阅读说明：本技术 果汁罐装用柔性机械手 (Flexible manipulator for canning fruit juice ) 是由 袁飞 于 2020-06-15 设计创作，主要内容包括：本发明涉及一种果汁罐装用柔性机械手,当气缸推动楔形块向导向组件移动时,第一夹爪和第二夹爪相背远离,限位板随楔形块向前方移动,第一弹性元件和第二弹性元件被拉伸；当气缸复位后,第一夹爪和第二夹爪相对移动,第一夹爪的两个夹持面和第二夹爪的两个夹持面均与塑料瓶相切设置,塑料瓶的底部与限位板上表面贴合,限位杆与横向挡板相切设置,限位板的中心轴线与塑料瓶的中心轴线重合,本发明可柔性夹持的夹持塑料瓶的外圆周面,限位板用于支撑塑料瓶,使用本发明夹持的塑料瓶,瓶体不会变形,果汁不会从塑料瓶内洒出,保护了工作环境的同时,提高了果汁的罐装效率。(The invention relates to a flexible manipulator for canning fruit juice, wherein when a cylinder pushes a wedge block to move towards a guide assembly, a first clamping jaw and a second clamping jaw are away from each other, a limiting plate moves forwards along with the wedge block, and a first elastic element and a second elastic element are stretched; after the air cylinder is reset, the first clamping jaw and the second clamping jaw move relatively, the two clamping surfaces of the first clamping jaw and the two clamping surfaces of the second clamping jaw are arranged in a tangent mode with the plastic bottle, the bottom of the plastic bottle is attached to the upper surface of the limiting plate, the limiting rod is arranged in a tangent mode with the transverse baffle, and the central axis of the limiting plate is coincided with the central axis of the plastic bottle.)

1. The utility model provides a fruit juice canning is with flexible manipulator which characterized in that: including mounting panel (1), fixed surface installs the direction subassembly on mounting panel (1), slidable mounting has first clamping jaw (2) and second clamping jaw (3) on the direction subassembly, all set up the V type that has two clamping faces on first clamping jaw (2) and second clamping jaw (3) and press from both sides the mouth, be provided with first elastic element (4) between first clamping jaw (2) and the direction subassembly, be provided with second elastic element (5) between second clamping jaw (3) and the direction subassembly, first clamping jaw (2) and second clamping jaw (3) set up about the central symmetry of mounting panel (1), the rear slidable mounting of surface direction subassembly has wedge (6) on mounting panel (1), be provided with first wedge (6-1) and second wedge (6-2) on wedge (6), first wedge (6-1) and second wedge (6-2) are about the well wedge (6) The center symmetry sets up, be provided with third wedge face (2-1) on first clamping jaw (2), be provided with fourth wedge face (3-1) on second clamping jaw (3), third wedge face (2-1) and first wedge face (6-1) laminating, fourth wedge face (3-1) and second wedge face (6-2) laminating, fixed mounting has limiting plate (7) on wedge (6), surface fixed mounting has gag lever post (8) under limiting plate (7), gag lever post (8) are located the below of mounting panel (1), fixed mounting has transverse baffle (9) on mounting panel (1), transverse baffle (9) are located the below of limiting plate (7), the rear fixed mounting of surface wedge block (6) on mounting panel (1) has cylinder (10), the extension end and the wedge block (6) contact setting of cylinder (10), when the air cylinder (10) pushes the wedge block (6) to move towards the guide assembly, the first clamping jaw (2) and the second clamping jaw (3) are away from each other, the limiting plate (7) moves forwards along with the wedge block (6), and the first elastic element (4) and the second elastic element (5) are stretched; after cylinder (10) reset, first clamping jaw (2) and second clamping jaw (3) relative movement, two clamping surfaces of first clamping jaw (2) and two clamping surfaces of second clamping jaw (3) all set up with the plastic bottle is tangent, the bottom and the laminating of limiting plate (7) upper surface of plastic bottle, gag lever post (8) and horizontal baffle (9) are tangent and set up, the central axis of limiting plate (7) and the central axis coincidence of plastic bottle.

2. The flexible robot for juice canning according to claim 1, wherein: the guide assembly comprises a partition plate (11), a first guide rod (12) and a second guide rod (13) are fixedly mounted on two sides of the partition plate (11) respectively, the two first guide rods (12) are arranged in parallel at intervals, and the two first guide rods (12) penetrate through the first clamping jaw (2) in a sliding mode; two second guide bar (13) are parallel and the interval sets up, two second guide bar (13) all slide and wear to establish second clamping jaw (3).

