阅读说明：本技术 一种杯子夹取装置 (Cup clamping device ) 是由 蒋志亮 于 2020-06-29 设计创作，主要内容包括：本发明属于机械技术领域,公开了一种杯子夹取装置,包括：可拆固定部,其可拆卸连接夹取驱动台；夹取部,其一端与所述可拆固定部铰接,另一端具有豁口,能够套设在杯子外部,并能够带动所述杯子移动。所述夹取部为具有豁口的圆形或方形板。所述夹取部两侧具有辅助折弯护板,其与所述夹取部一体连接。本发明提供了杯子夹取装置,低成本、无动力、自适应的杯子抓取夹爪,无需动力驱动及程式控制,且易加工和安装使用。(The invention belongs to the technical field of machinery, and discloses a cup clamping device, which comprises: a detachable fixing portion detachably connected to the gripping driving table; the clamping part is hinged to the detachable fixing part at one end, and the other end of the clamping part is provided with a notch, so that the clamping part can be sleeved outside the cup and can drive the cup to move. The clamping part is a round or square plate with a notch. The two sides of the clamping part are provided with auxiliary bending guard plates which are integrally connected with the clamping part. The invention provides a cup clamping device, which is a low-cost, unpowered and self-adaptive cup grabbing clamping jaw, does not need power drive and program control, and is easy to process, install and use.)

1. A device is got to cup clamp which characterized in that includes:

a detachable fixing portion detachably connected to the gripping driving table;

the clamping part is hinged to the detachable fixing part at one end, and the other end of the clamping part is provided with a notch, so that the clamping part can be sleeved outside the cup and can drive the cup to move.

2. The cup gripping device according to claim 1, wherein the gripping part is a square plate having a slit.

3. The cup gripping device as claimed in claim 2, wherein the gap has a circular arc-shaped cross section at one side and a square cross section at one side.

4. The cup gripping device according to claim 2 or 3, wherein the gripping part has auxiliary bending guards on both sides, which are integrally connected to the gripping part.

5. The cup gripping device according to claim 4, wherein the gripping part has a double structure, the upper structure is arranged in parallel with the lower structure, and the size of the opening of the upper structure is larger than that of the opening of the lower structure.

6. The cup gripping device of claim 5, wherein the removable fixture comprises:

a fixing plate having a through fixing hole;

and the dismounting fixing bolt can penetrate through the fixing hole and detachably connect the fixing plate with the clamping device.

7. The cup gripping device according to claim 6, wherein the gripping drive table is a multi-axis robot, a linear transfer table, a cyclic transfer table, or an elevation transfer table.

8. A cup gripping apparatus according to any one of claims 1 to 7, wherein the rim of the gap has a gasket.

Technical Field

The invention relates to the technical field of machinery, in particular to a cup clamping device.

Background

Most of the existing cup grabbing clamping jaws simulate the actions of human hands, the cup grabbing actions are completed through two or more clamping arms, a base, a motor and a transmission mechanism, and the action control is completed through a controller. Commonly found in applications such as unmanned coffee machines, automatic beverage or ice cream vending machines.

When the cup grabbing device is used for grabbing cups of different sizes, different types and different materials, the cup grabbing device needs to be adapted by adjusting the stroke or the shape of the clamping arm, or a pressure sensor is added to the clamping arm to feed back whether an object is grabbed. If the stroke is not properly adjusted or the shape of the clamping arm is not consistent with the shape of the cup, the cup body is easy to dent or crack. The control of the motors increases the amount of programming and wiring work for the application scenario, resulting in an overall cost increase.

The patent application No. 201020165887.7 discloses a high temperature beaker clamping device, which comprises two oppositely arranged petioles and hinged petioles, and has a simple structure, but when the device is used for clamping the beaker to automatically operate, the separation and combination operation of the two petioles are required to be realized, the placing position of the beaker is required to be accurately positioned, and the automatic grabbing operation is still driven by a complex mechanical structure.

Patent application No. 201710715691.7 discloses a paper cup snatchs collection device, get the claw including guiding mechanism and clamp, step up the device and get claw cooperation drive clamp by the cylinder with pressing from both sides, though reduced the manual operation cost, but mechanical structure is complicated, and operating procedure is loaded down with trivial details.

Application number 201820553152.8 discloses a detect integrative device of glass of grabbing, it is fixed to realize pressing from both sides of cup and get through two claw lamella, and set up two microcontrollers in the claw lamella, though simplified the structure, need not to detect the cup position through photoelectric sensor, still need set up two microcontrollers in the claw lamella, when cup splendid attire liquid, still there is the possibility of spilling, destroys the controller easily, leads to cost of maintenance height, the problem that the specific application effect is not good appears.

Therefore, there is a need in the art for a cup gripping device that solves the above problems.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: the cup clamping device is provided, the clamping jaw is low in cost, unpowered and adaptive, power driving and program control are not needed, and the cup clamping device is easy to process, install and use.

In order to solve the above problems in the prior art, the present invention provides a cup gripping device, including:

a detachable fixing portion detachably connected to the gripping driving table;

the clamping part is hinged to the detachable fixing part at one end, and the other end of the clamping part is provided with a notch which can be sleeved outside the cup and can drive the cup to move.

