CN104626178A - Mechanical arm for grabbing bottle - Google Patents
Mechanical arm for grabbing bottle Download PDFInfo
- Publication number
- CN104626178A CN104626178A CN201410789448.6A CN201410789448A CN104626178A CN 104626178 A CN104626178 A CN 104626178A CN 201410789448 A CN201410789448 A CN 201410789448A CN 104626178 A CN104626178 A CN 104626178A
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- Prior art keywords
- jamming claw
- bottle
- mechanical arm
- clamping claw
- connector
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Abstract
The invention discloses a mechanical arm for grabbing a bottle. The mechanical arm comprises a base, a left clamping claw, a right clamping claw, a stepping motor, a left clamping claw connection piece, a right clamping claw connection piece, a sliding rail, a sliding block, positioning pieces and detection switches. The left clamping claw is symmetrical to the right clamping claw. Both the two opposite inner sides of the left clamping claw and the right clamping claw are provided with grooves. The two grooves are matched mutually and correspond to a bottle body in shape. The left clamping claw moves rightwards to form the mechanical arm closing process, the positioning accuracy of grabbing the bottle in the mechanical arm closing process is finished by triggering the closing detection switch to act through the closing positioning piece. The left clamping claw moves leftwards to form the mechanical arm opening process, and the positioning accuracy of loosening the bottle in the mechanical arm opening process is finished by triggering the opening detection switch to act through the opening positioning piece. The mechanical arm has the advantages that a stepping motor lead screw nut pair drives the clamping claws to be opened and closed, the positioning accuracy of the clamping claws is controlled by triggering the detection switches through the positioning pieces, and the mechanical arm is simple in structure, precise to control, high in safety and convenient to popularize.
Description
Technical field
The present invention relates to a kind of manipulator, particularly relate to
a kind of bottle catching mechanical hand.
Background technology
In recent years, in the filling field such as food, medicine, the action such as transmission, rotation of bottle is all completed by Robot actions, as open a kind of in Chinese patent literature CN 103786158 A " bottle catching mechanical hand ", and it grabs the folding of bottle claw and precision has been come by the engagement of gear and tooth bar, the bottle catching mechanical hand of this structure, very high to the required precision of gear and tooth bar, therefore in processing and making process, relative difficulty is larger, cost is also high, and unfavorable use is commercially promoted the use of.
Summary of the invention
The object of the invention is to be to solve the deficiency existing for prior art, thus provide
a kind of bottle catching mechanical hand.
The present invention solves the technical scheme that its technical problem takes:
a kind of bottle catching mechanical hand, it is characterized in that comprising base, left jamming claw, right jamming claw, stepper motor, left jamming claw connector, right jamming claw connector, slide rail, slide block, conjunction spacer, open spacer, drive sense switch and close sense switch.
Described base is T-shaped structure, plays support, connects and fixation.
Described left jamming claw and right jamming claw are symmetrical, and relative inner side is equipped with groove, and two grooves cooperatively interact, and corresponding with the shape of body.Described left jamming claw is established with on left jamming claw connector, and described right jamming claw is established with on right jamming claw connector, and described left jamming claw is executive item, and described right jamming claw is fixture.
Described stepper motor is fixed on right jamming claw connector and output shaft is screw mandrel, and described screw mandrel is through right jamming claw connector and helical pitch is 2 millimeters, and on described screw mandrel, cover has feed screw nut, and described feed screw nut is fixed on left jamming claw connector.Described screw mandrel and feed screw nut form feed screw nut pair.
Described left jamming claw connector is connected with slide block, and described slide block is connected with slide rail, and described slide rail is fixed on base, and described left jamming claw connector drives left jamming claw to horizontally slip on slide rail under the driving of stepper motor feed screw nut pair.
