CN102514932A - Mechanical arm for automatically grabbing thin-wall tank - Google Patents
Mechanical arm for automatically grabbing thin-wall tank Download PDFInfo
- Publication number
- CN102514932A CN102514932A CN2011103889536A CN201110388953A CN102514932A CN 102514932 A CN102514932 A CN 102514932A CN 2011103889536 A CN2011103889536 A CN 2011103889536A CN 201110388953 A CN201110388953 A CN 201110388953A CN 102514932 A CN102514932 A CN 102514932A
- Authority
- CN
- China
- Prior art keywords
- anchor clamps
- straight
- arm
- cylinder block
- mount pad
- Prior art date
- Legal status (The legal status 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 status listed.)
- Granted
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a mechanical arm for automatically grabbing a thin-wall tank; a sealed containing cavity arranged at the upper part of a cylinder body is provided with a downstream air inlet and an upstream air inlet; a transmission shaft arranged in the containing cavity extends out from the containing cavity and is connected with a sliding block arranged in the cylinder body; the lower part of the cylinder body is provided with three straight grooves in an equant way and is provided with a fixture mounting seat; the sliding block is connected with the mounting seat by three positioning screws which can move in the respective straight grooves; the mounting seat is in sliding fit with the cylindrical surface at the lower part of the cylinder body; one end of each support rod is respectively articulated with a flange arranged at the lower end of the cylinder body in an equant way; one end of each inclined arm in three fixtures is respectively articulated with the mounting seat in an equant way; the other ends of the support rods are articulated with the respective inclined arms and straight arms of the fixtures; and a reversed J-shaped buffer base plate is respectively arranged at the inner side of each straight arm. The mechanical arm can be adjusted by air pressure, a spring, stroke limit and the like according to the different needs of grabbed objects, so that the grabbed objects can be ensured not to be damaged; and as the buffer base plates can be replaced, the mechanical arm is suitable for the grabbed objects which are made of different materials and have different shapes.
Description
Technical field
The present invention relates to a kind of manipulator, especially relate to a kind of thin-walled can automatic catching robot.
Background technology
Thin-walled can is mainly used in beverage, insecticide, aerosol can etc. has pressure or stress-free occasion; Annual use amount only reaches over ten billion, because use amount is huge, and the bullish factor of the prices of raw and semifnished materials; For cost-cutting, wall thickness has all reached the smallest limit of using at present.Because the attenuate of wall thickness, the rigidity of tank body also decreases, for the enterprise of large-scale pipeline production; Therefore level of mechanization is high more, requires reliability also high more, grasps at tank body, moves, in the packaging process; Require very high to the thin-walled can catching robot; More damage can not be arranged,, more fragmentation can not take place for frangible glasswork.Therefore manipulator has been proposed very high requirement,, certain damage rate has been arranged still though existing catching robot preferably resolves this problem at present.
Patent of invention about catching robot has much both at home and abroad, and like the disclosed magnetic attraction type mechanical arm for clamping bottle of ZL200810143449.8, utilize the magnetic force principle to inhale and put the extracting thing, but just inapplicable for non-magnetic object.Like the disclosed bottle blank tube displacement distance manipulator of plastic bottle blowing machine of ZL200910309537.5, after the suitable distortion of crawled thing, subsequent production is had no effect, because can the school circle in subsequent production.The disclosed multi-adaptability bottle-holding turning manipulator of patent ZL201010150226.1 does not propose good solution for the extracting of thin-walled can and frangible glasswork, for the extracting thing that does not have this requirement solution has been arranged preferably.The disclosed hand tool of operating machine that has the brace table device that is used for gripping objects of patent ZL200580035943.7 is not specifically designed to the method that grasps frangible, yielding tank body, bottle yet.
Summary of the invention
The object of the present invention is to provide a kind of thin-walled can automatic catching robot, solved the automation extracting that thin-walled can, glass container etc. is easy to damage object.
