CN217533325U - Single cup grabbing device - Google Patents

Abstract

The utility model discloses a single cup grabbing device, include the frame, drive actuating cylinder, control block, cup cover and three at least grippers, cup cover opening is down, the cup cover connects in the frame, it includes cylinder body and piston to drive actuating cylinder, the cylinder body is fixed in the frame, the control block is fixed on the piston, all grippers encircle the array and distribute in the outside of cup cover, and all grippers are all swung and are connected in the frame, every the gripper all includes portion of snatching and drive division, the control block opens and shuts with all portions of snatching of control with all drive division swing joint. The problem of present single cup grabbing device can't detect bowl cover and cup body and whether fasten is solved, this device snatchs from the top and carries single cup, can also ensure the inseparable lock of bowl cover and cup body when the transport, improves production line operation smoothness degree.

Description

Single cup grabbing device

Technical Field

The utility model relates to a haulage equipment, concretely relates to single cup grabbing device.

Background

To cup dress beverage in order to realize automated production, all need transport single cup in process of production, transport between the production line of difference, current transfer equipment mainly relies on the mode of lifting and laterally snatching to go on, also promptly hold the bottom of goblet, transport it to next production process, perhaps clip the goblet from the side and transport next production process, but these two kinds of modes can only play the effect of transportation to this kind of beverage cup of taking the lid of milk teacup, if the milk teacup lid does not buckle with the cup body, can't detect in the transportation, this just can cause next process to become to produce and now mistake.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a single cup grabbing device can effectively solve the unable problem of detecting whether straining to bowl cover and cup body of current single cup transfer device.

In order to solve the technical problem, the utility model discloses a realize through following technical scheme: the utility model provides a single cup grabbing device, includes the frame, drives actuating cylinder, control block, cup cover and three at least grabhook, cup cover opening is down, the cup cover is connected in the frame, it includes cylinder body and piston to drive actuating cylinder, the cylinder body is fixed in the frame, the control block is fixed on the piston, all grabhooks encircle the array and distribute in the outside of cup cover, and all grabhooks all swing to be connected in the frame, every the grabhook all includes the portion of snatching and drive division, the control block is opened and shut with all portions of snatching of control with all drive division swing joint.

Furthermore, a sliding hole is vertically formed in the rack, a sliding rod is connected to the cup cover, and the sliding rod is in sliding fit with the sliding hole; sliding connection between the cup cover and the rack is achieved through the sliding rods, when the rack grabs a single cup downwards, buffering can be generated between the cup cover and the cup cover, and the cup cover is prevented from pressing the cup cover or the cup body to deform.

Furthermore, the cup cover is fixed at the bottom end of the sliding rod, the upper part of the sliding rod extends out of the sliding hole, a spring is sleeved at the upper part of the sliding rod, one end of the spring abuts against the sliding rod, and the other end of the spring abuts against the rack; utilize the better control cup lid of spring to press to the pressure of bowl cover, ensure that the cup lid can compress tightly bowl cover and cup body, be unlikely to pressure too big again simultaneously and with bowl cover or cup body crushing.

Furthermore, the driving part of the gripper is horizontally arranged, the grabbing part of the gripper is vertically arranged, the top of the grabbing part is fixedly connected with one end of the driving part, the other end of the driving part is abutted to the control block, and the driving part and the horizontal part which are arranged in a turning mode can be used for conveniently arranging the position of the gripper and reducing the space occupied by the horizontal direction, so that more grippers are arranged, and the control block is favorable for overriding the swing of the gripper to realize the opening and closing of the grabbing part.

Furthermore, a groove facing the direction of the cup cover is formed in the grabbing part of each grabbing claw; through the better peripheral cooperation with the bowl cover of slot, firm more difficult slippage when snatching single cup.

Furthermore, a grabbing opening corresponding to the grabbing part of the grabbing claw is formed in the cup cover; set up on the bowl cover and snatch the mouth, when guaranteeing that bowl cover downwardly extending can cover whole bowl cover, can also reserve the position and let the grabhook can stretch into the bowl cover and grasp the bowl cover.

Further, the cup cover is hemispherical; the hemispherical cup cover can be adapted to various cup covers of different types, and can enlarge the contact surface with the cup cover to prevent the cup cover from being flattened.

