CN102241281B - Manipulator - Google Patents

Manipulator Download PDF

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Publication number
CN102241281B
CN102241281B CN 201110131540 CN201110131540A CN102241281B CN 102241281 B CN102241281 B CN 102241281B CN 201110131540 CN201110131540 CN 201110131540 CN 201110131540 A CN201110131540 A CN 201110131540A CN 102241281 B CN102241281 B CN 102241281B
Authority
CN
China
Prior art keywords
arm assembly
gripping arm
fixed
manipulator
gear
Prior art date
Application number
CN 201110131540
Other languages
Chinese (zh)
Other versions
CN102241281A (en
Inventor
杨国交
Original Assignee
广州市吕顺机电设备有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 广州市吕顺机电设备有限公司 filed Critical 广州市吕顺机电设备有限公司
Priority to CN 201110131540 priority Critical patent/CN102241281B/en
Publication of CN102241281A publication Critical patent/CN102241281A/en
Application granted granted Critical
Publication of CN102241281B publication Critical patent/CN102241281B/en

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Abstract

The invention discloses a manipulator which comprises a fixed beam, at least one sliding beam, a first gripper arm assembly, a second gripper arm assembly and a third gripper arm assembly, wherein the at least one sliding beam can axially slide along the fixed beam; the first gripper arm assembly is fixedly arranged on the fixed beam; the second gripper arm assembly is fixedly arranged on the sliding beam; and the third gripper arm assembly is positioned between the first gripper arm assembly and the second gripper arm assembly and can axially slide along the fixed beam. According to the manipulator disclosed by the invention, the production efficiency can be effectively improved, manual operation is avoided, the labor cost in the package operation is reduced, the direct contact between human hands and articles is avoided and the misleading probability and the damage rate of the articles are reduced.