It can be understood by those skilled in the art that in the preferred embodiment of the present invention, further, the gripping part is a square plate having a slit.

It will be understood by those skilled in the art that in the preferred embodiment of the present invention, one side is a circular arc structure and one side is a square.

As can be understood by those skilled in the art, in the preferred embodiment of the present invention, the clamping part further has auxiliary bending guard plates on both sides, which are integrally connected with the clamping part.

It can be understood by those skilled in the art that in the preferred embodiment of the present invention, further, the clamping part has a double-layer structure, the upper layer structure is parallel to the lower layer structure, and the gap size of the upper layer structure is larger than that of the lower layer structure.

As can be understood by those skilled in the art, in a preferred embodiment of the present invention, further, the detachable fixing portion includes:

a fixing plate having a through fixing hole;

and the dismounting fixing bolt can penetrate through the fixing hole and detachably connect the fixing plate with the clamping device.

As can be understood by those skilled in the art, in a preferred embodiment of the present invention, the gripping drive table is further a multi-axis robot, a linear transfer table, a cyclic transfer table, or an elevation transfer table.

It will be appreciated by those skilled in the art that in a preferred embodiment of the invention, the edges of the gap portions are further provided with a gasket.

The invention provides a low-cost, unpowered and self-adaptive cup grabbing clamping jaw which can be mounted on a multi-axis robot, a linear transfer sliding table, a circulating transfer sliding table and a lifting transfer sliding table, is compatible with cup types with different capacities and different materials, does not need power driving and program control, and has the advantages of easiness in processing, low cost and large-scale use.

When the clamping arm is used for grabbing cups of different sizes, different types and different materials, the clamping arm does not need to be adjusted in stroke or shape to adapt, a pressure sensor does not need to be additionally arranged, the pressure of the clamping jaw does not need to be controlled, and the cup body is prevented from being sunken or broken. The cost is reduced.

The clamping jaw has high compatibility, is suitable for cup types made of different materials such as paper cups, plastic cups, glass cups, metal cups and the like, and is compatible with cup types with different capacities. The cup is grabbed by a lifting mode instead of being opened and closed by power, so that the cup is prevented from being extruded and damaged due to misoperation. The system is unpowered, has no controller and does not need programming, thereby reducing the wiring engineering quantity of system integration and saving energy. The single piece is manufactured by punching a die or a mould, so that the manufacturing cost of the single piece is low, the production speed is high, and the method can be applied in large quantity. The cup gripping device can be quickly installed on a multi-axis robot, a linear transfer sliding table or a circulating transfer sliding table, the main control system controls the robot to act to complete the gripping, transferring and handing-over of cups, and the cup gripping device is flexible in application.

Drawings

Preferred embodiments of the present invention are described below with reference to the accompanying drawings, in which:

FIG. 1 is a schematic view of the cup holder according to the present invention;

FIG. 2 is a schematic view of the gripping section of the present invention;

FIG. 3 is a schematic structural view of a detachable fastening portion according to the present invention;

FIG. 4 is a schematic view of a first gripping means of the cup gripping device of the present invention;

FIG. 5 is a schematic view of a second gripping means of the cup gripping device of the present invention;

FIG. 6 is a schematic view of a third gripping means of the cup gripping device of the present invention;

reference numerals:

the clamping device 1, the detachable fixing part 110, the clamping part 120, the gap 121, the fixing plate 111, the fixing hole 111a and the cup body 2.

Detailed Description

The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that in the description of the present invention, the terms "in", "upper", "lower", "lateral", "inner", etc. indicate directions or positional relationships based on those shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; may be a mechanical connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Based on the prior art problems pointed out by the background art, the invention provides a cup clamping device, which comprises: the method comprises the following steps: a detachable fixing part 110 and a gripping part 120.

Wherein, the detachable fixing part 110 is detachably connected with the clamping driving table; one end of the clamping part 120 is hinged to the detachable fixing part 110, and the other end of the clamping part has a notch 121, so that the clamping part can be sleeved outside the cup and can drive the cup to move. The preferred embodiment is: the gripping part 120 is a square plate having a notch.

As shown in fig. 2, the preferred embodiment is: one side of the section of the opening is of an arc-shaped structure, and the other side of the section of the opening is square. Preferably, the clamping unit 120 has auxiliary bending guards on both sides thereof and is integrally connected to the clamping unit 120.

In a preferred embodiment, the clamping part is of a double-layer structure, the upper layer structure and the lower layer structure are arranged in parallel, the upper structure and the lower layer structure are similar in shape, and the size of the opening of the upper layer structure is larger than that of the opening of the lower layer structure due to the fact that the diameter of the upper part of the cup is large and the diameter of the lower part of the cup is small.

Can carry out corresponding adjustment with clamping part thickness in actual need, for avoiding the too sharp fish tail cup 2 of clamping part, should not be too thin with the thickness that the clamping part set up.

