CN102514932B - Mechanical arm for automatically grabbing thin-wall tank - Google Patents
Mechanical arm for automatically grabbing thin-wall tank Download PDFInfo
- Publication number
- CN102514932B CN102514932B CN201110388953.6A CN201110388953A CN102514932B CN 102514932 B CN102514932 B CN 102514932B CN 201110388953 A CN201110388953 A CN 201110388953A CN 102514932 B CN102514932 B CN 102514932B
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- straight
- fixtures
- cylinder block
- arm
- mount pad
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- 230000005540 biological transmission Effects 0.000 claims abstract description 4
- 230000003139 buffering effect Effects 0.000 claims description 3
- 239000000463 material Substances 0.000 abstract description 3
- 239000007853 buffer solution Substances 0.000 abstract 2
- 238000011144 upstream manufacturing Methods 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000001737 promoting effect Effects 0.000 description 2
- 239000000443 aerosol Substances 0.000 description 1
- 235000013361 beverage Nutrition 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000013467 fragmentation Methods 0.000 description 1
- 238000006062 fragmentation reaction Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 239000002917 insecticide Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012858 packaging process Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
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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-wall tank automatic-grabbing manipulator.
Background technology
Thin-walled can is mainly used in beverage, insecticide, aerosol can etc. 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, in order to reduce costs, wall thickness has all reached the smallest limit of using at present.Attenuate due to wall thickness, the rigidity of tank body also decreases, the enterprise producing for large-scale pipeline, level of mechanization is higher, requires reliability also higher, therefore in tank body crawl, movement, packaging process, to thin-walled can catching robot, require very high, can not there is more damage, for frangible glasswork, more fragmentation can not occur.Therefore manipulator has been proposed to very high requirement, although the catching robot of present preferably resolves this problem, still had certain damage rate.
Patent of invention about catching robot has much both at home and abroad, and magnetic attraction type mechanical arm for clamping bottle as disclosed in ZL200810143449.8 utilizes magnetic force principle to inhale and puts crawl thing, but just inapplicable for non-magnetic object.Bottle blank tube displacement distance manipulator of plastic bottle blowing machine as disclosed in ZL200910309537.5, after being suitably out of shape, has no effect to subsequent production for crawled thing, because can school circle in subsequent production.The disclosed multi-adaptability bottle-holding turning manipulator of patent ZL201010150226.1 does not propose good solution for the crawl of thin-walled can and frangible glasswork, for not having the crawl thing of this requirement to have good solution.The hand tool of operating machine that the disclosed band of patent ZL200580035943.7 is useful on the brace table device of gripping objects is not specifically designed to the method that captures frangible, yielding tank body, bottle yet.
Summary of the invention
The object of the present invention is to provide a kind of thin-wall tank automatic-grabbing manipulator, solved the automation crawl 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, fixture mount pad, three fixtures, 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 piston drive axle is housed in sealed volume, and the slide block in transmission shaft stretches out sealed volume and is arranged on cylinder block is connected, cylinder block lower cylindrical face has three straight troughs for first-class minute, cylinder block bottom external cylindrical surface is equipped with fixture mount pad, slide block is connected by three fixing screws with fixture mount pad, three fixing screws can move up and down in straight trough separately, and fixture mount pad and cylinder block lower cylindrical face form bearing fit, one end of every strut bar is hinged with the flange decile of cylinder block lower end respectively, one end of every oblique arms in three fixtures is hinged with fixture mount pad decile respectively, oblique arms separately in the other end of strut bar and three fixtures, the junction of straight-arm is hinged, " " " shape buffer plate is equipped with respectively in the inner side of every straight-arm in three fixtures, every " minor face of " " shape buffer plate is upper, and embed in the inboard aperture of straight-arm separately in three fixtures that spring is housed, " between the straight-arm medial surface in the long limit of " " shape buffer plate and three fixtures, another spring is housed.
It is described that " shape of " " shape buffer plate matches with the object profile being held.
The present invention compares with background technology, and the useful effect having is:
1) gripping power of manipulator is carried out to multi-faceted adjustment, gripping power can need to be regulated by air pressure, spring, stroke limit etc. according to the difference 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, the extract that diameter is 20～200mm, has improved field of application greatly.
Accompanying drawing explanation
Fig. 1 is structural principle schematic diagram 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.
In figure: 1. descending admission port, 2. band piston drive axle, 3. cylinder block, 4. fixture mount pad, 5. fixture, 6. strut bar, 7. spring, 8. buffer plate, 9. thin-walled can, 10. bolt and nut, 11. pin bearing pins, 12. fixing screws, 13. axial straight troughs, 14. up admission ports, 15. slide blocks.
The specific embodiment
Below in conjunction with drawings and Examples, the invention will be further described.