Furthermore, the rack is provided with a fixed part with a square cross section, four corners of the fixed part are respectively provided with a fixed groove, four grippers are provided, each gripper corresponds to one fixed groove and is rotationally connected with the groove wall of the fixed groove through a rotating shaft; the four grippers are arranged, so that grabbing instability caused by overlarge intervals between adjacent grippers can be avoided, the situation that the device is too complex due to the fact that the number of the grippers is too large can also be avoided, the fixing portion with the square cross section is arranged on the rack, the rotating angle of the fixing portion is fully utilized, the rotating shaft is convenient to install, the grippers can swing, and the structure of the whole rack is simplified.

Furthermore, the side wall of the control block is provided with a movable groove for the driving part to swing, the driving part is provided with an upper arc-shaped surface which is in rotating contact with the top surface of the movable groove, and the driving part is also provided with a lower arc-shaped surface which is in rotating contact with the bottom surface of the movable groove; set up the arcwall face on the drive division, when the control block up-and-down motion, better drive division swings, reduces the friction between control block and the drive division.

Compared with the prior art, the utility model has the advantages that: through installing cup cover and gripper cooperation additional, solve the unable problem that detects bowl cover and cup body and whether straining of present single cup grabbing device, set up the bowl cover in the frame, when this device from the top down movement is prepared to snatch single cup, the bowl cover can be at first pressed on the bowl cover, compress tightly from bowl cover and cup body, ensure that bowl cover and cup body are firm lock, the bowl cover and the cup body of the single cup of ensureing every transportation all are the straining state, in this kind of state, can guarantee the good operation of subsequent handling, and the portion of snatching that utilizes all grippers of cylinder synchro control in handling opens and shuts, when the bowl cover covers the pressure on the bowl cover, the portion of snatching draws in and hooks the bowl cover edge in, just can be convenient with the milk tea cup of single cup transport to next process. This device snatchs from the top and carries single cup, can also ensure the inseparable lock of bowl cover and cup body when carrying, improves production line operation smoothness degree.

Drawings

Fig. 1 is a first perspective view of a single-cup gripping device of the present invention;

fig. 2 is a second perspective view of the single-cup gripping device of the present invention;

fig. 3 is a cross-sectional view of a single-cup gripping device of the present invention passing through two opposing grippers;

fig. 4 is a schematic view of a connection structure of a control block and a driving part of a gripper in the single-cup gripping device of the present invention;

FIG. 5 is a schematic view of the connection structure of the slide bar, the frame and the cup cover in the single-cup gripping device of the present invention;

fig. 6 is a schematic structural view of the single-cup gripping device when gripping an object.

The reference signs are:

a frame 100, a sliding hole 110, a fixing part 120, a fixing groove 130, and a mounting plate 140;

a driving cylinder 200, a cylinder body 210, and a piston 220;

control block 300, active slot 310;

the cup cover 400, the sliding rod 410, the spring 420 and the grabbing opening 430;

the gripper 500, the gripping part 510, the driving part 520, the upper arc-shaped surface 521, the lower arc-shaped surface 522, the groove 530 and the rotating shaft 540.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "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 only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrated; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be interconnected within two elements or in a relationship where two elements interact with each other unless otherwise specifically limited. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

Referring to fig. 1 and 2, the present invention relates to an embodiment of a single-cup gripping device, the single-cup gripping device includes a frame 100, a driving cylinder 200, a control block 300, a cup cover 400 and four grippers 500, a mounting plate 140 is disposed on the top of the frame 100 for fixedly connecting with a transportation device, the driving cylinder 200 includes a cylinder 210 and a piston 220, the cylinder 210 is fixed in the middle of the frame 100, the piston 220 is located below the cylinder 210, the control block 300 is fixed on the bottom of the piston 220, the grippers 500 are connected to the frame 100 in a circular array rotation manner, the grippers 500 include a gripping part 510 and a driving part 520, the driving part 520 is controlled by the control block 300 to swing synchronously, so as to open and close the gripping part 510, and to grip or release the cup cover of a single cup. The lid cover 400 is disposed on the frame 100 below the control block 300, and all the catching portions 510 surround the outside of the lid cover 400. The grabbing principle of the device is that the whole rack 100 is controlled to move downwards, the cup cover 400 is pressed on the cup cover of a single cup to ensure that the cup cover and the cup body are fastened, then the control block 300 is driven by the air cylinder to enable all the grabs 500 to swing, and the grabbing parts 510 of the grabs 500 grab the edge of the cup cover, so that the single cup is grabbed.

