CN114029985A

CN114029985A - A manipulator for transmission for production of paper cup bowl

Info

Publication number: CN114029985A
Application number: CN202111375112.1A
Authority: CN
Inventors: 徐俊峰
Original assignee: Hangzhou University Of Electronic Technology Technology Transfer Co ltd
Current assignee: Hangzhou University Of Electronic Technology Technology Transfer Co ltd
Priority date: 2021-11-18
Filing date: 2021-11-18
Publication date: 2022-02-11

Abstract

The invention discloses a transmission manipulator for producing paper cups and bowls, which comprises a fixed disc, a movable disc, a driving rod and grabbing pieces, wherein the movable disc is positioned above the fixed disc, the axes of the movable disc are overlapped, the diameter of the movable disc is smaller than that of the fixed disc, a plurality of guide rods are fixed on the upper surface of the fixed disc in a centrosymmetric structure, through holes are formed in the movable disc corresponding to the guide rods, the bottom end of the driving rod is fixedly connected with the center of the movable disc, and the grabbing pieces are in a centrosymmetric structure and can be unfolded and arranged at the edge of the movable disc. Adopt above-mentioned technical scheme, through the removal of drive upper movable plate to promote to snatch the piece and move from inside to outside, and then to the operation of snatching of paper cup bowl completely, through setting up a great number of snatching the piece, and then increased and snatched the area of contact of a surface and paper cup bowl inner wall, had the guard action to the paper cup bowl.

Description

A manipulator for transmission for production of paper cup bowl

Technical Field

The invention relates to the technical field of paper bowl and paper cup production equipment, in particular to a transmission manipulator for producing paper bowls.

Background

At present, more common mechanical arms on the market mostly adopt two clamping rods to clamp and transfer articles. However, the manipulator is not beneficial to clamping cylindrical articles, the inner side of the clamping rod is not provided with an anti-slip pad, paper cups and bowls are not easy to clamp, horizontal direction movement is unchanged, and omnibearing movement cannot be realized.

Most importantly, the manipulator is generally suitable for use with relatively rigid articles. The paper cup is formed by pressing paper and materials, and the rigidity of the paper cup is limited, so that the paper cup is easily damaged in the grabbing process. Although the working efficiency is improved to a certain extent, the production cost is greatly improved to a certain extent due to the fact that the paper cup is easy to damage.

Disclosure of Invention

According to the defects of the prior art, the invention provides the transmission manipulator for producing the paper cup, which can easily grab the paper cup and has a good protection effect on the paper cup and bowl in the grabbing and transporting processes.

In order to solve the technical problems, the technical scheme of the invention is as follows:

the utility model provides a manipulator is used in transmission for production of paper cup bowl, includes fixed disk, activity dish, actuating lever and snatchs the piece, the activity dish is located fixed disk top and axle center coincidence, the diameter of activity dish is less than the fixed disk, the fixed disk upper surface is central symmetrical structure and is fixed with a plurality of guide bars, it is provided with the through-hole to correspond the guide bar on the activity dish, the bottom of actuating lever and the center department fixed connection of activity dish are a plurality of grab and get the piece and be central symmetrical structure and can expand the edge that sets up at the activity dish.

Preferably, the edge of activity dish is central symmetry structure and is provided with the spread groove that is equipped with a plurality of U types, the spread groove internal fixation has the round pin axle, the round pin axle is in the coplanar with the activity dish, it is to round pin axle to snatch a rotatable coupling.

Preferably, the grabbing part comprises a rotating barrel, a push rod, an inner pressing plate and an outer pressing plate, the rotating barrel is rotatably mounted on the pin shaft, one end of the push rod is fixedly connected to the radial outer wall of the rotating barrel, the other end of the push rod is fixedly provided with a connecting seat, a universal connecting piece is arranged on the connecting seat, the center of one side of the outer pressing plate is connected with the other end of the push rod through the universal connecting piece, and the outer pressing plate is fixedly arranged on the other side of the inner pressing plate.

Preferably, a guide sliding groove is formed in the bottom side of the push rod, a plurality of fixing shafts are arranged at the edge of the fixing disc in a central symmetrical structure, the number of the fixing shafts is equal to the number of the grabbing pieces, the fixing shafts are radially and fixedly connected with a connecting frame, guide rollers are arranged at the end portions of the connecting frame, and the guide rollers are arranged in the guide sliding groove in a matched mode.

Preferably, both ends of the guide chute are closed ends.

Preferably, the outer surface of the outer pressing plate is of an arc structure.

Preferably, the outer platen is made of food grade silica gel.

Preferably, the other end of the driving rod is provided with a driving mechanism, the driving mechanism comprises a mounting frame and an air cylinder, the other end of the guide rod is fixedly connected to the bottom side of the mounting frame, the air cylinder is installed in the mounting frame, and the power output end of the air cylinder is fixedly connected with the other end of the driving rod.

