CN104440933B - A kind of pivotal automatic bottle catching mechanical hand - Google Patents
A kind of pivotal automatic bottle catching mechanical hand Download PDFInfo
- Publication number
- CN104440933B CN104440933B CN201410714475.7A CN201410714475A CN104440933B CN 104440933 B CN104440933 B CN 104440933B CN 201410714475 A CN201410714475 A CN 201410714475A CN 104440933 B CN104440933 B CN 104440933B
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- China
- Prior art keywords
- push rod
- hinge
- inner sleeve
- claw seat
- rotation inner
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Abstract
The present invention discloses a kind of pivotal automatic bottle catching mechanical hand, comprising: the rotation inner sleeve that fixed jacket cylinder, axle are located in fixed jacket cylinder, the push rod running through rotation inner sleeve, the claw seat being arranged in the movable chamber of rotation inner sleeve, the upper hinge being connected with claw seat respectively, middle hinge, lower hinge and spring, push rod, claw. The useful effect of the present invention is: is reached centering and the object of clamping by the conflict of push rod and bottle top, grabs a bottle precision height, and structure is simple, it is only necessary to can realize grabbing bottle by straight line driving mechanism, it is not necessary to carry out synchronous operation with other equipment.
Description
Technical field
The present invention relates to mechanical manipulator technical field, in particular to the pivotal automatic bottle catching mechanical hand of one.
Background technology
In the processing factory of the products such as medicine, beer, beverage, bottle catching mechanical hand must be used to capture various types of bottles, and current bottle catching mechanical hand great majority are made up of multi link formula, cylinder promotes main shaft, bottle catching mechanical hand is driven separately or to close, but this kind of operating method is promoting its folding of main shaft drives by cylinder after needing that bottle catching mechanical hand drops to clamping station in advance, this driving mechanism just requiring to drive mechanical manipulator decline and the cylinder driving movable axis flexible have very high synchronism, otherwise clamping deviation easily occurs, causes grabbing bottle shakiness.
Summary of the invention
It is an object of the invention to the deficiency for existing bottle catching mechanical hand and defect, it is provided that a kind of have centering function and the high pivotal automatic bottle catching mechanical hand of precision, to solve the problem.
Technical problem solved by the invention can realize by the following technical solutions:
A kind of pivotal automatic bottle catching mechanical hand, it is characterised in that, comprising:
Fixing fixed jacket cylinder on the table;
The rotation inner sleeve that axle is located in described fixed jacket cylinder, described fixed jacket cylinder top is extended at the top of described rotation inner sleeve, and the outer peripheral edge, top of described rotation inner sleeve is provided with the tooth engaged with rotary drive mechanism, the bottom of described fixed jacket cylinder is extended in the bottom of described rotation inner sleeve, and the bottom of described rotation inner sleeve has a movable chamber;
The push rod that axle is located in described rotation inner sleeve, the top of described push rod is connected with straight line driving mechanism after extending described rotation inner sleeve, and the fixing portion of the upper hinge that the bottom of described push rod is arranged in described movable chamber with is connected;
The claw seat of pair of opposing, described one is hinged with the opening and closing part at the two ends of described upper hinge respectively to the top of claw seat, the middle part of claw seat is at least provided with an opening and closing part, two ends by described one is hinged on described one respectively to the middle hinge on claw seat, and the fixing portion of described middle hinge offers a push rod groove coaxially arranged with described push rod;
The bottom of claw seat is provided with opening and closing part, two ends by described one is hinged on described one respectively to the lower hinge on claw seat, offering the step hole coaxially arranged with described push rod in the fixing portion of described lower hinge, in the macropore in described step hole, arranged coaxial has a spring;
One push rod coaxially arranged with described push rod, described push rod comprises the straight bar of major diameter of bottom and the straight bar of minor diameter on top, the straight bar of described major diameter is arranged in the macropore in described step hole and presses described spring, the straight bar of described minor diameter through spring and after the aperture in described step hole with described push rod groove to top;
It is hinged respectively described one to the claw of claw seat bottom.
In a preferred embodiment of the invention, the folding direction of described upper hinge, middle hinge is downward, and upwards, and described middle hinge opening and closing degree is less than the opening degree of described upper hinge, lower hinge in the folding direction of described lower hinge.
In a preferred embodiment of the invention, also comprising an opening and closing part, two ends and be hinged on described one respectively to hinge in the 2nd of the middle part of claw seat the, in the described 2nd, the folding direction of hinge and opening degree are all the same with described middle hinge.