Described left jamming claw moves right as manipulator " conjunction " process, the positioning precision that manipulator " conjunction " process grabs bottle has been come by closing the action of spacer triggering conjunction sense switch, described left jamming claw is to moving to left as manipulator "ON" process, the positioning precision of manipulator "ON" process pine bottle triggers and opens sense switch action by opening spacer and come, described conjunction spacer, open spacer and be fixed on left jamming claw connector, described conjunction sense switch is fixed on right jamming claw connector, described in drive sense switch and be fixed on base side.
Contrast prior art, the invention has the beneficial effects as follows: the folding being driven claw by stepper motor feed screw nut pair, and controlling its positioning precision by spacer detection trigger switch, its structure is simple, precise control, security performance are high, is convenient to penetration and promotion.
Accompanying drawing explanation
fig. 1it is positive direction structural representation of the present invention
figure.
fig. 2that side of the present invention is to structural representation
figure.
Wherein: 1, base, 2, left jamming claw, 3, right jamming claw, 4, stepper motor, 401, screw mandrel, 402, feed screw nut, 5, left jamming claw connector, 6, right jamming claw connector, 7, slide rail, 8, slide block, 9, spacer is closed, 10, open spacer, 11, drive sense switch, 12, close sense switch.
Detailed description of the invention
Below in conjunction with
accompanying drawingthe present invention is further described with embodiment.
a kind of bottle catching mechanical hand, it is characterized in that comprising base 1, left jamming claw 2, right jamming claw 3, stepper motor 4, left jamming claw connector 5, right jamming claw connector 6, slide rail 7, slide block 8, close spacer 9, open spacer 10, drive sense switch 11 and close sense switch 12.
Described base 1 is T-shaped structure, plays support, connects and fixation.
Described left jamming claw 2 is symmetrical with right jamming claw 3, and relative inner side is equipped with groove, and two grooves cooperatively interact, and corresponding with the shape of body.Described left jamming claw 2 is established with on left jamming claw connector 5, and described right jamming claw 3 is established with on right jamming claw connector 6, and described left jamming claw 2 is executive item, and described right jamming claw 3 is fixture.
Described stepper motor 4 is fixed on right jamming claw connector 6 and output shaft is screw mandrel 401, described screw mandrel 401 is through right jamming claw connector 6 and helical pitch is 2 millimeters, on described screw mandrel 401, cover has feed screw nut 402, described feed screw nut 402 is fixed on left jamming claw connector 5, and described screw mandrel 401 forms feed screw nut pair with feed screw nut 402.
Described left jamming claw connector 5 is connected with slide block 8, and described slide block 8 is connected with slide rail 7, and described slide rail 7 is fixed on base 1, and described left jamming claw connector 5 drives left jamming claw 2 to horizontally slip on slide rail 7 under the driving of stepper motor 4 feed screw nut pair.
Described left jamming claw 2 moves right as manipulator " conjunction " process, the positioning precision that manipulator " conjunction " process grabs bottle has been come by closing the action of spacer 9 triggering conjunction sense switch 12, described left jamming claw 2 is moved to the left as manipulator "ON" process, the positioning precision of manipulator "ON" process pine bottle triggers and opens sense switch 11 action by opening spacer 10 and come, described conjunction spacer 9, opening spacer 10 is fixed on left jamming claw connector 5, described conjunction sense switch 12 is fixed on right jamming claw connector 6, described sense switch 11 of opening is fixed on base 1 side.
Below only in one embodiment mentality of designing of the present invention is described, when system allows, the present invention can also expand to external more functional module simultaneously, thus expands its function to greatest extent.
Below know-why of the present invention is described in conjunction with specific embodiments.These describe just in order to explain principle of the present invention, and can not be interpreted as limiting the scope of the invention by any way.Based on explanation herein, those skilled in the art does not need to pay performing creative labour can associate other detailed description of the invention of the present invention, and these modes all will fall within protection scope of the present invention.