The invention has the following characteristics and beneficial effects:

by adopting the technical scheme, the upper movable disc is driven to move, so that the grabbing pieces are pushed to move from inside to outside, the grabbing operation on the paper cup is completed, the contact area between the outer surface of the grabbing pieces and the inner wall of the paper cup is increased by arranging a large number of grabbing pieces, and the paper cup has a protection effect on the paper cup; in addition, the grabbing piece can be driven to move for different distances according to different inner diameters of the paper cup bodies, grabbing of the paper cups and bowls with different sizes is finally completed, and the application range of the paper cup grabbing device is greatly enlarged.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a top view of an embodiment of the present invention.

Fig. 2 is a schematic structural view of the lower fixed tray in fig. 1.

Fig. 3 is a cross-sectional view of the push rod of fig. 1.

Fig. 4 is a schematic diagram of a driving principle of the embodiment of the present invention.

In the figure, 1, fixing the disc; 101. a fixed shaft; 102. a guide roller; 103. a connecting frame; 2. a movable tray; 3. a drive rod; 4. a guide bar; 5. grasping the part; 501. rotating the cylinder; 502. a push rod; 503. an inner pressure plate; 504. a fixed seat; 505. a connecting seat; 506. a universal connection member; 507. an outer pressing plate; 508. a guide chute; 6. a pin shaft; 7. a cylinder; 8. and (7) mounting frames.

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

The invention provides a transmission manipulator for paper cup production, which comprises a fixed disc 1, a movable disc 2, a driving rod 3 and grabbing pieces 5, wherein the movable disc 2 is positioned above the fixed disc 1, the axes of the movable disc 2 are overlapped, the diameter of the movable disc 2 is smaller than that of the fixed disc 1, a plurality of guide rods 4 are fixed on the upper surface of the fixed disc 1 in a central symmetrical structure, through holes are formed in the movable disc 1 corresponding to the guide rods 4, the bottom end of the driving rod 3 is fixedly connected with the center of the movable disc 2, and the grabbing pieces 5 are in a central symmetrical structure and can be unfolded at the edge of the movable disc 2. The edge of activity dish 2 is central symmetrical structure and is provided with the spread groove that is equipped with a plurality of U types, the spread groove internal fixation has round pin axle 6, round pin axle 6 and activity dish 6 are in the coplanar, grab 5 swivelling joint to round pin axle 6 of taking.

In the technical scheme, the driving rod 3 drives the movable disc 2 to move towards the fixed disc 1, so that the grabbing piece 5 can be unfolded, and the grabbing piece 5 can complete grabbing of cylindrical paper bowls and paper cups; when the grabbing piece 5 is stored, the cylindrical paper bowl and paper cup can automatically fall off. The automatic control system is simple in structure and reasonable in technology, can be integrated into an automatic system, and achieves automatic operation.

Wherein through the setting of guide bar 4 to play the effect of direction to the motion of activity dish 2, avoid the phenomenon that the skew appears in the activity in-process.

Specifically, as shown in fig. 2 and 3, the grasping member 5 includes a rotating cylinder 501, a push rod 502, an inner pressing plate 503 and an outer pressing plate 507, the rotating cylinder 501 is rotatably mounted on the pin shaft 6, one end of the push rod 502 is fixedly connected to a radial outer wall of the rotating cylinder 501, the other end of the push rod 502 is fixed with a connecting seat 505, a universal connecting member 506 is arranged on the connecting seat 505, a center of one side of the outer pressing plate 507 is connected with the other end of the push rod 502 through the universal connecting member 506, and the outer pressing plate 507 is fixedly arranged on the other side of the inner pressing plate 503. The bottom side of the push rod 502 is provided with a guide sliding groove 508, the edge of the fixed disk 1 is provided with a plurality of fixed shafts 101 in a central symmetrical structure, the number of the fixed shafts is the same as that of the grabbing pieces 5, the fixed shafts 101 are radially and fixedly connected with a connecting frame 103, the end part of the connecting frame 103 is provided with a guide roller 102, and the guide roller 102 is arranged in the guide sliding groove 508 in a matched mode.

In the technical scheme, the grabbing piece 5 is simple in structure and low in manufacturing cost. The driving rod 3 pushes the movable plate 2 to move towards the fixed plate 1, and the connecting frame 103 is fixed in structure, so that the guide roller 102 rolls towards the movable plate 2 along the guide sliding groove 508, the angle between the push rod 502 and the horizontal plane is gradually increased, and meanwhile, the inner pressing plate 503 moves outwards until being pressed and connected to the inner wall of the cylindrical paper bowl or paper cup.

It can be understood that the inner pressing plate 503 moves outwards by different distances, so that the paper bowls and paper cups in different sizes can be grabbed without replacing parts, and the application range is wider.

Conceivably, through the removal of above-mentioned technical scheme control outer pressing plate, the displacement is controllable all higher, and control accuracy is higher, ensures to accomplish snatching to the paper bowl of tube-shape, paper cup to can not cause the damage to it.

In addition, the outer pressing plate 507 which is pressed to the inner wall is in a plate-shaped structure, so that the contact area with the cylindrical paper bowl and paper cup is large, the pressure intensity is reduced, and the cylindrical paper bowl and paper cup are protected to a certain extent.

Further, the two ends of the guide chute 508 are closed ends. Thereby avoiding the guide roller 102 from moving excessively, thereby being separated from the push rod and ensuring the stability of the structure operation.