Description

Manipulator
Technical field
The present invention relates to a kind of machine tool, be specifically related to pre-install in a kind of packaging process the article clamping and be placed on the interior manipulator of packing chest.
Background technology
In packaging process, normally by manually finishing, concrete is fingertip grasp prepackage article to the incasement operation of article, with being placed in the chest of its rule, finishes the vanning process; Yet along with the continuous increase of people to the daily necessities demand, the traditional-handwork incasement operation mode that capacity rating is low can not satisfy existing Production requirement.Simultaneously, for the incasement operation of some medicines, manual vanning error rate is higher, and manual operation was not at that time, to damaging medicine, caused unnecessary loss easily.
Summary of the invention
For the deficiencies in the prior art, purpose of the present invention is intended to provide a kind of manipulator, and it can effectively reduce the vanning error rate, improve vanning production efficiency.
For achieving the above object, the present invention adopts following technical scheme:
Manipulator comprises,
One fixed beam;
At least one sliding beam can endwisely slipping along described fixed beam;
The first gripping arm assembly is fixedly mounted on the described fixed beam;
The second gripping arm assembly is fixedly mounted on the described sliding beam;
The 3rd gripping arm assembly, at described the first gripping arm assembly between the second gripping arm assembly, and can endwisely slipping along described fixed beam.
All be connected with an elastic element between described the first gripping arm assembly and the second gripping arm assembly, the second pivoted arm assembly and the 3rd gripping arm assembly.
Described elastic element is spring.
Described elastic element is extension spring.
Described the first gripping arm assembly, the second gripping arm assembly and the 3rd gripping arm assembly include,
One mount pad;
One is arranged on the driven unit on the described mount pad;
The first grasping plate that connects with described driven unit respectively and the second grasping plate, described the first grasping plate and the second grasping plate lay respectively at the both sides of described mount pad and can radially slide along fixed beam with respect to mount pad;
Described driven unit comprises a cylinder, and a gear cluster, and described cylinder block partial fixing is connected on the described mount pad, and its telescopic end is connected on described the first grasping plate, slidely connects first slide block that is connected with described the first grasping plate on the described mount pad; Described gear cluster comprises the first gear, the second gear of being connected with a joggle in described the first gear one side and with described the first slide block and being connected with a joggle in the 3rd gear of described the first gear opposite side is connected with a joggle, slidely connect second slide block that is connected with described the second grasping plate on the described mount pad, described the second slide block and described the 3rd gear are connected with a joggle.
This manipulator comprises two sliding beams that lay respectively at described fixed beam both sides.
The belt conveyor that is provided with a drive motor on the described fixed beam and is driven by described drive motor, described sliding beam is fixedly connected on the described belt conveyor.
Beneficial effect of the present invention is:
1, can enhance productivity by actv., avoid manual operation, reduce the cost of labor in the packaging operation;
2, avoid staff directly to contact with article, reduce the breakage rate of misloading probability and article.
Description of drawings
Fig. 1 is the structural representation of a kind of manipulator of the present invention;
Fig. 2 is the scheme of installation of manipulator shown in Figure 1;
Fig. 3 is the structural representation of gripping arm assembly 7 shown in Fig. 1.
The specific embodiment
Below, by reference to the accompanying drawings and the specific embodiment, the present invention is described further:
As shown in Figure 1, 2, be a kind of manipulator of the present invention, the article incasement operation that it is mainly used in the packaging process comprises a fixed beam 1 and a sliding beam 21, and sliding beam 21 is installed in a side of fixed beam 1, and can slide along the length direction of fixed beam 1.
In addition, on fixed beam, also be provided with actuating device, concrete is, at fixed beam 1 drive motor 12 and belt conveyor 11 are installed, belt conveyor 11 solderless wrapped connections and are driven by drive motor 12 in the rotating shaft that is arranged at respectively fixed beam 1 two ends, sliding beam 21 is captiveed joint with belt conveyor 11 by a connecting seat 13, thus, when drive motor 12 running, can drive sliding beam 21 and slide with respect to fixed beam 1.