Claims (4)
1. a bottle catching mechanical hand, comprises base (1), left jamming claw (2), right jamming claw (3), stepper motor (4), screw mandrel (401), feed screw nut (402), left jamming claw connector (5), right jamming claw connector (6), slide rail (7), slide block (8), close spacer (9), open spacer (10), drive sense switch (11) and close sense switch (12), it is characterized in that: described base (1) is T-shaped structure, described left jamming claw (2) is symmetrical with right jamming claw (3), described stepper motor (4) is fixed on right jamming claw connector (6), described left jamming claw connector (5) is connected with slide block (8), described slide block (8) is connected with slide rail (7), described slide rail (7) is fixed on base (1), and described left jamming claw connector (5) drives left jamming claw (2) to horizontally slip on slide rail (7) under the driving of stepper motor (4) feed screw nut pair.
2. a kind of bottle catching mechanical hand according to claim 1, is characterized in that: the inner side that described left jamming claw (2) is relative with right jamming claw (3) is equipped with groove, and two grooves cooperatively interact, and corresponding with the shape of body.Described left jamming claw (2) is executive item, and described right jamming claw (3) is fixture.
3. a kind of bottle catching mechanical hand according to claim 1, it is characterized in that: described stepper motor (4) output shaft is screw mandrel (401), described screw mandrel (401) is through right jamming claw connector (6) and helical pitch is 2 millimeters, the upper cover of described screw mandrel (401) has feed screw nut (402), described feed screw nut (402) is fixed on left jamming claw connector (5), and described screw mandrel (401) and feed screw nut (402) form feed screw nut pair.
4. a kind of bottle catching mechanical hand according to claim 1, it is characterized in that: described left jamming claw (2) moves right as manipulator " conjunction " process, the positioning precision that manipulator " conjunction " process grabs bottle has been come by closing spacer (9) triggering conjunction sense switch (12) action, described left jamming claw (2) is moved to the left as manipulator "ON" process, and the positioning precision of manipulator "ON" process pine bottle triggers and opens sense switch (11) action by opening spacer (10) and come.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410789448.6A CN104626178A (en) | 2014-12-19 | 2014-12-19 | Mechanical arm for grabbing bottle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410789448.6A CN104626178A (en) | 2014-12-19 | 2014-12-19 | Mechanical arm for grabbing bottle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104626178A true CN104626178A (en) | 2015-05-20 |
Family
ID=53205641
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410789448.6A Pending CN104626178A (en) | 2014-12-19 | 2014-12-19 | Mechanical arm for grabbing bottle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104626178A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105397798A (en) * | 2015-12-08 | 2016-03-16 | 苏州博众精工科技有限公司 | Grabbing and clamping device |
| WO2016095676A1 (en) * | 2014-12-19 | 2016-06-23 | 邓军 | Bottle grabbing mechanical arm |
| CN106078731A (en) * | 2016-08-12 | 2016-11-09 | 橙果信息技术有限公司 | A kind of mechanical hand Traverse Displacement Unit |
| CN106393160A (en) * | 2016-08-12 | 2017-02-15 | 橙果信息技术有限公司 | Manipulator |
| CN110217410A (en) * | 2019-05-30 | 2019-09-10 | 北京控制工程研究所 | A kind of butt joint ring capture retaining mechanism and capture locking method |
