CN101875197A - Multi-adaptability bottle-holding turning manipulator - Google Patents
Multi-adaptability bottle-holding turning manipulator Download PDFInfo
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- CN101875197A CN101875197A CN 201010150226 CN201010150226A CN101875197A CN 101875197 A CN101875197 A CN 101875197A CN 201010150226 CN201010150226 CN 201010150226 CN 201010150226 A CN201010150226 A CN 201010150226A CN 101875197 A CN101875197 A CN 101875197A
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- manipulator
- jig arm
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Abstract
The invention discloses a multi-adaptability bottle-holding turning manipulator which comprises a manipulator turning assembly, an arm lock seat and more than one holding arm assembly, wherein the holding arm assembly is connected with the manipulator turning assembly through the holding arm seat and comprises an opening and closing arm and a pair of holding arms which are arranged oppositely to form a holding hole and can be linked, any one of the pair of holding arms is hinged on the holding arm seat together with the opening and closing arm and can rotate along with the opening and closing arm, each holding arm comprises a front holding arm and a rear holding arm which are connected, the rear holding arm is hinged on the holding arm seat and can rotate around a hinge point, the front holding arm comprises a long arm part and a short arm part, and the long arm part and the short arm part are connected into a whole and shaped as an L. The multi-adaptability bottle-holding turning manipulator has simple and compact structure, low cost, convenient and rapid installation, and capability of meeting requirements on various specifications of bottle bodies.
Description
Technical field
The present invention is mainly concerned with medicine, food packing device field, refers in particular to a kind of manipulator that is applicable to that medicine, food packing device are used.
Background technology
At present, be used for the vial bottle washing machine of medicine, food service industry, when bottle cleans, need be by switching mechanism with 180 ° of handstand of bottle upset, water or compressed air clean the inside and outside wall of bottle again.Owing to be subjected to the restriction of bottle washing machine physical dimension, in the time need on same bottle washing machine, cleaning the bottle of plurality of specifications (as specification bottles such as 50 milliliters, 100 milliliters, 250 milliliters, 500 milliliters time), require mechanical arm for clamping bottle radius of turn when 180 ° of clamping bottle upsets few as far as possible, the bottle end, lacked from the difference in height of axis of rotation as far as possible simultaneously, to reduce the Height Adjustment amount of rotating disk when changing specification.
In order to address the above problem, conventional employing is dual mode in the prior art, and wherein a kind of mode is the integral replacing manipulator, and another kind of mode is to change manipulator jig arm mounting means.Though it is fast that the mode of preceding a kind of integral replacing is changed, owing to need the integral replacing manipulator, making needs many preparation one cover manipulators, makes the cost of changing improve like this.Though a kind of substitute mode in back need not to increase replacement cost, owing to need integral replacing manipulator jig arm mounting means, it is long to make that the replacing time needs, difficult to accept for the user.
Summary of the invention
The technical problem to be solved in the present invention just is: at the technical problem that prior art exists, the invention provides a kind of simple and compact for structure, with low cost, quick and easy for installation, adaptability is good, can satisfy the multi-adaptability bottle-holding turning manipulator of plurality of specifications bottle requirement.
For solving the problems of the technologies described above, the present invention by the following technical solutions.
A kind of multi-adaptability bottle-holding turning manipulator, comprise manipulator upset assembly, gripper arm seat and more than one jig arm assembly, described jig arm assembly links to each other with manipulator upset assembly by gripper arm seat, described jig arm assembly comprises that folding arm and positioned opposite form a pair of jig arm of clamp port and linkage, any one is articulated on the gripper arm seat with the folding arm and also can rotates with the folding arm in the described a pair of jig arm, it is characterized in that: described jig arm comprises continuous preceding jig arm and back jig arm, described back jig arm is articulated on the gripper arm seat and can rotates around pin joint, jig arm comprises long-armed and galianconism portion before described, and described long-armed connects as one also L-shaped with galianconism portion.
