CN106078776A - A kind of end effector of robot picking up multiple medicated bag - Google Patents
A kind of end effector of robot picking up multiple medicated bag Download PDFInfo
- Publication number
- CN106078776A CN106078776A CN201610667113.6A CN201610667113A CN106078776A CN 106078776 A CN106078776 A CN 106078776A CN 201610667113 A CN201610667113 A CN 201610667113A CN 106078776 A CN106078776 A CN 106078776A
- Authority
- CN
- China
- Prior art keywords
- adjustable clamp
- medicated bag
- end effector
- pincers
- fixation clamps
- 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
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
Abstract
The present invention relates to a kind of pickup many medicated bags end effector of robot, including the hinged fixation clamps in middle part and adjustable clamp, the top of adjustable clamp bends to fixation clamps, the top of fixation clamps is connected by spring, jointed shaft is provided with cylinder, piston rod part is provided with cam mechanism, and when cam mechanism slides at the bending section of adjustable clamp, the lower end of adjustable clamp realizes open and close movement.The present invention is prevented from damaging medicated bag；Once grip multiple medicated bag, substantially increase mounted box speed；It is greatly reduced the volume of end effector, makes medicated bag enter box reliable.
Description
Technical field
The invention belongs to Chinese herbal medicine solid preparation production field, be specifically related to multiple medicated bag dissolves box and industrial machine automatically
Device people applies.
Background technology
In Chinese herbal medicine solid preparation produces, the shape of manner of packing many employings composite plastic film three side sealing of solid preparation
Formula, if during then dry bag marshalling loads carton.The mode of current this mounted box is by being accomplished manually.The most real
The most automatically dissolve box and have a following difficult point:
(1) composite plastic film surface is more smooth, and coefficient of friction each other is low, unstable when some bags stack, and is pushing away
Easily flowing during wrapping into box, traditional horizontal packing machine has been difficult to into box；
(2) medicated bag arranges closely in box, and traditional clamping class end effector of robot size is relatively big, performs after clamping medicated bag
Device overall dimensions is more than the size of carton, it is difficult to stretch into carton；
(3) although traditional sucker class end effector can pick up medicated bag and send in box, but one can only once be drawn
Medicated bag, inefficient, it is impossible to meet productive temp requirement.
Summary of the invention
In view of this, the invention discloses a kind of pickup many medicated bags end effector of robot, once pick up for robot
Take multiple medicated bag and send in carton.
It is an object of the invention to be realized by following device:
Including the hinged fixation clamps in middle part and adjustable clamp, the top of adjustable clamp bends to fixation clamps, connects fixation clamps by spring
Top, jointed shaft is provided with cylinder, and piston rod part is provided with cam mechanism, when cam mechanism is sliding at the bending section of adjustable clamp
Time dynamic, the lower end of adjustable clamp realizes open and close movement.
Preferably scheme, the lower end of fixation clamps and adjustable clamp is respectively provided with two pincers and refers to, pincers refer to be a slender cylinder, cylinder
End diameter increases.
Preferably scheme, cam mechanism includes a plate and four rolling bearings, and rolling bearing is arranged on connecting plate
Four angles, connecting plate is fixing on the piston rod.
Preferably scheme, adjustable clamp 1 bending section arranges positioning element.
Present invention have the advantage that
(1) elongated pincers refer to the air in medicated bag to be extruded onto side when gripping, and " falling into " enters in medicated bag to make pincers refer to, reduces
After clamping medicated bag, the overall dimensions of executor, makes medicated bag send into smoothly in box；
(2) pincers refer to that the enlargement of end can protect medicated bag, prevent from damaging medicated bag；
(3) can once grip multiple medicated bag, substantially increase mounted box speed；
(4) by supporting to minitype cylinder and cam, it is greatly reduced the volume of end effector, makes into box reliable.
Accompanying drawing explanation
Fig. 1 is schematic perspective view of the present invention；
Fig. 2 is cam top view of the present invention；
Fig. 3 is the Chinese medicine bag of the present invention arrangement schematic diagram in carton.
Detailed description of the invention
Referring to the drawings, therein being labeled as: 1-fixation clamps, 2-spring, 3-cam, 4-minitype cylinder, 5-axle, 6-is movable
Pincers, 7-pincers refer to, 8-medicated bag, 9-carton, 10-bearing, 11-connecting plate, 12-reinforcement.