3. The flexible robot for juice canning according to claim 1, wherein: the first elastic element (4) is a first extension spring, and the two first extension springs are respectively sleeved on the two first guide rods (12); the second elastic element (5) is a second extension spring, and the two second extension springs are respectively sleeved on the two second guide rods (13).

4. The flexible robot for juice canning according to claim 1, wherein: wedge (6) and limiting plate (7) are through connecting rod (14) fixed connection, the guiding hole has been seted up on mounting panel (1), connecting rod (14) are worn to establish in the guiding hole, fixed mounting has deflector (15) on connecting rod (14), deflector (15) are located the lower surface of mounting panel (1) and are laminated with the lower surface of mounting panel (1).

Technical Field

The invention relates to the technical field of manipulators, in particular to a flexible manipulator for canning fruit juice.

Background

The bottle grabbing mechanical arm is a control object frequently encountered in the field of industrial automatic control, is an automatic operation device used for grabbing bottles according to a fixed program, can replace heavy labor of people to realize mechanization and automation of production, can operate under a harmful environment to protect personal safety, therefore, the mechanical arm for grabbing the bottle is widely applied to the filling field of food, medicine and the like, along with the development of mechanization and automation, the mechanical arm for grabbing the bottle is widely applied to various industries of production automation, the mechanical arm for grabbing the bottle used in the process of producing and packaging fruit juice is a rigid mechanical arm at present, because the bottle of splendid attire fruit juice is mostly the plastic bottle, if use the manipulator of rigidity to snatch softer plastic bottle, the plastic bottle warp easily, and the bottle warp the back fruit juice and just spill in the plastic bottle easily, when polluting operational environment, has reduced the canning efficiency of fruit juice.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: in order to overcome the condition that uses rigid manipulator to snatch softer plastic bottle among the prior art, the plastic bottle warp easily, and the bottle warp back fruit juice and just spill in the plastic bottle easily, when polluting operational environment, has reduced the problem of canning efficiency of fruit juice, provides a fruit juice canning and uses flexible manipulator.

The technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides a fruit juice canning is with flexible manipulator, includes the mounting panel, fixed surface installs the direction subassembly on the mounting panel, slidable mounting has first clamping jaw and second clamping jaw on the direction subassembly, all set up the V type that has two clamping faces on first clamping jaw and the second clamping jaw and press from both sides the mouth, be provided with first elastic element between first clamping jaw and the direction subassembly, be provided with second elastic element between second clamping jaw and the direction subassembly, first clamping jaw and second clamping jaw set up about the central symmetry of mounting panel, the rear slidable mounting of surface direction subassembly has the wedge on the mounting panel, be provided with first wedge and second wedge on the wedge, first wedge and second wedge set up about the central symmetry of wedge, be provided with third wedge on the first clamping jaw, be provided with the fourth wedge on the second clamping jaw, the third wedge-shaped surface is attached to the first wedge-shaped surface, the fourth wedge-shaped surface is attached to the second wedge-shaped surface, a limiting plate is fixedly mounted on the wedge block, a limiting rod is fixedly mounted on the lower surface of the limiting plate, the limiting rod is located below the mounting plate, a transverse baffle is fixedly mounted on the mounting plate and located below the limiting plate, an air cylinder is fixedly mounted behind the wedge block on the upper surface of the mounting plate, the extending end of the air cylinder is in contact with the wedge block, when the air cylinder pushes the wedge block to move towards the steering assembly, the first clamping jaw and the second clamping jaw are away from each other, the limiting plate moves forwards along with the wedge block, and the first elastic element and the second elastic element are stretched; after the cylinder resets, first clamping jaw and second clamping jaw relative movement, two clamping surfaces of first clamping jaw and two clamping surfaces of second clamping jaw all set up with the plastic bottle is tangent, and the gag lever post sets up with horizontal baffle is tangent, the bottom and the limiting plate upper surface laminating of plastic bottle, the central axis of limiting plate and the coincidence of the central axis of plastic bottle.

