CN101875197B - Multi-adaptability bottle-holding turning manipulator - Google Patents
Multi-adaptability bottle-holding turning manipulator Download PDFInfo
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- CN101875197B CN101875197B CN2010101502261A CN201010150226A CN101875197B CN 101875197 B CN101875197 B CN 101875197B CN 2010101502261 A CN2010101502261 A CN 2010101502261A CN 201010150226 A CN201010150226 A CN 201010150226A CN 101875197 B CN101875197 B CN 101875197B
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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 to pass through switching mechanism with 180 ° of handstand of bottle upset, water or compressed air clean the inside and outside wall of bottle again.Owing to receive the restriction of bottle washing machine physical dimension; In the time need on same bottle washing machine, cleaning the bottle of plurality of specifications (like 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 before a kind of mode of integral replacing change fastly owing to need the integral replacing manipulator, make needs the cover manipulators of preparing more, makes the cost raising of changing 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 that the present invention will solve just is: to the technical problem that prior art exists, the present invention provide 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 adopts following technical scheme.
A kind of multi-adaptability bottle-holding turning manipulator; Comprise manipulator upset assembly, gripper arm seat and more than one jig arm assembly; Said jig arm assembly links to each other with manipulator upset assembly through gripper arm seat; Said 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 and can rotates with the folding arm with the folding arm in the said a pair of jig arm, and it is characterized in that: said jig arm comprises continuous preceding jig arm and back jig arm, and said 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 said, and said long-armed connects as one also L-shaped with galianconism portion.
As further improvement of the present invention:
Be equiped with gear on the jig arm of said back, two gears in the said a pair of jig arm are meshing with each other.
Be provided with extension spring between two preceding jig arm in the said a pair of jig arm.
Said manipulator upset assembly comprises manipulator mount pad and manipulator rotating shaft, and said 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 and can realize, its have simple and compact for structure, with low cost, easy and simple to handle, adaptability is good, can Rapid Realization conversion bottle specification etc. advantage.
Description of drawings
Main TV structure sketch map when Fig. 1 is a clamping low capacity bottle of the present invention;
Main TV structure sketch map when Fig. 2 is the big volumetric flask of clamping of the present invention;
Fig. 3 is the plan structure sketch map of the present invention in application example;
Fig. 4 is the present invention's contrast sketch map 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 will combine specific embodiment and Figure of description that the present invention is explained further details.
Like Fig. 1, Fig. 2, Fig. 3 and shown in 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 through gripper arm seat 3, and 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 and can rotates with folding arm 7 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 get into clamp port.Jig arm comprises the preceding jig arm 1 and back jig arm 2 that is connected together through 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; In a pair of jig arm after any one jig arm 2 together be articulated on the gripper arm seat 3 through bearing pin 11 and folding arm 7, 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 through intermeshing two gears 12, accomplish closure or openness.Be provided with extension spring 4 between two preceding jig arm 1 in a pair of jig arm, when bottleneck is between a pair of jig arm, under the effect of extension spring 4, two closed clampings of accomplishing bottle of jig arm.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, and 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; Can galianconism portion 102 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, the radius that overturns when having realized the big volumetric flask 8 of clamping few purpose of trying one's best.When being used for clamping low capacity bottle 9; Bottle is high at this moment is H2; Can galianconism portion 102 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, can know that 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 through contrast.
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 improvement and the retouching 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 improvement and retouching also should be regarded 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; Said jig arm assembly links to each other with manipulator upset assembly through gripper arm seat (3); Said 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 in gripper arm seat (3) with folding arm (7) and goes up and can rotate with folding arm (7) in the said a pair of jig arm; It is characterized in that: said jig arm comprises preceding jig arm (1) and the back jig arm (2) that links to each other through connecting bolt (10); Said back jig arm (2) is articulated in gripper arm seat (3) and goes up and can rotate around pin joint, and said preceding jig arm (1) comprises long-armed (101) and galianconism portion (102), and said long-armed (101) connect as one with galianconism portion (102) and be L-shaped; When being used for the big volumetric flask of clamping (8), galianconism portion (102) is fixed on the back jig arm (2) according to the mode on being oriented through unclamping connecting bolt (10); When being used for clamping low capacity bottle (9), galianconism portion (102) is fixed on the back jig arm (2) according to the mode under being oriented through unclamping connecting bolt (10).
2. multi-adaptability bottle-holding turning manipulator according to claim 1 is characterized in that: be equiped with gear (12) on the said back jig arm (2), two gears (12) in the said 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 said 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: said manipulator upset assembly comprises manipulator mount pad (6) and manipulator rotating shaft (5); Said 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 CN101875197A (en) | 2010-11-03 |
| CN101875197B true CN101875197B (en) | 2012-06-27 |
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| CN2010101502261A Active CN101875197B (en) | 2010-04-19 | 2010-04-19 | Multi-adaptability bottle-holding turning manipulator |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102514932B (en) * | 2011-11-30 | 2014-01-29 | 浙江大学 | Mechanical arm for automatically grabbing thin-wall tank |
| CN105690399B (en) * | 2015-08-06 | 2017-12-08 | 长沙今朝科技股份有限公司 | Packaging facilities, bottle washing machine, robot and its manipulator for being easy to maintenance |
| 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 |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2208884Y (en) * | 1994-05-27 | 1995-10-04 | 张祁 | Electrically operated bathing body cleaning machine |
| JP3916362B2 (en) * | 2000-02-28 | 2007-05-16 | 日立造船株式会社 | Rotary container cleaning equipment |
| JP4509859B2 (en) * | 2005-05-25 | 2010-07-21 | 三菱重工食品包装機械株式会社 | Rotary rinser with container reversing 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 |
| DE102008029711A1 (en) * | 2008-06-24 | 2010-01-07 | Krones Ag | Changeable gripping element for transporting containers |
| DE102008032923A1 (en) * | 2008-07-12 | 2010-01-14 | Krones Ag | clip |
| 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 |
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| CN101875197A (en) | 2010-11-03 |
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