As one embodiment of the invention, referring to the drawings 1, including the hinged fixation clamps 1 in middle part and adjustable clamp 6, adjustable clamp 6
Top bend to fixation clamps 1, connected the top of fixation clamps 1 by spring 2, jointed shaft 5 is provided with cylinder 4, piston rod part
Being provided with cam mechanism, when cam mechanism slides at the bending section of adjustable clamp 6, the lower end of adjustable clamp 6 realizes open and close movement.
The lower end of fixation clamps 1 and adjustable clamp 6 is respectively provided with two pincers and refers to 7, and pincers refer to that 7 is a slender cylinder, and end slightly expands.
The curved portions of adjustable clamp 6 has two reinforcements 12, and reinforcement 12 welds with arc part, strengthens the firm of arc part
Degree, it is to avoid the deformation when clamping medicated bag.The side of adjustable clamp 6 has elongated hole, the convenient trachea installing minitype cylinder 4.Adjustable clamp 1
Bending section be provided with positioning element, for limiting the stroke of minitype cylinder 4 such that it is able to regulation pincers refer to 7 sizes opened.
Referring to the drawings 2, cam mechanism is made up of four rolling bearings 10 and a connecting plate 11.Bearing 10 is by bolt etc.
Mode is connected with described connecting plate 11, and bearing 10 can reduce friction when contacting with fixation clamps 1 and adjustable clamp 6.Connecting plate 11
Center drilling, connects for the cylinder rod end with minitype cylinder 4.
The schematic diagram that medicated bag 8 when accompanying drawing 3 works for the present invention arranges in carton.Can be seen that medicated bag 8 close-packed arrays
In carton 9.
The implementation process of the present invention is: minitype cylinder 4 is inflated, and drives cam mechanism to move up, and cam mechanism is fixing
Slide between pincers 1 and adjustable clamp 6, force both top distance to increase, make two groups of pincers refer to that 7 distances reduce, it is achieved pinching action；When
When minitype cylinder 4 is reversely inflated, cam mechanism moves down, and due to the effect of spring 2, adjustable clamp 6 resets, and drives two groups of pincers to refer to
7 distances increase, it is achieved unclamp action.
Claims (4)
1. pick up an end effector of robot for multiple medicated bags, it is characterized in that: include the hinged fixation clamps in middle part and activity
Pincers, the top of described adjustable clamp bends to described fixation clamps, is connected the top of described fixation clamps by spring, and jointed shaft is provided with
Cylinder, described cylinder piston rod top is provided with cam mechanism, when described cam mechanism slides at the bending section of described adjustable clamp
Time, the lower end of described adjustable clamp realizes open and close movement.
A kind of end effector of robot picking up multiple medicated bag the most according to claim 1, is characterized in that: described fixing
The lower end of pincers and adjustable clamp is respectively provided with two pincers and refers to, described pincers refer to be a slender cylinder, and described cylinder end diameter increases.
A kind of end effector of robot picking up multiple medicated bag the most according to claim 1, is characterized in that: described cam
Mechanism includes a plate and four rolling bearings, and described rolling bearing is arranged on four angles of described connecting plate, described connection
Plate is fixed on described piston rod.
A kind of end effector of robot picking up multiple medicated bag the most according to claim 1, is characterized in that: described activity
Pincers bending section arranges positioning element.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610667113.6A CN106078776B (en) | 2016-08-15 | 2016-08-15 | A kind of end effector of robot of the multiple medicine bags of pickup |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610667113.6A CN106078776B (en) | 2016-08-15 | 2016-08-15 | A kind of end effector of robot of the multiple medicine bags of pickup |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106078776A true CN106078776A (en) | 2016-11-09 |