According to the flexible manipulator for canning the fruit juice, when the air cylinder pushes the wedge block to move towards the guide assembly, the first clamping jaw and the second clamping jaw are away from each other, the limiting plate moves forwards along with the wedge block, and the first elastic element and the second elastic element are stretched; when the cylinder is reset, the first elastic element and the second elastic element drive the first clamping jaw and the second clamping jaw to move relatively, the first clamping jaw and the second clamping jaw push the wedge block to move reversely, the wedge block drives the limiting plate to move reversely, the limiting rod moves to be tangent to the transverse baffle plate, the transverse baffle plate limits the limiting rod to move continuously, the central axis of the limiting rod is fixed, the position of the wedge block on the mounting plate is fixed, the distance between the first clamping jaw and the second clamping jaw is fixed, at the moment, two clamping surfaces of the first clamping jaw and two clamping surfaces of the second clamping jaw are both arranged in a tangent mode with the plastic bottle, the central axis of the plastic bottle is determined, at the moment, the central axis of the plastic bottle is coincided with the central axis of the limiting rod without relative movement of the first clamping jaw and the second clamping jaw, and the first clamping jaw and the second clamping jaw, the bottom of the plastic bottle is attached to the upper surface of the limiting plate, the limiting plate supports the plastic bottle, and the first clamping jaw and the second clamping jaw limit the plastic bottle, so that the plastic bottle is clamped and can be stably conveyed in the conveying process; the invention can flexibly clamp the outer circumferential surface of the plastic bottle, and the limiting plate is used for supporting the plastic bottle.

Furthermore, the guide assembly comprises a partition plate, a first guide rod and a second guide rod are fixedly mounted on two sides of the partition plate respectively, the two first guide rods are arranged in parallel at intervals, and the two first guide rods penetrate through the first clamping jaw in a sliding mode; two the second guide bar is parallel and the interval sets up, two the second clamping jaw is worn to establish by the equal slip of second guide bar.

Furthermore, the first elastic element is a first extension spring, and the two first extension springs are respectively sleeved on the two first guide rods; the second elastic element is a second extension spring, and the two second extension springs are respectively sleeved on the two second guide rods.

Further, wedge and limiting plate pass through connecting rod fixed connection, the guiding hole has been seted up on the mounting panel, the connecting rod is worn to establish in the guiding hole, fixed mounting has the deflector on the connecting rod, the deflector is located the lower surface of mounting panel and laminates with the lower surface of mounting panel.

The flexible manipulator for canning the fruit juice has the beneficial effects that when the air cylinder pushes the wedge block to move towards the guide assembly, the first clamping jaw and the second clamping jaw are away from each other, the limiting plate moves forwards along with the wedge block, and the first elastic element and the second elastic element are stretched; after the air cylinder is reset, the first clamping jaw and the second clamping jaw move relatively, the two clamping surfaces of the first clamping jaw and the two clamping surfaces of the second clamping jaw are arranged in a tangent mode with the plastic bottle, the bottom of the plastic bottle is attached to the upper surface of the limiting plate, the limiting rod is arranged in a tangent mode with the transverse baffle, and the central axis of the limiting plate is coincided with the central axis of the plastic bottle.

Drawings

The invention is further illustrated with reference to the following figures and examples.

FIG. 1 is a three-dimensional schematic of the present invention;

FIG. 2 is a top view of the present invention;

FIG. 3 is a bottom view of the present invention;

fig. 4 is a left side view of the present invention.

In the figure: 1. the clamping device comprises a mounting plate, 2 parts of a first clamping jaw, 2-1 parts of a third wedge surface, 3 parts of a second clamping jaw, 3-1 parts of a fourth wedge surface, 4 parts of a first elastic element, 5 parts of a second elastic element, 6 parts of a wedge block, 6-1 parts of a first wedge surface, 6-2 parts of a second wedge surface, 7 parts of a limiting plate, 8 parts of a limiting rod, 9 parts of a transverse baffle, 10 parts of an air cylinder, 11 parts of a partition plate, 12 parts of a first guide rod, 13 parts of a second guide rod, 14 parts of a connecting rod and 15 parts of a guide plate.

Detailed Description

The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.