The technical solution adopted for the present invention to solve the technical problems is:
The present invention includes band piston drive axle, cylinder block, anchor clamps mount pad, three anchor clamps, three strut bars and three block buffering backing plates; Cylinder block top is sealed volume, and sealed volume has descending admission port and up admission port, and the piston drive axle is housed in the sealed volume, and the slide block in transmission shaft stretches out sealed volume and is installed in cylinder block is connected; The first-class branch of cylinder block lower cylindrical face has three straight troughs; Cylinder block bottom external cylindrical surface is equipped with the anchor clamps mount pad; Slide block and anchor clamps mount pad fuse through three fixing screws; Three fixing screws can move up and down in straight trough separately, and anchor clamps mount pad and cylinder block lower cylindrical face form bearing fit; One end of every strut bar is hinged with the flange five equilibrium of cylinder block lower end respectively; One end of every inclined arm in three anchor clamps is hinged with anchor clamps mount pad five equilibrium respectively; Inclined arm separately in the other end of strut bar and three anchor clamps, the junction of straight-arm are hinged; The inboard of every straight-arm in three anchor clamps is equipped with " " " shape buffer plate; every " minor face of " " shape buffer plate is last, and embeds in the inboard aperture of straight-arm separately in three anchor clamps that spring is housed, and " between the straight-arm medial surface in the long limit of " " shape buffer plate and three anchor clamps another spring is housed respectively.
It is said that " shape of " " shape buffer plate matches with the object profile that is held.
The present invention compares with background technology, and the useful effect that has is:
1) gripping power to manipulator carries out multi-faceted adjustment, and gripping power can be regulated through air pressure, spring, stroke limit etc. according to the different needs of crawled thing, to ensure that extract is not damaged.
2) can change buffer plate, make this manipulator can adapt to unlike material, difform thickness is 0.02～1mm, diameter is the extract of 20～200mm, has improved field of application greatly.
Description of drawings
Fig. 1 is a structural principle scheme drawing of the present invention.
Fig. 2 is the A-A birds-eye view of Fig. 1.
Fig. 3 is the cylinder block partial enlarged drawing of Fig. 1.
Fig. 4 is Fig. 3 right elevation.
Among the figure: 1. descending admission port, 2. band piston drive axle, 3. cylinder block, 4. anchor clamps mount pad, 5. anchor clamps; 6. strut bar, 7. spring, 8. buffer plate, 9. thin-walled can, 10. bolt and nut; 11. the pin bearing pin, 12. fixing screws, 13. axial straight troughs, 14. up admission ports, 15. slide blocks.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is described further.
Like Fig. 1, Fig. 2, Fig. 3, shown in Figure 4, the present invention includes band piston drive axle 2, cylinder block 3, anchor clamps mount pad 4, three anchor clamps 5, three strut bars 6 and three block buffering backing plates 8; Cylinder block 3 tops are sealed volume, and sealed volume has descending admission port 1 and up admission port 14, and piston drive axle 2 is housed in the sealed volume, and the slide block 15 in transmission shaft stretches out sealed volume and is installed in cylinder block 3 is connected; The first-class branch of cylinder block 3 lower cylindrical faces has three axial straight troughs 13; Cylinder block 3 bottom external cylindrical surfaces are equipped with anchor clamps mount pad 4; Slide block and anchor clamps mount pad 4 fuse through three fixing screws 12; Three fixing screws 12 can move up and down in straight trough separately, and anchor clamps mount pad 4 forms bearing fit with cylinder block 3 lower cylindrical faces; One end of every strut bar 6 is hinged with the flange five equilibrium of cylinder block 3 lower ends respectively; One end of every inclined arm in three anchor clamps 5 is hinged with bolt and nut 10 with anchor clamps mount pad 4 branches such as grade respectively; Inclined arm separately in the other end of strut bar 6 and three anchor clamps 5, the junction of straight-arm are hinged with pin bearing pin 11; The inboard of every straight-arm in three anchor clamps 5 is equipped with " " " shape buffer plate 8; every " minor face of " " shape buffer plate 8 is last respectively; And embed in the inboard aperture of straight-arm separately in three anchor clamps 5 that spring 7 is housed, " between the straight-arm medial surface in the long limit of " " shape buffer plate 8 and three anchor clamps 5 another spring is housed, three " 8 of " " shape buffer plates are the thin-walled cans 9 that are held.