As a further improvement on the present invention:
Be equiped with gear on the jig arm of described back, two gears in the described a pair of jig arm are meshing with each other.
Be provided with extension spring between two preceding jig arm in the described a pair of jig arm.
Described manipulator upset assembly comprises manipulator mount pad and manipulator rotating shaft, and described manipulator rotating shaft one end is sheathed in the manipulator mount pad, and the other end links to each other with gripper arm seat.
Compared with prior art, advantage of the present invention just is: multi-adaptability bottle-holding turning manipulator of the present invention, the manipulator jig arm adopts the mode of split connection and the combination of length arm, when changing the bottle specification, only need dismantle connecting bolt can realize, its have simple and compact for structure, with low cost, easy and simple to handle, adaptability is good, can realize advantages such as conversion bottle specification fast.
Description of drawings
Main TV structure schematic diagram when Fig. 1 is a clamping low capacity bottle of the present invention;
Main TV structure schematic diagram when Fig. 2 is the big volumetric flask of clamping of the present invention;
Fig. 3 is the plan structure schematic diagram of the present invention in application example;
Fig. 4 is the present invention's contrast schematic diagram during clamping different capabilities bottle in application example.
Marginal data
1, preceding jig arm; 101, long-armed portion; 102, galianconism portion; 2, back jig arm; 3, gripper arm seat; 4, extension spring; 5, manipulator rotating shaft; 6, manipulator mount pad; 7, folding arm; 8, big volumetric flask; 9, low capacity bottle; 10, connecting bolt; 11, bearing pin; 12, gear.
The specific embodiment
Below with reference to specific embodiment and Figure of description the present invention is described in further details.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, multi-adaptability bottle-holding turning manipulator of the present invention, comprise manipulator upset assembly, gripper arm seat 3 and more than one jig arm assembly, the jig arm assembly links to each other with manipulator upset assembly by gripper arm seat 3, the jig arm assembly comprises a pair of jig arm of folding arm 7 and positioned opposite and linkage, any one is articulated on the gripper arm seat 3 with folding arm 7 and also can rotates with folding arm 7 in a pair of jig arm, under the drive of folding arm 7, the formed clamp port of a pair of jig arm opens gradually, waits bottle to enter clamp port.Jig arm comprises preceding jig arm 1 and the back jig arm 2 that is connected together by connecting bolt 10, back jig arm 2 is articulated on the gripper arm seat 3 and can rotates around pin joint, in the present embodiment, any one back jig arm 2 together is articulated on the gripper arm seat 3 by bearing pin 11 and folding arm 7 in a pair of jig arm, and can rotate around bearing pin 11.Be equiped with gear 12 on the back jig arm 2, two gears 12 in a pair of jig arm are meshing with each other, and in the time of can guaranteeing that like this back jig arm 2 is rotated, can a pair of jig arm of order link by intermeshing two gears 12, finish closure or openness.Be provided with extension spring 4 between two preceding jig arm 1 in a pair of jig arm, when bottleneck was between a pair of jig arm, under the effect of extension spring 4, two jig arm closures were finished the clamping to bottle.In the present embodiment, manipulator upset assembly comprises manipulator mount pad 6 and manipulator rotating shaft 5, manipulator rotating shaft 5 one ends are sheathed in the manipulator mount pad 6, the other end links to each other with gripper arm seat 3, when manipulator rotating shaft 5 is rotated 180 °, drive gripper arm seat 3 and jig arm assembly and overturn 180 ° together, thereby realize the upset of bottle.