As shown in fig. 1-4, the flexible manipulator for canning fruit juice comprises a mounting plate 1, a guide assembly is fixedly mounted on the upper surface of the mounting plate 1, a first clamping jaw 2 and a second clamping jaw 3 are slidably mounted on the guide assembly, V-shaped clamping ports with two clamping surfaces are respectively formed on the first clamping jaw 2 and the second clamping jaw 3, a first elastic element 4 is arranged between the first clamping jaw 2 and the guide assembly, a second elastic element 5 is arranged between the second clamping jaw 3 and the guide assembly, the first clamping jaw 2 and the second clamping jaw 3 are symmetrically arranged with respect to the center of the mounting plate 1, a wedge block 6 is slidably mounted on the rear portion of the guide assembly on the upper surface of the mounting plate 1, a first wedge surface 6-1 and a second wedge surface 6-2 are arranged on the wedge block 6, the first wedge surface 6-1 and the second wedge surface 6-2 are symmetrically arranged with respect to the center of the wedge block 6, the first clamping jaw 2 is provided with a third wedge surface 2-1, the second clamping jaw 3 is provided with a fourth wedge surface 3-1, the third wedge surface 2-1 is jointed with the first wedge surface 6-1, the fourth wedge surface 3-1 is jointed with the second wedge surface 6-2, the wedge block 6 is fixedly provided with a limiting plate 7, the lower surface of the limiting plate 7 is fixedly provided with a limiting rod 8, the limiting rod 8 is positioned below the mounting plate 1, the mounting plate 1 is fixedly provided with a transverse baffle 9, the transverse baffle 9 is positioned below the limiting plate 7, the rear part of the wedge block 6 on the upper surface of the mounting plate 1 is fixedly provided with an air cylinder 10, the extending end of the air cylinder 10 is contacted with the wedge block 6, when the air cylinder 10 pushes the wedge block 6 to move towards the guide assembly, the first clamping jaw 2 and the second clamping jaw 3 are separated from each other, the limiting plate 7 moves forwards along with the wedge block 6, and the first elastic element 4 and the second elastic element 5 are stretched; after the cylinder 10 resets, first clamping jaw 2 and second clamping jaw 3 relative movement, two clamping surfaces of first clamping jaw 2 and two clamping surfaces of second clamping jaw 3 all set up with the plastic bottle is tangent, and gag lever post 8 sets up with horizontal baffle 9 is tangent, the bottom and the limiting plate 7 upper surface laminating of plastic bottle, the central axis of limiting plate 7 and the coincidence of the central axis of plastic bottle.

The guide assembly comprises a partition plate 11, a first guide rod 12 and a second guide rod 13 are fixedly mounted on two sides of the partition plate 11 respectively, the two first guide rods 12 are arranged in parallel at intervals, and the two first guide rods 12 penetrate through the first clamping jaw 2 in a sliding mode; two second guide bars 13 are parallel and set up at interval, and second clamping jaw 3 is worn to establish by two equal slides of second guide bar 13.

The first elastic element 4 is a first extension spring, and the two first extension springs are respectively sleeved on the two first guide rods 12; the second elastic element 5 is a second extension spring, and the two second extension springs are respectively sleeved on the two second guide rods 13.

Wedge 6 and limiting plate 7 pass through connecting rod 14 fixed connection, the guiding hole has been seted up on mounting panel 1, connecting rod 14 wears to establish in the guiding hole, fixed mounting has deflector 15 on connecting rod 14, deflector 15 be located mounting panel 1 the lower surface and with the lower surface laminating of mounting panel 1.

According to the flexible manipulator for canning the fruit juice, when the air cylinder 10 pushes the wedge block 6 to move towards the guide assembly, the first clamping jaw 2 and the second clamping jaw 3 are away from each other, the limiting plate 7 moves forwards along with the wedge block 6, and the first elastic element 4 and the second elastic element 5 are stretched; when the cylinder 10 is reset, the first elastic element 4 and the second elastic element 5 are reset, the first elastic element 4 and the second elastic element 5 drive the first clamping jaw 2 and the second clamping jaw 3 to move relatively, the first clamping jaw 2 and the second clamping jaw 3 push the wedge block 6 to move reversely, the wedge block 6 drives the limiting plate 7 to move reversely, the limiting rod 8 moves to be tangent to the transverse baffle 9, the transverse baffle 9 limits the limiting rod 8 to move continuously, the central axis of the limiting rod 8 is fixed, the position of the wedge block 6 on the mounting plate 1 is fixed, the distance between the first clamping jaw 2 and the second clamping jaw 3 is fixed, at the moment, two clamping surfaces of the first clamping jaw 2 and two clamping surfaces of the second clamping jaw 3 are arranged in a tangent mode, the central axis of the plastic bottle is determined, at the moment, the central axis of the plastic bottle is coincided with the central axis of the limiting rod 8 certainly, and the first clamping jaw 2 and the second clamping jaw 3 can not move relatively any, the first clamping jaw 2 and the second clamping jaw 3 cannot excessively clamp the plastic bottle, the bottom of the plastic bottle is attached to the upper surface of the limiting plate 7, the limiting plate 7 supports the plastic bottle, and the first clamping jaw 2 and the second clamping jaw 3 limit the plastic bottle, so that the plastic bottle is clamped, and stable conveying can be realized in the conveying process; the outer circumferential surface of the plastic bottle can be clamped flexibly, the limiting plate 7 is used for supporting the plastic bottle, and the bottle body cannot deform and fruit juice cannot spill out of the plastic bottle when the plastic bottle is clamped, so that the working environment is protected, and the fruit juice canning efficiency is improved.

In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.