In a preferred embodiment of the invention, the periphery, top of the straight bar of described minor diameter is also provided with a spacing ring.
In a preferred embodiment of the invention, the inwall of described rotation inner sleeve is provided with self-lubricating cover.
When the present invention works, straight line driving mechanism drives push rod to move downward, push rod drives one to be moved downward by claw seat by upper hinge, and then drive push rod to move downward, can conflict bottle top in the process moved downward in the bottom of push rod, the relative claw seat in the top of push rod is upwards moved, when the top of push rod heads into push rod groove, in driving, the fixing portion of hinge upwards moves, and then drive upper hinge, middle hinge, lower hinge to close, claw seat is closed, and the claw clamping bottle body of bottom, reaches the object grabbing bottle.
Owing to have employed technical scheme as above, the useful effect of the present invention is: is reached centering and the object of clamping by the conflict of push rod and bottle top, grabs a bottle precision height, and structure is simple, only need can realize grabbing bottle by straight line driving mechanism, it is not necessary to carry out synchronous operation with other equipment.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, it is briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the structural representation of an embodiment of the present invention.
Fig. 2 is the I place enlarged view of Fig. 1.
Fig. 3 is the left view of Fig. 1.
Embodiment
In order to the present invention is realized technique means, creation characteristic, reach object and effect is easy to understand, below in conjunction with concrete diagram, set forth the present invention further.
See a kind of pivotal automatic bottle catching mechanical hand shown in Fig. 1 to Fig. 3, comprise fixed jacket cylinder 100, rotate inner sleeve 200, push rod 300, claw seat 600, push rod 500.
On fixed jacket cylinder 100 stationary work-table, rotating inner sleeve 200 is located in fixed jacket cylinder 100 by bearing 110 axle, fixed jacket cylinder 100 top is extended at the top rotating inner sleeve 200, and the outer peripheral edge, top rotating inner sleeve 200 is provided with the tooth 230 engaged with rotary drive mechanism (not shown), so can being rotated by driven rotary inner sleeve 200 by rotary drive mechanism.The bottom of fixed jacket cylinder 100 is extended in the bottom rotating inner sleeve 200, and the bottom rotating inner sleeve 200 has the movable chamber 220 that supplies claw seat 600 activity.
Push rod 300, through rotating inner sleeve 200 inner chamber 201, is provided with self-lubricating cover 210 on the inwall rotating inner sleeve 200, so push rod 300 can rotate at rotation inner sleeve 200, it is possible to move up and down at rotation inner sleeve 200 inner chamber 201. The top of push rod 300 is connected with straight line driving mechanism (not shown) after extending rotation inner sleeve 200, and straight line driving mechanism can be cylinder, and the piston rod of cylinder is coaxially connected with push rod 300 top. The fixing portion of the upper hinge 410 that the bottom of push rod 300 is arranged in movable chamber 220 with is connected, in order to facilitate the connection of push rod 300 with upper hinge 410, upper hinge 410 is fixed and is offered the ladder hole 412 coaxial with push rod 300 in portion, and the bottom of push rod 300 is also provided with the stepped stem section 310 coordinated with ladder hole 412.
One pair of claw seat 600 is oppositely arranged, and the bottom of claw seat 600 is respectively arranged with claw 610 by one. The top of one pair of claw seat 600 is hinged with the opening and closing part 411 at the two ends of upper hinge 411 respectively.
The middle part of one pair of claw seat 600 is provided with the middle hinge 420 that an opening and closing part, two ends 421 is hinged on one pair of claw seat 600 respectively, and the fixing portion of middle hinge 420 offers a push rod groove 422 coaxially arranged with push rod 300. In order to ensure the folding stability of claw seat 600 further, the middle part of one pair of claw seat 600 be also provided with an opening and closing part, two ends 441 be hinged on respectively one pair of claw seat 600 middle part the 2nd in hinge the 440, two the folding direction of hinge 440 and opening degree all the same with middle hinge 420.
The bottom of one pair of claw seat 600 is provided with the lower hinge 430 that opening and closing part, two ends 431 is hinged on one pair of claw seat 600 respectively, offering the step hole coaxially arranged with push rod 300 in the fixing portion of lower hinge 430, in the macropore 432 in step hole, arranged coaxial has a spring 434.