At fixed beam 1 a gripping arm assembly 5 and gripping arm assembly 6 are installed, wherein gripping arm assembly 5 is bolted to connection on fixed beam 1 (bottom, middle part of concrete position hand fixed beam 1 length direction), gripping arm assembly 6 then is flexibly connected with fixed beam 1, specifically, preset along its length a slide rail on fixed beam 1, gripping arm assembly 6 is installed on this slide rail and can slides along the length direction of fixed beam 1.In the outboard end of sliding beam 21, be bolted to connection a gripping arm assembly 7.Wherein gripping arm assembly 5, gripping arm assembly 6, gripping arm assembly 7 are arranged side by side, and are connected with a spring 4 between gripping arm assembly 5 and gripping arm assembly 6, are connected with a spring 3 between gripping arm assembly 6 and the gripping arm assembly 7.
The structure of above-mentioned gripping arm assembly 5, gripping arm assembly 6, gripping arm assembly 7 is identical, below take gripping arm assembly 7 as example, introduce in detail its structure.As shown in Figure 3, gripping arm assembly 7 comprises a mount pad 701, cylinder 702, slide block 703, slide block 704, gripping arm plate 705, gripping arm plate 706, cylinder 702 is as the driver element of gripping arm assembly 7, its cylinder part is fixedly connected on the mount pad 701, mount pad 701 is bolted the outboard end at sliding beam 21, the flexible direction of cylinder 702 is vertical with the length direction of fixed beam 1, that is to say that its free end can be flexible along the Width of manipulator, be respectively equipped with slide rail 711 on the both sides of mount pad 701, slide rail 712, its the two length is all extended along the Width of manipulator, that is to say parallel with the flexible direction of cylinder 702, slide block 703 is installed on the slide rail 711, same, slide block 704 is installed on the slide rail 712.Gripping arm plate 706 is bolted to connection the external side end at slide block 704, and the free end of cylinder 702 is captiveed joint with gripping arm plate 706, so, during cylinder 702 action, it can drive simultaneously gripping arm plate 706 and slide block 704 moves with respect to the Width of mount pad 701 along manipulator.Above-mentioned gripping arm plate 705 is parallel with gripping arm plate 706, and is bolted to connection the external side end at slide block 703; Between slide block 703 and slide block 704 bottoms, a gear cluster is installed also, this gear cluster comprises gear 707, gear 708 and gear 709, gear 708 and gear 709 are connected with a joggle respectively in the both sides of gear 707, gear 708 also is connected with a joggle with the default tooth bar (not shown) in slide block 703 bottoms simultaneously, and same gear 709 also is connected with a joggle with the default tooth bar (not shown) in slide block 704 bottoms.Thus, when cylinder 702 flexible and outside promotion gripping arm plate 706, because the commutation effect of gear cluster, gripping arm plate 705 also outwards slides with respect to mount pad 701, that is to say that gripping arm plate 706 increases with the spacing of gripping arm plate 705, otherwise, when cylinder 702 shrank, gripping arm plate 706 dwindled with the spacing of gripping arm plate 705.
Above-mentioned manipulator is when running, drive motor 12 starts, and the beginning forward drives sliding beam 21 and outwards slides, gripping arm assembly 7 is under the drive of sliding beam 21, length direction along fixed beam 1 outwards slides, when its outside slip certain distance, under the pulling of spring 3, gripping arm assembly 6 follows hard on along the length direction of fixed beam 1 and outwards slides, at this moment, spring 4 also is in extended state, after each pivoted arm assembly is picked up article respectively, the drive motor counter-rotating, sliding beam 21 drives gripping arm assembly 7 and inwardly slides, simultaneously, and under the rebound action of spring 4, gripping arm assembly 6 is pulled to initial position, afterwards, each gripping arm assembly puts down article, finishes grasping movement one time.
In order to raise the efficiency, again as shown in Figure 1, 2, can also a sliding beam 22 be installed at the opposite side of fixed beam 1, in the outboard end of sliding beam 22 a gripping arm assembly 9 is installed, and at the fixed beam 1 gripping arm assembly 8 that is slidingly installed, same, a spring is installed between gripping arm assembly 8 and gripping arm assembly 9, between gripping arm assembly 8 and the gripping arm assembly 8 spring is installed also.Sliding beam 22 is fixedly connected on the belt conveyor 11 by a connecting seat 14, here it should be noted that, sliding beam 22 and sliding beam 21 are connected to the both sides of belt conveyor, when drive motor 12 forward, its the two while slides away from fixed beam 1, during drive motor 12 counter-rotating, its two then simultaneously close fixed beam 1 slip.
The structure of gripping arm assembly 8 and gripping arm assembly 9 is identical with above-mentioned gripping arm assembly 7, does not do repeat specification here.
Certainly, can also a plurality of sliding beams be set at fixed beam 1.
According to mechanical field known technology general knowledge, above-mentioned spring can also adopt other elastic elements to substitute for example extension spring.
For a person skilled in the art, can make other various corresponding changes and distortion according to technical scheme described above and design, and these all changes and distortion should belong within the protection domain of claim of the present invention all.