It is said that " shape of " " shape buffer plate matches with the object profile that is held.Shape to crawled thing is tested and is calculated with the permission grasp; After the shape size is confirmed; The position that can regulate buffer plate adapts to grasps this object; After the grasp that allows is confirmed, can regulate the spring below the buffer plate, allow grasp to guarantee that grasp is unlikely to surpass.
Its principle of work is following:
After manipulator is received the extracting signal; The descending admission port 1 that is installed on the cylinder block upper end adds air pressure; The up gas port 14 of advancing that is installed on the cylinder block upper end does not pressurize; Pressure promotes to be attached thereto the anchor clamps mount pad 4 that connects through band piston drive axle 2 and moves down, and then the anchor clamps that drive is installed on the anchor clamps mount pad 4 outwards open; After crawled thing puts in place; Up admission port 14 adds air pressure; Descending admission port 1 does not pressurize, and pressure promotes to be attached thereto the anchor clamps mount pad 4 that connects through band piston drive axle 2 and moves up, and then the anchor clamps that drive is installed on the anchor clamps mount pad 4 inwardly shrink; Crawled thing is caught, accomplished grasping movement.
Be installed on anchor clamps 5 inboard buffer plate 8 two ends and be connected, be lining in the anchor clamps inboard with anchor clamps through the big or small spring of scalable elastic force; After crawled thing touches buffer plate 8; Owing to contact with the flexibility of buffer plate 8, avoided the damage and the crushing of crawled thing; When the shape of crawled thing and size change, only need the shape of buffer plate 8 be done corresponding variation, can adapt to difformity.
The difference of pressure of air pressure between piston two sides on the band piston drive axle 2 that move through of manipulator realized; Be used to order about anchor clamps open and clamp and the anchor clamps mount pad that moves up and down 4 upper and lower all to have positive stop to carry out spacing, prevent that the anchor clamps stroke is excessive and damage crawled thing.After the quality of crawled thing was certain, the size that can calculate intake pressure was unlikely to distortion or crushing to guarantee crawled thing.
Claims (2)
1. thin-walled can automatic catching robot is characterized in that: comprise band piston drive axle (2), cylinder block (3), anchor clamps mount pad (4), three anchor clamps, three strut bars and three block buffering backing plates; Cylinder block (3) top is sealed volume, and sealed volume has descending admission port (1) and up admission port (14), and piston drive axle (2) is housed in the sealed volume, and the slide block (15) in transmission shaft stretches out sealed volume and is installed in cylinder block (3) is connected; The first-class branch of cylinder block (3) lower cylindrical face has three straight troughs; Cylinder block (3) bottom external cylindrical surface is equipped with anchor clamps mount pad (4); Slide block and anchor clamps mount pad (4) fuse through three fixing screws; Three fixing screws can move up and down in straight trough separately, and anchor clamps mount pad (4) forms bearing fit with cylinder block (3) lower cylindrical face; One end of every strut bar is hinged with the flange five equilibrium of cylinder block (3) lower end respectively; One end of every inclined arm in three anchor clamps is hinged with anchor clamps mount pad (4) five equilibrium respectively; Inclined arm separately in the other end of strut bar and three anchor clamps, the junction of straight-arm are hinged; The inboard of every straight-arm in three anchor clamps is equipped with " " " shape buffer plate; every " minor face of " " shape buffer plate is last, and embeds in the inboard aperture of straight-arm separately in three anchor clamps (5) that spring is housed, and " between the straight-arm medial surface in the long limit of " " shape buffer plate (8) and three anchor clamps (5) another spring is housed respectively.