Push rod 500 and push rod 300 are coaxially arranged, push rod 500 comprises the straight bar of major diameter 510 of bottom and the straight bar 520 of minor diameter on top, the straight bar 510 of major diameter is arranged in the macropore 432 in step hole and presses spring 434, the straight bar 520 of minor diameter through spring 434 and after the aperture 433 in step hole and push rod groove 422 to top. In order to prevent the straight bar 520 of minor diameter from passing the aperture 433 in step hole, also it is provided with a spacing ring 521 in the periphery, top of the straight bar of minor diameter 520.
In the present embodiment, in order to the convenient folding to one pair of claw seat 600 controls, the folding direction of upper hinge 410, middle hinge 420 is downward, and upwards, and middle hinge 420 opening degree is less than the opening degree of upper hinge 410, lower hinge 430 in the folding direction of lower hinge 430.
When the present invention works, straight line driving mechanism drives push rod 300 to move downward, push rod 300 drives one to be moved downward by claw seat 600 by upper hinge 410, and then drive push rod 500 to move downward, can conflict bottle top 700 in the process moved downward in the bottom of push rod 500, the top opposed pair claw seat 600 of push rod 500 is upwards moved, when the top of push rod 500 heads into push rod groove 422, in driving, the fixing portion of hinge 420 upwards moves, and then drive upper hinge 410, middle hinge 420, in 2nd, hinge 440 closes downwards, and lower hinge 430 upwards closes, claw seat 600 is closed, the claw 610 of bottom clamps bottle body, reach the object grabbing bottle.When needing bottle body to rotate, being rotated by rotary drive mechanism driven rotary inner sleeve 200, and then drive claw seat 600 to rotate, bottle body also can realize rotating.
The present invention reaches the object of centering and clamping by the conflict of push rod 300 with bottle top 700, grabs a bottle precision height, and structure is simple, it is only necessary to can realize grabbing bottle by straight line driving mechanism, it is not necessary to carry out synchronous operation with other equipment.
More than show and describe the ultimate principle of the present invention and the advantage of main characteristic sum the present invention. The technician of the industry should understand; the present invention is not restricted to the described embodiments; the principle that the present invention is just described described in above-described embodiment and specification sheets; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention. The claimed scope of the present invention is defined by appending claims and equivalent thereof.
Claims (5)
1. a pivotal automatic bottle catching mechanical hand, it is characterised in that, comprising:
Fixing fixed jacket cylinder on the table;
The rotation inner sleeve that axle is located in described fixed jacket cylinder, described fixed jacket cylinder top is extended at the top of described rotation inner sleeve, and the outer peripheral edge, top of described rotation inner sleeve is provided with the tooth engaged with rotary drive mechanism, the bottom of described fixed jacket cylinder is extended in the bottom of described rotation inner sleeve, and the bottom of described rotation inner sleeve has a movable chamber;
The push rod that axle is located in described rotation inner sleeve, the top of described push rod is connected with straight line driving mechanism after extending described rotation inner sleeve, and the fixing portion of the upper hinge that the bottom of described push rod is arranged in described movable chamber with is connected;
The claw seat of pair of opposing, described one is hinged with the opening and closing part at the two ends of described upper hinge respectively to the top of claw seat, the middle part of claw seat is at least provided with an opening and closing part, two ends by described one is hinged on described one respectively to the middle hinge on claw seat, and the fixing portion of described middle hinge offers a push rod groove coaxially arranged with described push rod;
The bottom of claw seat is provided with opening and closing part, two ends by described one is hinged on described one respectively to the lower hinge on claw seat, offering the step hole coaxially arranged with described push rod in the fixing portion of described lower hinge, in the macropore in described step hole, arranged coaxial has a spring;
One push rod coaxially arranged with described push rod, described push rod comprises the straight bar of major diameter of bottom and the straight bar of minor diameter on top, the straight bar of described major diameter is arranged in the macropore in described step hole and presses described spring, the straight bar of described minor diameter through spring and after the aperture in described step hole with described push rod groove to top;
It is hinged respectively described one to the claw of claw seat bottom.
2. a kind of pivotal automatic bottle catching mechanical hand as claimed in claim 1, it is characterized in that, the folding direction of described upper hinge, middle hinge is downward, and upwards, and described middle hinge opening and closing degree is less than the opening degree of described upper hinge, lower hinge in the folding direction of described lower hinge.
3. a kind of pivotal automatic bottle catching mechanical hand as claimed in claim 2, it is characterized in that, also comprising an opening and closing part, two ends and be hinged on described one respectively to hinge in the 2nd of the middle part of claw seat the, in the described 2nd, the folding direction of hinge and opening degree are all the same with described middle hinge.