Among the present invention, preceding jig arm 1 comprises long-armed 101 and galianconism portion 102, and long-armed 101 connects as one also L-shaped with galianconism portion 102.Referring to Fig. 4, when being used for the big volumetric flask 8 of clamping, bottle is high at this moment is H1, galianconism portion 102 can be fixed on the jig arm 2 of back according to the mode on being oriented, the height center that so just can accomplish bottle when being used for the big volumetric flask 8 of clamping is more or less the same with the position of manipulator rotating shaft 5 basically, upset radius few purpose of trying one's best when having realized the big volumetric flask 8 of clamping.When being used for clamping low capacity bottle 9, bottle is high at this moment is H2, galianconism portion 102 can be fixed on the jig arm 2 of back according to the mode under being oriented, the bottom level position that so just can accomplish bottle when being used for clamping low capacity bottle 9 is more or less the same the bottom level position of bottle during basically with the big volumetric flask 8 of clamping, has realized reducing the purpose of rotating disk Height Adjustment amount when changing specification.When dual mode is changed, only need unclamp connecting bolt 10 and get final product, easy to operate.Simultaneously, by contrast as can be known, both can be consistent from the height of axis of rotation at the bottle end, thereby reach the effect that adapts to the upset of many specifications bottle.
The above only is a preferred implementation of the present invention, and protection scope of the present invention also not only is confined to the foregoing description, and all technical schemes that belongs under the thinking of the present invention all belong to protection scope of the present invention.Should be understood that; for those skilled in the art; in the some improvements and modifications that do not break away under the principle of the invention prerequisite; for example; in practice; long-armed 101 length with galianconism portion 102 also can be identical or the like, and these improvements and modifications also should be considered as protection scope of the present invention.
Claims (4)
1. multi-adaptability bottle-holding turning manipulator, comprise manipulator upset assembly, gripper arm seat (3) and more than one jig arm assembly, described jig arm assembly links to each other with manipulator upset assembly by gripper arm seat (3), described jig arm assembly comprises that folding arm (7) and positioned opposite form a pair of jig arm of clamp port and linkage, any one is articulated on the gripper arm seat (3) with folding arm (7) and also can rotates with folding arm (7) in the described a pair of jig arm, it is characterized in that: described jig arm comprises continuous preceding jig arm (1) and back jig arm (2), described back jig arm (2) is articulated in gripper arm seat (3) and goes up and can rotate around pin joint, jig arm (1) comprises long-armed (101) and galianconism portion (102) before described, and described long-armed (101) connect as one with galianconism portion (102) and be L-shaped.
2. multi-adaptability bottle-holding turning manipulator according to claim 1 is characterized in that: be equiped with gear (12) on the described back jig arm (2), two gears (12) in the described a pair of jig arm are meshing with each other.
3. multi-adaptability bottle-holding turning manipulator according to claim 1 is characterized in that: be provided with extension spring (4) in the described a pair of jig arm between two preceding jig arm (1).
4. according to claim 1 or 2 or 3 described multi-adaptability bottle-holding turning manipulators, it is characterized in that: described manipulator upset assembly comprises manipulator mount pad (6) and manipulator rotating shaft (5), described manipulator rotating shaft (5) one ends are sheathed in the manipulator mount pad (6), and manipulator rotating shaft (5) other end links to each other with gripper arm seat (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101502261A CN101875197B (en) | 2010-04-19 | 2010-04-19 | Multi-adaptability bottle-holding turning manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101502261A CN101875197B (en) | 2010-04-19 | 2010-04-19 | Multi-adaptability bottle-holding turning manipulator |