As shown in fig. 3, the detachable fixing portion 110 includes: a fixing plate 111, wherein the fixing plate 111 has a through fixing hole 111 a; the dismounting fixing bolt can penetrate through the fixing hole and detachably connect the fixing plate with the clamping driving table. In a preferred embodiment, the detachable fixing part can be modified according to the requirement of the connecting structure, and can be designed into a form that an inserting plate is matched with a slot or a folding type shrinking structure.

As shown in fig. 4 to 6, the cup gripping device of the present invention is schematically illustrated in three gripping manners.

The clamping driving platform is a multi-shaft robot, a linear transfer sliding platform, a circulating transfer sliding platform or a lifting transfer sliding platform. The function of setting the clamping driving table is mainly to obtain the cup body 2, and driving the clamping device to move the cup to clamp the clamping jaw, the device can be installed on a multi-shaft robot, a linear transfer sliding table, a circulating transfer sliding table and a lifting transfer sliding table, is compatible with cup types with different capacities and different materials, does not need power driving and program control, and has the advantages of easiness in processing, low cost and large-scale use.

In the beverage industry, the cup mouth of the common cup is 90mm and 95mm in diameter. The cup has different capacities (such as 50ml, 100ml, 200ml, 500ml, 700ml and the like), the diameter of the cup mouth and the cup bottom is the same, and the height and the slope of the cup body are different. With the aforementioned characteristics, 2 types of jaws were designed. The clamping process is shown in fig. 4.

The first embodiment is based on the diameter of the cup opening, the opening size of the clamping jaw is larger than the radius of the cup opening and smaller than the diameter of the cup opening, the clamping jaw enters from the middle of the cup body and ascends to lift the cup opening, and the cup grabbing is completed. The design can be compatible with cups with different capacities and different materials, and the cups are grabbed and lifted by driving the multi-axis robot, the linear transfer sliding table or the circulating transfer sliding table without power control of opening and closing of the clamping jaws.

When the cup clamping device is used, the cup clamping device penetrates through the fixing hole through the dismounting fixing bolt, the cup clamping device and the clamping driving table are detachably connected, power for clamping the cup clamping device is derived from the multi-axis robot, the linear transfer sliding table, the circulating transfer sliding table or the lifting transfer sliding table, the opening diameter is larger than the middle diameter of a cup, the cup clamping device acquires the outer wall of the cup from the middle of the cup, the cup clamping device is moved by moving the cup, the cup clamping device ascends, the cup opening is lifted, and the cup is grabbed.

The second embodiment is that the slope of the cup body is used as a design basis, the opening size of the clamping jaw is divided into an upper layer and a lower layer which are 2 layers, common slope parameters of different capacity cup types are adopted for design, the clamping jaw enters from the bottom of the cup body and rises, the middle of the cup body is lifted, and the cup is grabbed and lifted. The design can be compatible with cups with different capacities and different materials, avoids the position of a clamping jaw (the first type) for lifting the cup mouth, and realizes the cup handover action of 2 or more multi-axis robots, linear transfer sliding tables or circulating transfer sliding tables by adjusting the opening angle.

When the cup clamping device is used, the cup clamping device penetrates through the fixing hole through the dismounting fixing bolt, the cup clamping device and the clamping driving table are detachably connected, power for clamping the cup clamping device is derived from the multi-axis robot, the straight line is used for transferring the sliding table, the circulating transfer sliding table or the lifting transfer sliding table, the opening diameter is larger than the bottom diameter of a cup, the cup clamping device acquires the outer wall of the cup from the middle of the cup, the cup clamping device is moved through moving the cup, the cup clamping device ascends, the middle of the cup body is lifted, and the cup.

Preferably, the edge of the opening part is provided with a gasket, the gasket is arranged on the edge of the opening, so that the opening and the cup wall are prevented from being rigidly connected to cause the cup body 2 to sink, the heat exchange between the cup body 2 and the clamping device can be effectively reduced, the heat of liquid in the cup body 2 is prevented from being conducted to the clamping device, and scalding is avoided.

Preferably, the cup holder is made of metal (such as alloy) or nonmetal (such as plastic).

When the clamping arm is used for grabbing cups of different sizes, different types and different materials, the clamping arm does not need to be adjusted in stroke or shape to adapt, a pressure sensor does not need to be additionally arranged, the pressure of the clamping jaw does not need to be controlled, and the cup body is prevented from being sunken or broken. The cost is reduced.

The clamping jaw has high compatibility, is suitable for cup types made of different materials such as paper cups, plastic cups, glass cups, metal cups and the like, and is compatible with cup types with different capacities. The cup is grabbed by a lifting mode instead of being opened and closed by power, so that the cup is prevented from being extruded and damaged due to misoperation. The system is unpowered, has no controller and does not need programming, thereby reducing the wiring engineering quantity of system integration and saving energy. The single piece is manufactured by punching a die or a mould, so that the manufacturing cost of the single piece is low, the production speed is high, and the method can be applied in large quantity. The cup gripping device can be quickly installed on a multi-axis robot, a linear transfer sliding table or a circulating transfer sliding table, the main control system controls the robot to act to complete the gripping, transferring and handing-over of cups, and the cup gripping device is flexible in application.

So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.