2. a kind of thin-walled can automatic catching robot according to claim 1 is characterized in that: said " shape of " " shape buffer plate (8) matches with the object profile that is held.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110388953.6A CN102514932B (en) | 2011-11-30 | 2011-11-30 | Mechanical arm for automatically grabbing thin-wall tank |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110388953.6A CN102514932B (en) | 2011-11-30 | 2011-11-30 | Mechanical arm for automatically grabbing thin-wall tank |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102514932A true CN102514932A (en) | 2012-06-27 |
| CN102514932B CN102514932B (en) | 2014-01-29 |
Family
ID=46286092
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110388953.6A Expired - Fee Related CN102514932B (en) | 2011-11-30 | 2011-11-30 | Mechanical arm for automatically grabbing thin-wall tank |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102514932B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103866283A (en) * | 2012-12-14 | 2014-06-18 | 汉能新材料科技有限公司 | LPCVD system and technology thereof |
| CN103910192A (en) * | 2014-03-20 | 2014-07-09 | 奇瑞汽车股份有限公司 | Positioning device of C-shaped lifting appliances |
| CN104477262A (en) * | 2014-11-27 | 2015-04-01 | 浙江理工大学 | Crawler-arm hybrid reconfigurable robot |
| CN105344761A (en) * | 2015-11-20 | 2016-02-24 | 苏州沃尔非自动化设备有限公司 | Copper pipe bending machine capable of well protecting copper pipes |
| CN106553048A (en) * | 2016-12-01 | 2017-04-05 | 苏州荣凯克精密机械有限公司 | The blade guard feed mechanism of mower blade shield automatic charging machine |
| CN107161684A (en) * | 2017-06-07 | 2017-09-15 | 徐俊鸽 | A kind of displacement clamp device |
| CN107986001A (en) * | 2017-11-29 | 2018-05-04 | 桐乡弗格莱纺织有限公司 | A kind of adjustable Bottle ＆ Can clamp device |
| CN108302928A (en) * | 2018-01-26 | 2018-07-20 | 重庆雷钜电子科技有限公司 | Capture thin-wall part manipulator |
| CN114229437A (en) * | 2021-12-31 | 2022-03-25 | 西安航天动力研究所 | Automatic feeding device for injection tube |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US1309846A (en) * | 1919-07-15 | Eobebt m | ||
| US3894728A (en) * | 1973-02-21 | 1975-07-15 | Elphiac Sa | Slag-removing apparatus |
| GB2088823A (en) * | 1980-12-10 | 1982-06-16 | London Brick Co | An improved article lifting apparatus |
| CN2611325Y (en) * | 2003-05-13 | 2004-04-14 | 杨文镛 | Clamp for wide-mouth bottle blank |
| CN2778527Y (en) * | 2005-04-12 | 2006-05-10 | 杨光立 | Workpiece grasping and placing device |
| CN101043981A (en) * | 2004-10-20 | 2007-09-26 | 赛德尔参与公司 | Manipulator robot tools with ramps bearing equipment items for gripping objects |
| CN201024042Y (en) * | 2007-03-30 | 2008-02-20 | 山东恒联投资有限公司 | Turning type claw type crane for cylinder paper |
| CN201240516Y (en) * | 2008-07-22 | 2009-05-20 | 四川科伦药业股份有限公司 | Bottle clamping device for automatic collection and arranging machine for plastic soft bottle |
| CN101875197A (en) * | 2010-04-19 | 2010-11-03 | 长沙楚天科技有限公司 | Multi-adaptability bottle-holding turning manipulator |
| CN202321636U (en) * | 2011-11-30 | 2012-07-11 | 浙江大学 | Thin-wall tank automatic-grabbing manipulator |
-
2011
- 2011-11-30 CN CN201110388953.6A patent/CN102514932B/en not_active Expired - Fee Related
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US1309846A (en) * | 1919-07-15 | Eobebt m | ||
| US3894728A (en) * | 1973-02-21 | 1975-07-15 | Elphiac Sa | Slag-removing apparatus |
| GB2088823A (en) * | 1980-12-10 | 1982-06-16 | London Brick Co | An improved article lifting apparatus |
| CN2611325Y (en) * | 2003-05-13 | 2004-04-14 | 杨文镛 | Clamp for wide-mouth bottle blank |
| CN101043981A (en) * | 2004-10-20 | 2007-09-26 | 赛德尔参与公司 | Manipulator robot tools with ramps bearing equipment items for gripping objects |
| CN2778527Y (en) * | 2005-04-12 | 2006-05-10 | 杨光立 | Workpiece grasping and placing device |
| CN201024042Y (en) * | 2007-03-30 | 2008-02-20 | 山东恒联投资有限公司 | Turning type claw type crane for cylinder paper |