| CN106078776B CN106078776B (en) | 2018-07-24 |
Family
ID=57455738
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610667113.6A Active CN106078776B (en) | 2016-08-15 | 2016-08-15 | A kind of end effector of robot of the multiple medicine bags of pickup |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106078776B (en) |
Citations (14)
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| JPH07267573A (en) * | 1994-03-31 | 1995-10-17 | Komatsu Ltd | Grasping device of handling machine |
| JP2002331486A (en) * | 2001-05-09 | 2002-11-19 | Hitachi Zosen Corp | Mechanical hand mechanism, holding method and positioning method |
| CN202318316U (en) * | 2011-11-23 | 2012-07-11 | 郝晓力 | Novel optical disk fetching device |
| CN202593880U (en) * | 2012-05-29 | 2012-12-12 | 山东新华医疗器械股份有限公司 | Multiple-soft bag wrapping/packing machine |
| CN203428079U (en) * | 2013-08-02 | 2014-02-12 | 无锡众创自动化科技有限公司 | Packing gripper |
| CN203473310U (en) * | 2013-08-14 | 2014-03-12 | 河北博柯莱自动化包装有限公司 | Grabbing mechanism capable of uniform stretching and arranging as required and used for vertical packaging |
| CN104325392A (en) * | 2014-10-21 | 2015-02-04 | 温州市贝普科技有限公司 | Manipulator for small needle-tube edge grinder |
| CN204382285U (en) * | 2014-12-12 | 2015-06-10 | 哈尔滨市三和佳美科技发展有限公司 | Two-way clamp-type manipulator |
| CN204471387U (en) * | 2015-03-24 | 2015-07-15 | 潍坊市公安消防支队 | Portable underwater salvages search and rescue device |
| US20150246432A1 (en) * | 2014-02-28 | 2015-09-03 | Irwin Industrial Tool Company | Locking pliers with customizable jaws |
| CN105058406A (en) * | 2015-08-18 | 2015-11-18 | 广东电网有限责任公司惠州供电局 | High-altitude sundry removing fixture |
| CN204931469U (en) * | 2015-07-27 | 2016-01-06 | 广西南亚热带农业科学研究所 | A kind of nut hand hog toe nail puller |
| CN205004663U (en) * | 2015-10-16 | 2016-01-27 | 国家电网公司 | Fall insurance fusion tube holder |
| CN205852821U (en) * | 2016-08-15 | 2017-01-04 | 山东省智能机器人应用技术研究院 | A kind of end effector of robot picking up multiple medicated bag |
-
2016
- 2016-08-15 CN CN201610667113.6A patent/CN106078776B/en active Active
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07267573A (en) * | 1994-03-31 | 1995-10-17 | Komatsu Ltd | Grasping device of handling machine |
| JP2002331486A (en) * | 2001-05-09 | 2002-11-19 | Hitachi Zosen Corp | Mechanical hand mechanism, holding method and positioning method |
| CN202318316U (en) * | 2011-11-23 | 2012-07-11 | 郝晓力 | Novel optical disk fetching device |
| CN202593880U (en) * | 2012-05-29 | 2012-12-12 | 山东新华医疗器械股份有限公司 | Multiple-soft bag wrapping/packing machine |
| CN203428079U (en) * | 2013-08-02 | 2014-02-12 | 无锡众创自动化科技有限公司 | Packing gripper |
| CN203473310U (en) * | 2013-08-14 | 2014-03-12 | 河北博柯莱自动化包装有限公司 | Grabbing mechanism capable of uniform stretching and arranging as required and used for vertical packaging |
| US20150246432A1 (en) * | 2014-02-28 | 2015-09-03 | Irwin Industrial Tool Company | Locking pliers with customizable jaws |
| CN104325392A (en) * | 2014-10-21 | 2015-02-04 | 温州市贝普科技有限公司 | Manipulator for small needle-tube edge grinder |
| CN204382285U (en) * | 2014-12-12 | 2015-06-10 | 哈尔滨市三和佳美科技发展有限公司 | Two-way clamp-type manipulator |
| CN204471387U (en) * | 2015-03-24 | 2015-07-15 | 潍坊市公安消防支队 | Portable underwater salvages search and rescue device |
| CN204931469U (en) * | 2015-07-27 | 2016-01-06 | 广西南亚热带农业科学研究所 | A kind of nut hand hog toe nail puller |
| CN105058406A (en) * | 2015-08-18 | 2015-11-18 | 广东电网有限责任公司惠州供电局 | High-altitude sundry removing fixture |
| CN205004663U (en) * | 2015-10-16 | 2016-01-27 | 国家电网公司 | Fall insurance fusion tube holder |
| CN205852821U (en) * | 2016-08-15 | 2017-01-04 | 山东省智能机器人应用技术研究院 | A kind of end effector of robot picking up multiple medicated bag |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106078776B (en) | 2018-07-24 |
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Effective date of registration: 20190530 Address after: 273500 Second Floor of Pioneering Center Building in the Middle Section of Zoucheng West Outer Ring, Jining City, Shandong Province Patentee after: Shandong Lingzhi Robot Automation Co., Ltd. Address before: 273500 No. 1 South Road, West Outer Ring, Zoucheng City, Jining City, Shandong Province Patentee before: Shandong Institute of intelligent robot application technology |