As shown in Figure 1, Figure 2, Figure 3, Figure 4, the present invention includes band piston drive axle 2, cylinder block 3, fixture mount pad 4, three fixtures 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 sealed volume, and the slide block 15 in transmission shaft stretches out sealed volume and is arranged on cylinder block 3 is connected, cylinder block 3 lower cylindrical face has three axial straight troughs 13 for first-class minute, cylinder block 3 bottom external cylindrical surfaces are equipped with fixture mount pad 4, slide block is connected by three fixing screws 12 with fixture mount pad 4, three fixing screws 12 can move up and down in straight trough separately, and fixture 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 decile of cylinder block 3 lower ends respectively, one end of every oblique arms in three fixtures 5 is divided with bolt and nut 10 hinged with fixture mount pad 4 grades respectively, oblique arms separately in the other end of strut bar 6 and three fixtures 5, the junction of straight-arm is hinged with pin bearing pin 11, " " " shape buffer plate 8 is equipped with respectively in the inner side of every straight-arm in three fixtures 5, every " minor face of " " shape buffer plate 8 is upper, and embed in the inboard aperture of straight-arm separately in three fixtures 5 that spring 7 is housed, " between the straight-arm medial surface in the long limit of " " shape buffer plate 8 and three fixtures 5, another spring is housed, three " 8 of " " shape buffer plates are the thin-walled can 9 being held.
It is described that " shape of " " shape buffer plate matches with the object profile being held.The shape of crawled thing and permission grasp are carried out to Measurement and Computation, after shape size is determined, can regulate the position of buffer plate to adapt to this object of crawl, after the grasp allowing is determined, can regulate the spring below buffer plate, to guarantee that grasp is unlikely to surpass, allow grasp.
Its principle of work is as follows:
When manipulator, receive and capture after signal, the descending admission port 1 that is installed on cylinder block upper end adds air pressure, the up gas port 14 of advancing that is installed on cylinder block upper end does not pressurize, pressure moves down by promoting to be attached thereto the fixture mount pad 4 connecing with piston drive axle 2, and then drives the fixture being installed on fixture mount pad 4 outwards to open; After crawled thing puts in place, up admission port 14 adds air pressure, descending admission port 1 does not pressurize, pressure moves up by promoting to be attached thereto the fixture mount pad 4 connecing with piston drive axle 2, and then drive the fixture being installed on fixture mount pad 4 inwardly to shrink, crawled thing is caught, completed grasping movement.
The difference of pressure of air pressure between piston two sides with on piston drive axle 2 that move through of manipulator realized, for ordering about fixture, open and clamp and the upper and lower equal limited location block of fixture mount pad 4 that moves up and down carries out spacingly, preventing that fixture stroke is excessive and damage crawled thing.After the quality of crawled thing is certain, the size that can calculate intake pressure is unlikely to distortion or crushes to guarantee crawled thing.
Claims (1)
1. a thin-wall tank automatic-grabbing manipulator, is characterized in that: comprise band piston drive axle (2), cylinder block (3), fixture mount pad (4), three fixtures, three strut bars and three block buffering backing plates, cylinder block (3) top is sealed volume, sealed volume has descending admission port (1) and up admission port (14), band piston drive axle (2) is housed in sealed volume, and the slide block (15) in transmission shaft stretches out sealed volume and is arranged on cylinder block (3) is connected, cylinder block (3) lower cylindrical face has three straight troughs for first-class minute, cylinder block (3) bottom external cylindrical surface is equipped with fixture mount pad (4), slide block is connected by three fixing screws with fixture mount pad (4), three fixing screws can move up and down in straight trough separately, and fixture mount pad (4) forms bearing fit with cylinder block (3) lower cylindrical face, one end of every strut bar is hinged with the flange decile of cylinder block (3) lower end respectively, one end of every oblique arms in three fixtures is hinged with fixture mount pad (4) decile respectively, oblique arms separately in the other end of strut bar and three fixtures, the junction of straight-arm is hinged, " " " shape buffer plate is equipped with respectively in the inner side of every straight-arm in three fixtures, every " minor face of " " shape buffer plate is upper, and embed in the inboard aperture of straight-arm separately in three fixtures (5) that spring is housed, " between the straight-arm medial surface in the long limit of " " shape buffer plate (8) and three fixtures (5), another spring is housed, it is described that " shape of " " shape buffer plate (8) matches with the object profile being 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 CN102514932A (en) | 2012-06-27 |
| CN102514932B true CN102514932B (en) | 2014-01-29 |
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| 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 |
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| Country | Link |
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| CN (1) | CN102514932B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN104477262B (en) * | 2014-11-27 | 2017-07-21 | 浙江理工大学 | One kind carries out the hybrid reconstruction robot of arm |
| 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 |
| CN106553048B (en) * | 2016-12-01 | 2018-10-09 | 李帅 | 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 |
| CN108302928B (en) * | 2018-01-26 | 2019-08-27 | 重庆雷钜电子科技有限公司 | Grab thin-wall part manipulator |
| CN114229437B (en) * | 2021-12-31 | 2023-11-24 | 西安航天动力研究所 | Automatic feeding device for injection pipe |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US1309846A (en) * | 1919-07-15 | Eobebt m | ||
| BE795691A (en) * | 1973-02-21 | 1973-08-21 | Elphiac Sa | CRUSHING APPARATUS FOR MELTED METAL CRUCIBLE |
| FR2876615B1 (en) * | 2004-10-20 | 2008-04-25 | Sidel Sas | IMPROVEMENT TO MANIPULATOR ROBOT TOOLS |
| 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 |
| CN101875197B (en) * | 2010-04-19 | 2012-06-27 | 楚天科技股份有限公司 | 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 (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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| Publication number | Publication date |
|---|---|
| CN102514932A (en) | 2012-06-27 |
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Granted publication date: 20140129 Termination date: 20181130 |
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| CF01 | Termination of patent right due to non-payment of annual fee |