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| Publication Number | Publication Date |
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| CN101875197A true CN101875197A (en) | 2010-11-03 |
| CN101875197B CN101875197B (en) | 2012-06-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2010101502261A Active CN101875197B (en) | 2010-04-19 | 2010-04-19 | Multi-adaptability bottle-holding turning manipulator |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102514932A (en) * | 2011-11-30 | 2012-06-27 | 浙江大学 | Mechanical arm for automatically grabbing thin-wall tank |
| CN105690399A (en) * | 2015-08-06 | 2016-06-22 | 长沙今朝科技股份有限公司 | Packaging equipment, bottle washing machine, robot and manipulator convenient to maintain of packaging equipment, bottle washing machine and robot |
| CN106426231A (en) * | 2016-09-30 | 2017-02-22 | 浙江大学常州工业技术研究院 | Gripper for gripping material-taking structure |
| CN113427242A (en) * | 2021-06-17 | 2021-09-24 | 五邑大学 | Automatic assembly robot for train equipment box |
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| CN2208884Y (en) * | 1994-05-27 | 1995-10-04 | 张祁 | Electric bathing and body-rubbing machine |
| JP2001240189A (en) * | 2000-02-28 | 2001-09-04 | Hitachi Zosen Corp | Method for feeding container in filling equipment and rotary container washing equipment |
| CN2834717Y (en) * | 2005-10-10 | 2006-11-08 | 长沙市新中制药机械有限公司 | Bottle-turnover device of bottle washing machine |
| JP2006326454A (en) * | 2005-05-25 | 2006-12-07 | Mitsubishi Heavy Industries Food & Packaging Machinery Co Ltd | Rotary rinser with vessel inverting mechanism |
| CN101380738A (en) * | 2008-10-30 | 2009-03-11 | 长沙楚天科技有限公司 | Magnetic attraction type mechanical arm for clamping bottle |
| CN101618545A (en) * | 2008-06-24 | 2010-01-06 | 克朗斯股份有限公司 | Gripping apparatus for gripping containers and transmission apparatus |
| CN101624099A (en) * | 2008-07-12 | 2010-01-13 | 克朗斯股份公司 | Clamp |
| CN201633022U (en) * | 2010-04-19 | 2010-11-17 | 长沙楚天科技有限公司 | Multiply-adaptive slewing manipulator for clamping bottles |
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2010
- 2010-04-19 CN CN2010101502261A patent/CN101875197B/en active Active
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| CN2208884Y (en) * | 1994-05-27 | 1995-10-04 | 张祁 | Electric bathing and body-rubbing machine |
| JP2001240189A (en) * | 2000-02-28 | 2001-09-04 | Hitachi Zosen Corp | Method for feeding container in filling equipment and rotary container washing equipment |
| JP2006326454A (en) * | 2005-05-25 | 2006-12-07 | Mitsubishi Heavy Industries Food & Packaging Machinery Co Ltd | Rotary rinser with vessel inverting mechanism |
| CN2834717Y (en) * | 2005-10-10 | 2006-11-08 | 长沙市新中制药机械有限公司 | Bottle-turnover device of bottle washing machine |
| CN101618545A (en) * | 2008-06-24 | 2010-01-06 | 克朗斯股份有限公司 | Gripping apparatus for gripping containers and transmission apparatus |
| CN101624099A (en) * | 2008-07-12 | 2010-01-13 | 克朗斯股份公司 | Clamp |
| CN101380738A (en) * | 2008-10-30 | 2009-03-11 | 长沙楚天科技有限公司 | Magnetic attraction type mechanical arm for clamping bottle |
| CN201633022U (en) * | 2010-04-19 | 2010-11-17 | 长沙楚天科技有限公司 | Multiply-adaptive slewing manipulator for clamping bottles |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102514932A (en) * | 2011-11-30 | 2012-06-27 | 浙江大学 | Mechanical arm for automatically grabbing thin-wall tank |
| CN105690399A (en) * | 2015-08-06 | 2016-06-22 | 长沙今朝科技股份有限公司 | Packaging equipment, bottle washing machine, robot and manipulator convenient to maintain of packaging equipment, bottle washing machine and robot |
| CN106426231A (en) * | 2016-09-30 | 2017-02-22 | 浙江大学常州工业技术研究院 | Gripper for gripping material-taking structure |
| CN113427242A (en) * | 2021-06-17 | 2021-09-24 | 五邑大学 | Automatic assembly robot for train equipment box |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101875197B (en) | 2012-06-27 |
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