As shown in fig. 1 and 5, the cup cover 400 needs to press down the cup cover before grabbing a single cup, so as to press the cup cover and the cup body tightly, and make them buckled together, therefore, the descending range of the cup cover 400 is controlled to be very important, the descending distance is too much, the cup cover and the cup body can be excessively squeezed, the cup cover and the cup body are deformed, the descending distance is not enough, and the complete buckling of the cup cover and the cup body can not be ensured. Therefore, a slide hole 110 is respectively formed in the frame 100 on two sides of the cylinder, a slide rod 410 penetrates through the slide hole 110, the bottom of the slide rod 410 is fixedly connected with the cup cover 400, so the slide rod 410 is arranged on the frame 100 on two sides of the cylinder, interference between the slide rod 410 and the cylinder drive is avoided, meanwhile, the cup cover 400 can be prevented from deflecting during vertical movement by the two slide rods 410, the pressing requirements on the cup cover and the cup body are realized by the weight of the cup cover 400, even if the descending range of the frame 100 is overlarge, the relative sliding between the cup cover 400 and the frame 100 can be realized by the slide rod 410, the pressing pressure of the frame 100 is counteracted, and the accuracy of controlling the descending range of the frame 100 is reduced.

Further, although the cup cover and the cup body can be pressed down by the weight of the cup cover 400, the weight requirement on the cup cover 400 is high, in order to reduce the weight of the whole device, the upper part of the sliding rod 410 extends out of the sliding hole 110, the upper part of the sliding rod 410 is sleeved with the spring 420, the first end of the spring 420 abuts against the sliding rod 410, the other end of the spring 420 abuts against the rack 100, the pressure on the cup cover 400 during pressing down is provided by the elastic force of the spring 420, so that the requirement on the self weight of the cup cover 400 can be reduced, the cup cover and the cup body can be tightly buckled during pressing down, and the cup cover and the cup body cannot be crushed due to the fact that the elastic force of the spring 420 is well controlled.

In addition, because the size of bowl cover on the single cup can be multiple, in order to adapt to the bowl cover of different sizes, but the cross section of bowl cover is circular still, consequently, set bowl cover 400 to the hemisphere, just can adapt to the bowl cover of multiple different sizes to can guarantee the good adaptation of bowl cover 400 and bowl cover, increase the area of contact of bowl cover 400 and bowl cover, reduce the probability that the bowl cover is pressed by bowl cover 400 and is warp. Just because the cup cover 400 can be adapted to a plurality of cup covers with different sizes, when the cup cover 400 is pressed on the cup covers with different sizes, in order to ensure that the grabbing part 510 of the grabbing claw 500 can also grab the edge of the cup cover, the cup cover 400 is provided with the grabbing opening 430 corresponding to the grabbing part 510 of the grabbing claw 500.

As shown in fig. 3 and 4, the gripper 500 includes a gripping portion 510 and a driving portion 520, the driving portion 520 is used for controlling the gripping portion 510 to open and close, and the gripping portion 510 is used for buckling with the edge of the lid to grip the single cup. The whole gripper 500 is L-shaped, the driving part 520 is horizontally arranged, the gripping part 510 is vertically arranged, the top of the gripping part 510 is fixedly connected with the outer end of the driving part 520, the gripper 500 is rotatably connected with the rack 100 through the rotating shaft 540 to realize the swinging of the gripper 500, and the rotation is also arranged at the joint of the gripping part 510 and the driving part 520. The lower end of the grabbing part 510 of each grabbing claw 500 is provided with a groove 530 facing the cup cover 400, the groove 530 is convenient to match with the edge of the cup cover, when a single cup is grabbed, the edge of the cup cover is clamped in the groove 530, and the single cup is prevented from slipping. An annular movable groove 310 is formed in the outer side wall of the driving block, the inner ends of the driving parts 520 extend into the movable groove 310, and the height of the movable groove 310 is greater than the thickness of the driving parts 520, so that the driving parts 520 only have a moving space in the vertical direction in the movable groove 310, and the driving parts 520 swing around the rotating shaft 540. The top of the inner end of the driving part 520 is provided with an upper arc-shaped surface 521, the upper arc-shaped surface 521 is in rotating contact with the top surface of the movable groove 310, the bottom of the inner end of the driving part 520 is provided with a lower arc-shaped surface 522, the lower arc-shaped surface 522 is in rotating contact with the bottom surface of the movable groove 310, the frictional resistance between the driving part 520 and the control block 300 during swinging is reduced through the upper arc-shaped surface 521 and the lower arc-shaped surface 522, and when the driving part 520 is pressed downwards to open the grabbing part 510 of the grabbing claw 500, the grabbing part is mainly realized by abutting and matching of the upper arc-shaped surface 521 and the top surface of the movable groove 310; when the lifting driving part 520 makes the gripping parts 510 of the grippers 500 close, the lower arc-shaped surface 522 is mainly matched with the bottom surface of the movable groove 310 in an abutting mode.