4. a kind of pivotal automatic bottle catching mechanical hand as described in claims 1 to 3 any claim, it is characterised in that, the periphery, top of the straight bar of described minor diameter is also provided with a spacing ring.
5. a kind of pivotal automatic bottle catching mechanical hand as described in claims 1 to 3 any claim, it is characterised in that, the inwall of described rotation inner sleeve is provided with self-lubricating cover.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410714475.7A CN104440933B (en) | 2014-11-28 | 2014-11-28 | A kind of pivotal automatic bottle catching mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410714475.7A CN104440933B (en) | 2014-11-28 | 2014-11-28 | A kind of pivotal automatic bottle catching mechanical hand |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104440933A CN104440933A (en) | 2015-03-25 |
| CN104440933B true CN104440933B (en) | 2016-06-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410714475.7A Expired - Fee Related CN104440933B (en) | 2014-11-28 | 2014-11-28 | A kind of pivotal automatic bottle catching mechanical hand |
Country Status (1)
| Country | Link |
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| CN (1) | CN104440933B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108000123B (en) * | 2017-12-11 | 2019-11-08 | 深圳市瑞飞科技有限公司 | For the device for screwing up of radioactive source substance isolation shell and the tightening method of isolation shell |
| CN107892468A (en) * | 2017-12-29 | 2018-04-10 | 山东华鹏玻璃股份有限公司 | A kind of glass draws the upper fixture alignment device of jimcrow |
| CN108438877A (en) * | 2018-04-24 | 2018-08-24 | 成都岁生科技有限责任公司 | A kind of fetching device of bogie spring |
| CN110576450B (en) * | 2018-06-07 | 2023-03-14 | 中国科学院沈阳自动化研究所 | Electrically-driven two-degree-of-freedom flexible manipulator |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0680901A1 (en) * | 1994-05-05 | 1995-11-08 | Max Kettner Verpackungsmaschinenfabrik GmbH & Co KG | Method and device for transferring objects |
| CN1753829A (en) * | 2003-02-28 | 2006-03-29 | E.C.L.公司 | Handling gripper for an electrolysis cell service machine for the production of aluminium |
| CN201128494Y (en) * | 2007-11-27 | 2008-10-08 | 劲牌有限公司 | Pneumatic mechanical type grabbing fixture for special-shaped bottle |
| CN103192366A (en) * | 2013-03-28 | 2013-07-10 | 重庆绿色智能技术研究院 | Manipulator capable of rotating continuously |
| WO2013186280A1 (en) * | 2012-06-12 | 2013-12-19 | Lars Erik Trygg | Bottle gripper and bottle gripper holder |
| CN204339793U (en) * | 2014-11-28 | 2015-05-20 | 上海新威圣制药机械有限公司 | A kind of pivotal automatic bottle catching mechanical hand |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000042963A (en) * | 1998-07-30 | 2000-02-15 | Nanba Seisakusho:Kk | Conveyer device for bottle |
-
2014
- 2014-11-28 CN CN201410714475.7A patent/CN104440933B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0680901A1 (en) * | 1994-05-05 | 1995-11-08 | Max Kettner Verpackungsmaschinenfabrik GmbH & Co KG | Method and device for transferring objects |
| CN1753829A (en) * | 2003-02-28 | 2006-03-29 | E.C.L.公司 | Handling gripper for an electrolysis cell service machine for the production of aluminium |
| CN201128494Y (en) * | 2007-11-27 | 2008-10-08 | 劲牌有限公司 | Pneumatic mechanical type grabbing fixture for special-shaped bottle |
| WO2013186280A1 (en) * | 2012-06-12 | 2013-12-19 | Lars Erik Trygg | Bottle gripper and bottle gripper holder |
| CN103192366A (en) * | 2013-03-28 | 2013-07-10 | 重庆绿色智能技术研究院 | Manipulator capable of rotating continuously |
| CN204339793U (en) * | 2014-11-28 | 2015-05-20 | 上海新威圣制药机械有限公司 | A kind of pivotal automatic bottle catching mechanical hand |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104440933A (en) | 2015-03-25 |
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| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20160509 Address after: 200436, room 238, No. three, 413 Shanghai Road, Zhabei District, China Applicant after: Shanghai ZiWei Science and Technology Automation Co., Ltd. Address before: 201806, No. 5995, Shanghai Yi Road, Jiading District, Shanghai Applicant before: SHANGHAI NEW WEISHENG PHARMACEUTICAL MACHINERY CO., LTD. |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160608 Termination date: 20161128 |
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| CF01 | Termination of patent right due to non-payment of annual fee |