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|---|---|---|---|---|
| US4042122A (en) * | 1975-05-27 | 1977-08-16 | The Bendix Corporation | Reorientation device for an object manipulator |
| JPS54138271A (en) * | 1978-04-19 | 1979-10-26 | Hitachi Ltd | Centering pawl apparatus |
| JPH03166089A (en) * | 1989-11-27 | 1991-07-18 | Shinko Electric Co Ltd | Hand finger of handling robot |
| CN202232196U (en) * | 2011-09-14 | 2012-05-30 | 西北农林科技大学 | Tail-end actuator for picking kiwi fruits |
| CN102785251A (en) * | 2012-07-06 | 2012-11-21 | 深圳先进技术研究院 | Mechanical gripper of dispensing robot |
| CN202964664U (en) * | 2012-11-16 | 2013-06-05 | 深圳雷柏科技股份有限公司 | Servo clamping mechanism |
| CN203479817U (en) * | 2013-09-05 | 2014-03-12 | 苏州长光华医生物医学工程有限公司 | Manipulator for automatic blood type detecting instruments |
| CN103786158A (en) * | 2012-10-29 | 2014-05-14 | 陈国良 | Bottle grabbing mechanical arm |
| CN203688455U (en) * | 2014-01-23 | 2014-07-02 | 成都四星液压制造有限公司 | Rotary driving mechanism of camera for magnetic tile detection |
| CN204020171U (en) * | 2014-07-29 | 2014-12-17 | 李树全 | A kind of sheet material automatic adhesive tape labelling machine |
| CN204382287U (en) * | 2014-12-19 | 2015-06-10 | 邓军 | A kind of bottle catching mechanical hand |
-
2014
- 2014-12-19 CN CN201410789448.6A patent/CN104626178A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4042122A (en) * | 1975-05-27 | 1977-08-16 | The Bendix Corporation | Reorientation device for an object manipulator |
| JPS54138271A (en) * | 1978-04-19 | 1979-10-26 | Hitachi Ltd | Centering pawl apparatus |
| JPH03166089A (en) * | 1989-11-27 | 1991-07-18 | Shinko Electric Co Ltd | Hand finger of handling robot |
| CN202232196U (en) * | 2011-09-14 | 2012-05-30 | 西北农林科技大学 | Tail-end actuator for picking kiwi fruits |
| CN102785251A (en) * | 2012-07-06 | 2012-11-21 | 深圳先进技术研究院 | Mechanical gripper of dispensing robot |
| CN103786158A (en) * | 2012-10-29 | 2014-05-14 | 陈国良 | Bottle grabbing mechanical arm |
| CN202964664U (en) * | 2012-11-16 | 2013-06-05 | 深圳雷柏科技股份有限公司 | Servo clamping mechanism |
| CN203479817U (en) * | 2013-09-05 | 2014-03-12 | 苏州长光华医生物医学工程有限公司 | Manipulator for automatic blood type detecting instruments |
| CN203688455U (en) * | 2014-01-23 | 2014-07-02 | 成都四星液压制造有限公司 | Rotary driving mechanism of camera for magnetic tile detection |
| CN204020171U (en) * | 2014-07-29 | 2014-12-17 | 李树全 | A kind of sheet material automatic adhesive tape labelling machine |
| CN204382287U (en) * | 2014-12-19 | 2015-06-10 | 邓军 | A kind of bottle catching mechanical hand |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016095676A1 (en) * | 2014-12-19 | 2016-06-23 | 邓军 | Bottle grabbing mechanical arm |
| CN105397798A (en) * | 2015-12-08 | 2016-03-16 | 苏州博众精工科技有限公司 | Grabbing and clamping device |
| CN106078731A (en) * | 2016-08-12 | 2016-11-09 | 橙果信息技术有限公司 | A kind of mechanical hand Traverse Displacement Unit |
| CN106393160A (en) * | 2016-08-12 | 2017-02-15 | 橙果信息技术有限公司 | Manipulator |
| CN110217410A (en) * | 2019-05-30 | 2019-09-10 | 北京控制工程研究所 | A kind of butt joint ring capture retaining mechanism and capture locking method |
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| C06 | Publication | ||
| PB01 | Publication | ||
| CB02 | Change of applicant information |
Address after: 101318 Beijing City, Yuhua airport economic core area of Shunyi District Road No. 28, No. 5 Building 2 layer Applicant after: Deng Jun Address before: 101300 Beijing City, Shunyi District Tianzhu Airport Road No. 89 Lijinghuayuan 6-26 Applicant before: Deng Jun |
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| SE01 | Entry into force of request for substantive examination |