In order to better enable the gripper 500 to be rotatably connected with the rack 100, the rack 100 is provided with a fixing part 120 with a square cross section, four corners of the fixing part 120 are respectively provided with a fixing groove 130, each gripper 500 corresponds to one fixing groove 130, and the rotating shaft 540 penetrates through the fixing grooves 130 and the grippers 500, so that the gripper 500 is rotatably connected with the rack 100.

As shown in fig. 6, the working principle of the device is as follows: the device is moved right above a single cup to be grabbed, then the whole device is moved downwards, after the cup cover 400 is contacted with the cup cover, the whole device can continuously move downwards for a certain distance, at the moment, the sliding rod 410 slides relative to the rack 100, the cup cover 400 is tightly pressed on the cup cover, the cup cover and the cup body are tightly buckled, then the driving air cylinder 200 is started, the control piston 220 is controlled to be retracted into the cylinder body 210, the control block 300 is moved upwards, the control block 300 is moved relative to the rack 100, the gripper 500 starts to swing, the grabbing part 510 of the gripper 500 is folded towards the center, the whole single-cup grabbing device moves upwards, the groove 530 of the grabbing part 510 scratches the edge of the cup cover, and the whole single cup is grabbed. If the body of a single cup is a circular truncated cone with a large upper part and a small lower part, when the single cup gripping device ascends after the gripping part 510 is folded, the bottom of the gripping part 510 may contact with the body in advance, so that the groove 530 of the gripping part 510 does not scratch the edge of the cup cover in time, and the whole single cup can be gripped. After the device is adopted, the cup cover 400 can compress the cup cover and the cup body before grabbing a single cup, so that the phenomenon that follow-up procedures are mistaken and shut down due to the separation of the cup cover and the cup body is avoided, and the assembly efficiency of the whole production line is greatly improved.

The above description is only for the specific embodiment of the present invention, but the technical features of the present invention are not limited thereto, and any person skilled in the art can make changes or modifications within the scope of the present invention.

Claims (9)

1. The utility model provides a single cup grabbing device which characterized in that: including the frame, drive actuating cylinder, control block, cup cover and three at least grabhook, cup cover opening is down, the cup cover is connected in the frame, it includes cylinder body and piston to drive actuating cylinder, the cylinder body is fixed in the frame, the control block is fixed on the piston, all grabhooks encircle the array and distribute in the outside of cup cover, and all grabhooks all swing to be connected in the frame, every the grabhook all includes the portion of snatching and drive division, control block and all drive division swing joint open and shut with all portions of snatching of control.

2. The single-cup gripping device of claim 1, wherein: the frame is provided with a vertically arranged sliding hole, the cup cover is connected with a sliding rod, and the sliding rod is in sliding fit with the sliding hole.

3. A single cup gripping device as claimed in claim 2, wherein: the cup cover is fixed at the bottom end of the sliding rod, the upper portion of the sliding rod extends out of the sliding hole, a spring is sleeved on the upper portion of the sliding rod, one end of the spring abuts against the sliding rod, and the other end of the spring abuts against the rack.

4. The single-cup gripping device of claim 1, wherein: the driving part of the gripper is horizontally arranged, the grabbing part of the gripper is vertically arranged, the top of the grabbing part is fixedly connected with one end of the driving part, and the other end of the driving part is abutted against the control block.

5. A single cup gripping device according to claim 1 or 4, wherein: the grabbing part of each grabbing claw is provided with a groove facing the direction of the cup cover.

6. The single-cup gripping device of claim 5, wherein: the cup cover is provided with a grabbing opening corresponding to the grabbing part of the grabbing claw.

7. The single-cup gripping device of claim 1, wherein: the cup cover is hemispherical.

8. The single-cup gripping device of claim 1, wherein: the machine frame is provided with a fixed portion with a square cross section, four corners of the fixed portion are respectively provided with a fixed groove, four grippers are provided, each gripper corresponds to one fixed groove and is rotationally connected with the groove wall of the fixed groove through a rotating shaft.

9. The single-cup gripping device of claim 1, wherein: the lateral wall of control block is opened and is equipped with the movable groove that supplies the drive division wobbling, be equipped with on the drive division with the top surface rotating contact's of movable groove last arcwall face, still be equipped with on the drive division with the bottom surface rotating contact's of movable groove lower arcwall face.

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