In a further arrangement of the present invention, the outer surface of the outer pressing plate 507 is an arc-shaped structure. Because paper cup, paper bowl are the tubular structure for a large part, consequently, its inner wall is the arc structure, consequently, is the arc structure through the surface with outer clamp plate 507 for outer clamp plate 507 crimping is higher at paper cup, paper bowl inner wall degree of agreeing with, can reach the effect of laminating.

Conceivably, when the outer pressing plate can be attached to the inner walls of the paper cups and the paper bowls, the outer pressing plate can complete grabbing operation only by applying small pressure to the paper cups and the paper bowls because the paper cups and the paper bowls are light in weight.

Further, the outer pressing plate 507 is made of food grade silica gel. Outer pressing plate 507 is made of food-grade silica gel, so that the novel electric cooker is more sanitary. And the silica gel has good flexibility and has a certain protection effect on paper cups and paper bowls. In addition, the flexibility of the silica gel is good, so that when the silica gel is contacted with the inner wall of the paper bowl and paper cup, the outer pressing plate can be completely attached to the inner wall of the paper bowl and paper cup through deformation.

According to a further arrangement of the present invention, as shown in fig. 4, a driving mechanism is disposed at the other end of the driving rod 3, the driving mechanism includes a mounting frame 8 and a cylinder 7, the other end of the guiding rod 4 is fixedly connected to the bottom side of the mounting frame 8, the cylinder 7 is mounted in the mounting frame 8, and a power output end of the cylinder 7 is fixedly connected with the other end of the driving rod 3.

Above-mentioned technical scheme, simple structure, the technique is reasonable, and the energy consumption is lower.

It is conceivable that the above-mentioned robot is controlled to perform universal rotation by providing a universal joint at the top of the mounting frame 8. Easy integration to other equipment, control is simple.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments, including the components, without departing from the principles and spirit of the invention, and still fall within the scope of the invention.

Claims

1. The utility model provides a manipulator is used in transmission for production of paper cup bowl, a serial communication port, include fixed disk (1), activity dish (2), actuating lever (3) and grab piece (5), activity dish (2) are located fixed disk (1) top and axle center coincidence, the diameter of activity dish (2) is less than fixed disk (1), the fixed disk (1) upper surface is central symmetrical structure and is fixed with a plurality of guide bars (4), it is provided with the through-hole to correspond guide bar (4) on activity dish (1), the bottom of actuating lever (3) and the center department fixed connection of activity dish (2), it is a plurality of grab piece (5) and be central symmetrical structure and can expand the edge that sets up at activity dish (2).

2. The mechanical hand for conveying the paper cup and bowl production is characterized in that a plurality of U-shaped connecting grooves are formed in the edge of the movable disc (2) in a central symmetrical structure, a pin shaft (6) is fixed in each connecting groove, the pin shaft (6) and the movable disc (6) are in the same plane, and the grabbing piece (5) is rotatably connected to the pin shaft (6).

3. The conveying manipulator for the paper cup bowl production is characterized in that the grabbing part (5) comprises a rotating cylinder body (501), a push rod (502), an inner pressing plate (503) and an outer pressing plate (507), the rotating cylinder body (501) is rotatably mounted on a pin shaft (6), one end of the push rod (502) is fixedly connected to the radial outer wall of the rotating cylinder body (501), the other end of the push rod (502) is fixedly provided with a connecting seat (505), a universal connecting piece (506) is arranged on the connecting seat (505), the center of one side of the outer pressing plate (507) is connected with the other end of the push rod (502) through the universal connecting piece (506), and the outer pressing plate (507) is fixedly arranged on the other side of the inner pressing plate (503).

4. The conveying manipulator for the paper cup bowl production is characterized in that a guide sliding groove (508) is formed in the bottom side of the push rod (502), a plurality of fixed shafts (101) are arranged at the edge of the fixed disc (1) in a central symmetrical structure, the number of the fixed shafts is the same as that of the grabbing pieces (5), a connecting frame (103) is fixedly connected to the fixed shafts (101) in the radial direction, a guide roller (102) is arranged at the end of the connecting frame (103), and the guide roller (102) is arranged in the guide sliding groove (508) in a matched mode.

5. The conveying manipulator for the production of paper cups and bowls as claimed in claim 4, characterized in that two ends of the guide chute (508) are closed ends.

6. The conveying manipulator for the production of paper cups and bowls as claimed in any one of claims 3 to 5, characterized in that the outer surface of the outer press plate (507) is of an arc structure.

7. The transfer manipulator for the production of paper cups and bowls as claimed in claim 6, characterized in that the outer press plate (507) is made of food grade silica gel.

8. The conveying manipulator for the paper cup bowl production as claimed in any one of claims 1 to 4, wherein a driving mechanism is arranged at the other end of the driving rod (3), the driving mechanism comprises a mounting frame (8) and a cylinder (7), the other end of the guide rod (4) is fixedly connected to the bottom side of the mounting frame (8), the cylinder (7) is mounted in the mounting frame (8), and the power output end of the cylinder (7) is fixedly connected with the other end of the driving rod (3).