the groove or specific part of the bottle cap to ensure that the bottle will not rotate or fall off during gripping and movement.

[0053] Furthermore, the third opening device 12 is a pair of symmetrical hooks that are movably connected to the first detachable claw tool side 2.

[0054] In this embodiment, the third opening device 12 consists of a pair of symmetrically connected hooks. When opening, the hooks hook the pull ring; when retrieving, the cylinder 6 drives the hooks to close, clamping the pull ring cover and transporting it to the retrieval device.

[0055] Furthermore, the gripping device 13 is a pair of symmetrical wave-shaped grippers movably connected to the first detachable gripper tool side 2.

[0056] In this embodiment, the gripping device 13 consists of a pair of symmetrically wave-shaped gripping blocks that are movably connected. When the cylinder 6 drives the gripping blocks to close, the wave-shaped surface can adapt to the diameter of the straw, providing a uniform gripping force and achieving stable gripping.

[0057] Furthermore, it also includes a flange 14, which is fixedly connected to the end of the cylinder 6 away from the main side 1 of the detachable gripper.

[0058] In this embodiment, the flange 14 is fixed to the end of the cylinder 6 and connected to the robot by screws, thus completing the installation of the entire fixture on the robot.

[0059] The working principle of this application is as follows: The fixture is installed on the end effector of the robot via flange 14. The robot's vision system or sensors first identify the type and location of the bottle / can. Subsequently, the robot drives the fixture to move to the target location. According to the task requirements (grabbing, opening, recycling, etc.), cylinder 6 drives the main side 1 of the detachable gripper to move via slider 7, thereby actuating the corresponding functional devices installed on the tool side (2,3) of the detachable gripper. For example, the second opening device 10 can be used to unscrew the cap of a mineral water bottle, the first opening device 8 can be used to pry open a beer bottle cap and recycle it using recycling device 9, the third opening device 12 can be used to hook open and recycle the pull tab cap, the gripping device 11 can be used to grab small bottles, or the clamping device 13 can be used to clamp straws. All functions can be achieved with one set of fixtures and one installation, and can be automatically switched through program control, thereby greatly improving the efficiency of operation and the level of automation and flexibility of the production line.

Claims

1. A multi-functional gripper suitable for robot end effectors, characterized in that, include: Fixture body, drive unit, and functional unit; The fixture body includes a detachable main gripper (1), a first detachable gripper tool side (2), a second detachable gripper tool side (3), a first screw (4), and a second screw (5); The detachable main side (1) and the first detachable tool side (2) are detachably fixedly connected by the first screw (4); The detachable main side (1) and the second detachable tool side (3) are detachably fixedly connected by the first screw (4); The drive unit includes a cylinder (6) and a slider (7). The cylinder (6) is connected to the main side (1) of the detachable gripper via the slider (7), the first screw (4), and the second screw (5). The functional unit is integrated on the first detachable gripper tool side (2) and the second detachable gripper tool side (3). The functional unit includes a first opening device (8), a recycling device (9), a second opening device (10), a gripping device (11), a third opening device (12), and a clamping device (13).

2. A multifunctional gripper suitable for robot end effectors according to claim 1, characterized in that, The first opening device (8) is a metal screwdriver fixed on the first detachable claw tool side (2) and the second detachable claw tool side (3), and the end of the first opening device (8) is provided with an opening protrusion.

3. A multifunctional gripper suitable for robot end effectors according to claim 1, characterized in that, The recycling device (9) includes a bracket fixed to the first detachable gripper tool side (2) and the second detachable gripper tool side (3) and a magnet mounted on the bracket.

4. A multifunctional gripper suitable for robot end effectors according to claim 1, characterized in that, The second opening device (10) is a clamping block fixed on the side (3) of the second detachable claw tool, and the contact surface of the second opening device (10) is covered with rubber material.

5. A multifunctional gripper suitable for robot end effectors according to claim 1, characterized in that, The gripping device (11) is a clamping block fixed on the first detachable gripper tool side (2), and the gripping device (11) has a protruding structure on its inner side for limiting the bottle cap head.

6. A multifunctional gripper suitable for robot end effectors according to claim 1, characterized in that, The third opening device (12) is a pair of symmetrical hooks that are movably connected to the first detachable claw tool side (2).

7. A multifunctional gripper suitable for robot end effectors according to claim 1, characterized in that, The gripping device (13) is a pair of symmetrical wave-shaped grippers that are movably connected to the first detachable gripper tool side (2).

8. A multifunctional gripper suitable for robot end effectors according to claim 1, characterized in that, It also includes a flange (14) which is fixedly connected to the end of the cylinder (6) away from the main side (1) of the detachable gripper.

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