Claims (6)

1. manipulator is characterized in that, comprise,
One fixed beam;
At least one sliding beam can endwisely slipping along described fixed beam;
The first gripping arm assembly is fixedly mounted on the described fixed beam;
The second gripping arm assembly is fixedly mounted on the described sliding beam;
The 3rd gripping arm assembly, at described the first gripping arm assembly between the second gripping arm assembly, and can endwisely slipping along described fixed beam;
All be connected with an elastic element between described the first gripping arm assembly and the second gripping arm assembly, the second pivoted arm assembly and the 3rd gripping arm assembly;
The belt conveyor that is provided with a drive motor on the described fixed beam and is driven by described drive motor, described sliding beam is fixedly connected on the described belt conveyor.
2. manipulator as claimed in claim 1 is characterized in that, described elastic element is spring.
3. manipulator as claimed in claim 2 is characterized in that, described elastic element is extension spring.
4. manipulator as claimed in claim 1 is characterized in that, described the first gripping arm assembly, the second gripping arm assembly and the 3rd gripping arm assembly include,
One mount pad;
One is arranged on the driven unit on the described mount pad;
The first grasping plate that connects with described driven unit respectively and the second grasping plate, described the first grasping plate and the second grasping plate lay respectively at the both sides of described mount pad and can radially slide along fixed beam with respect to mount pad;
5. manipulator as claimed in claim 4, it is characterized in that, described driven unit comprises a cylinder, an and gear cluster, described cylinder block partial fixing is connected on the described mount pad, its telescopic end is connected on described the first grasping plate, slidely connects first slide block that is connected with described the first grasping plate on the described mount pad; Described gear cluster comprises the first gear, the second gear of being connected with a joggle in described the first gear one side and with described the first slide block and being connected with a joggle in the 3rd gear of described the first gear opposite side is connected with a joggle, slidely connect second slide block that is connected with described the second grasping plate on the described mount pad, described the second slide block and described the 3rd gear are connected with a joggle.
6. manipulator as claimed in claim 1 is characterized in that, this manipulator comprises two sliding beams that lay respectively at described fixed beam both sides.
CN 201110131540 2011-05-20 2011-05-20 Manipulator CN102241281B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201110131540 CN102241281B (en) 2011-05-20 2011-05-20 Manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201110131540 CN102241281B (en) 2011-05-20 2011-05-20 Manipulator

Publications (2)

Publication Number Publication Date
CN102241281A CN102241281A (en) 2011-11-16
CN102241281B true CN102241281B (en) 2013-02-06

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Family Applications (1)

Application Number Title Priority Date Filing Date
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Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103253396B (en) * 2013-05-15 2015-12-02 广州达意隆包装机械股份有限公司 material grouping mechanism
CN104176314B (en) * 2013-05-28 2016-03-16 珠海格力电器股份有限公司 The gathering-device of remote controller
CN103359326A (en) * 2013-07-10 2013-10-23 杭州中亚机械股份有限公司 Support frame forming device
CN105366105B (en) * 2014-08-25 2016-09-28 海南大学 A kind of rubber dryness production line baling press feeding manipulator
CN105584675B (en) * 2014-10-20 2017-11-07 上海富永纸品包装有限公司 Tissue recrater handgrip
CN104803035B (en) * 2015-04-24 2017-01-18 成都松川雷博机械设备有限公司 Clamping mechanism with mechanical clamping claws for food boxing machine
DE102015109734A1 (en) 2015-06-18 2016-12-22 Krones Aktiengesellschaft Method and handling device
CN106986059B (en) * 2017-03-31 2019-02-05 武汉健康之星餐具消毒有限公司 Combined set tableware automatic boxing machine and its packing method

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2902308B2 (en) * 1994-09-09 1999-06-07 株式会社京都製作所 Article filling equipment
CN2804017Y (en) * 2005-05-31 2006-08-09 长沙锐信机械制造有限公司 Manipulator bottle gripper for pharmaceutic machinery
CN201257666Y (en) * 2008-08-29 2009-06-17 长沙楚天科技有限公司 Mechanical arm of bottle washing machine with anti-soil apparatus

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Address after: 510000 Guangdong province Guangzhou Jinxiu Road Economic and Technological Development Zone Bihua Street No. 10

Patentee after: GUANGDONG LVSHUN INTELLIGENT TECHNOLOGY CO., LTD.

Address before: 510000 Guangdong city of Guangzhou Province Economic and Technological Development Zone East Road, No. 281 Guangzhou LU Hong Shun Electrical Equipment Co. Ltd.

Patentee before: Guangzhou Lvshun Electromechanical Equipment Co., Ltd.

CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20130206

Termination date: 20170520