| CN201240516Y (en) * | 2008-07-22 | 2009-05-20 | 四川科伦药业股份有限公司 | Bottle clamping device for automatic collection and arranging machine for plastic soft bottle |
| CN101875197A (en) * | 2010-04-19 | 2010-11-03 | 长沙楚天科技有限公司 | Multi-adaptability bottle-holding turning manipulator |
| CN202321636U (en) * | 2011-11-30 | 2012-07-11 | 浙江大学 | Thin-wall tank automatic-grabbing manipulator |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103866283A (en) * | 2012-12-14 | 2014-06-18 | 汉能新材料科技有限公司 | LPCVD system and technology thereof |
| CN103866283B (en) * | 2012-12-14 | 2016-12-28 | 汉能新材料科技有限公司 | A kind of LPCVD system and technique thereof |
| CN103910192A (en) * | 2014-03-20 | 2014-07-09 | 奇瑞汽车股份有限公司 | Positioning device of C-shaped lifting appliances |
| CN104477262A (en) * | 2014-11-27 | 2015-04-01 | 浙江理工大学 | Crawler-arm hybrid reconfigurable robot |
| CN105344761A (en) * | 2015-11-20 | 2016-02-24 | 苏州沃尔非自动化设备有限公司 | Copper pipe bending machine capable of well protecting copper pipes |
| CN106553048A (en) * | 2016-12-01 | 2017-04-05 | 苏州荣凯克精密机械有限公司 | The blade guard feed mechanism of mower blade shield automatic charging machine |
| CN107161684A (en) * | 2017-06-07 | 2017-09-15 | 徐俊鸽 | A kind of displacement clamp device |
| CN107986001A (en) * | 2017-11-29 | 2018-05-04 | 桐乡弗格莱纺织有限公司 | A kind of adjustable Bottle ＆ Can clamp device |
| CN108302928A (en) * | 2018-01-26 | 2018-07-20 | 重庆雷钜电子科技有限公司 | Capture thin-wall part manipulator |
| CN114229437A (en) * | 2021-12-31 | 2022-03-25 | 西安航天动力研究所 | Automatic feeding device for injection tube |
| CN114229437B (en) * | 2021-12-31 | 2023-11-24 | 西安航天动力研究所 | Automatic feeding device for injection pipe |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102514932B (en) | 2014-01-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102514932A (en) | Mechanical arm for automatically grabbing thin-wall tank | |
| CN103056690B (en) | A kind of many gauge steel end surfaces processing quick change frock | |
| CN203843850U (en) | Pneumatic gripper mechanical arm | |
| CN103213122A (en) | Mechanical grabbing hand based on synchronous double-connecting-rod centering moving mechanism | |
| CN203650309U (en) | Swinging clamping device | |
| CN204528630U (en) | A kind of adjustable four grab fixture carrying bont | |
| CN202321636U (en) | Thin-wall tank automatic-grabbing manipulator | |
| CN104002309A (en) | Automatic grabbing mechanism | |
| CN204415806U (en) | The special bottle-sorting device of a kind of tubular injection glass bottle | |
| CN204528631U (en) | A kind of adjustable four grab fixture Handling device | |
| CN104385538B (en) | In mould job shop, improve cast gate fracture the gripping tool of efficiency | |
| CN201371242Y (en) | Front fixture of air bottle processing machine | |
| CN202804937U (en) | Uniform machine fixture | |
| CN101879778A (en) | Bottle-conveying transition device in bottle blowing machine | |
| CN201755910U (en) | Bottle conveying transition device of bottle blowing machine | |
| CN205551617U (en) | Steel pipe holding device | |
| CN204019341U (en) | The auto feeding device of grinder for valve cone | |
| CN104190763B (en) | The pusher bending machine that a kind of bending radius is controlled | |
| CN201890377U (en) | Longitudinally and transversally adjusting type bottle gripping mechanism of container loader | |
| CN203901055U (en) | Accurate grinding device for conical surface of valve body | |
| CN207373160U (en) | A kind of truss robot clamping device | |
| CN205708749U (en) | Blood taking tube automatic pipe taking device | |
| CN205085682U (en) | Omnipotent pipeline anchor clamps | |
| CN219448474U (en) | Part clamping mechanism | |
| CN103935560A (en) | Clamping device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| 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: 20140129 Termination date: 20181130 |