CN108189017A - A kind of bottle catching robot of white wine foreign matter detection system - Google Patents
A kind of bottle catching robot of white wine foreign matter detection system Download PDFInfo
- Publication number
- CN108189017A CN108189017A CN201810274347.3A CN201810274347A CN108189017A CN 108189017 A CN108189017 A CN 108189017A CN 201810274347 A CN201810274347 A CN 201810274347A CN 108189017 A CN108189017 A CN 108189017A
- Authority
- CN
- China
- Prior art keywords
- pivoted arm
- motor
- detection system
- foreign matter
- white wine
- 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.)
- Pending
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 20
- 235000020097 white wine Nutrition 0.000 title claims abstract description 20
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 8
- 238000009434 installation Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
-
- 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
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
- B25J15/0038—Cylindrical gripping surfaces
-
- 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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
Abstract
The invention discloses a kind of bottle catching robots of white wine foreign matter detection system, including pedestal and rotating seat, the upper end of rotating seat is rotatably connected to the first pivoted arm, channel equipped with upper and lower ends perforation in first pivoted arm, the side of rotating seat is equipped with the first motor, the side of first motor is equipped with the first air pump, the upper end of first pivoted arm is rotatably connected to the second pivoted arm, the side of second pivoted arm is equipped with the second motor, the top of second motor is equipped with the second air pump, the upper end of second pivoted arm is fixedly connected with cross bar, the end of cross bar is equipped with mounting head, the lower end of mounting head is equipped with mounting bracket, the lower end of mounting bracket is fixedly connected with installing plate, the lower section of installing plate is equipped with four groups of clamping cylinders side by side, the piston rod of every group of clamping cylinder has been fixedly connected with fixture, fixture includes two clamping plates being centrosymmetric, grip block is equipped on the inside of each clamping plate.The present invention can realize that crawl is steady, and improve crawl efficiency.
Description
Technical field
The present invention relates to a kind of bottle of manipulator technical field more particularly to white wine foreign matter detection system crawl machineries
Hand.
Background technology
Manipulator is the important component in automated production equipment, and manipulator can imitate certain action work(of human hand and arm
Can, to the automatic pilot pressed fixed routine crawl, carry object or operation instrument.Manipulator is the industry occurred earliest
Robot and the modern machines people occurred earliest, it can replace the heavy labor of people to realize the mechanization of production and automatic
Change, can be operated under hostile environment to protect personal safety, thus be widely used in machine-building, metallurgy, electronics, light industry and original
Zi Nengdeng departments.Existing bottle catching robot is often not steady enough when capturing bottle, and easily generates cunning with body
It is dynamic, and then bottle is caused to fall, cause economic loss.
Invention content
The purpose of the present invention is to solve in the prior art the technical issues of, and propose a kind of white wine foreign bodies detection system
The bottle catching robot of system.
To achieve these goals, present invention employs following technical solutions：
A kind of bottle catching robot of white wine foreign matter detection system, including pedestal, the base rotation is connected with rotation
Seat, the upper end of the rotating seat are rotatably connected to the first pivoted arm, the channel penetrated through in first pivoted arm equipped with upper and lower ends, institute
The side for stating rotating seat is equipped with the first motor, and the output shaft of first motor and the input terminal of first pivoted arm fix company
It connects, the side of first motor far from the rotating seat is equipped with the first air pump, and the upper end of first pivoted arm is rotatably connected to
Second pivoted arm, the side of second pivoted arm are equipped with the second motor, and the output shaft of second motor is consolidated with second pivoted arm
Fixed connection, the top of second motor are equipped with the second air pump, and the upper end of second pivoted arm is fixedly connected with cross bar, the horizontal stroke
The end of bar is equipped with mounting head, and the lower end of the mounting head is equipped with mounting bracket, and the lower end of the mounting bracket is fixedly connected with installation
Plate, the lower section of the installing plate are equipped with four groups of clamping cylinders side by side, and the piston rod of clamping cylinder has been fixedly connected with described in every group
Fixture, the fixture include two clamping plates being centrosymmetric, grip block, the clamping are equipped on the inside of each clamping plate
Being sticked on the inside of block has skid resistant course.
Further, the first air pump output terminal is connected with the first tracheae, first tracheae pass through the channel with
The input terminal connection of the clamping cylinder.
Further, the second air pump output terminal is connected with the second tracheae, and the second tracheae is connect with the clamping cylinder.
Further, it is equipped with the arc surface being recessed inwardly on the inside of the grip block.
Further, the quantity of clamping cylinder described in every group is two, and two clamping cylinders are staggered.
Further, the side of the upper and lower ends of the channel, the rotating seat far from first motor, described second
The top of pivoted arm and the cross bar upper end are equipped with geometrical clamp.
Further, being sticked on the inside of the grip block has skid resistant course.
Compared with prior art, the present invention provides a kind of bottle catching robot of white wine foreign matter detection system, have
Following advantageous effect：The bottle catching robot of the white wine foreign matter detection system drives the first pivoted arm to rotate by the first motor,
Second motor drives the rotation of the second pivoted arm, and the fixture of crossbar end is adjusted to designated position, passes through the first air pump and the second gas
Pump control clamping cylinder, clamping cylinder control grip block crawl bottle, so as to complete primary stable grasping movement, passes through setting
Four groups of fixtures can disposably capture four bottles, improve crawl efficiency.
Description of the drawings
Fig. 1 is a kind of structure diagram of the bottle catching robot of white wine foreign matter detection system proposed by the present invention；
Fig. 2 is a kind of scheme of installation of fixture proposed by the present invention；
Fig. 3 is a kind of bottom view of grip block proposed by the present invention.
In figure：1st, pedestal；2nd, rotating seat；3rd, the first pivoted arm；4th, channel；5th, the first motor；6th, the first air pump；7th, second turn
Arm；8th, the second motor；9th, the second air pump；10th, cross bar；11st, mounting head；12nd, mounting bracket；13rd, installing plate；14th, clamping cylinder；
15th, fixture；16th, clamping plate；17th, grip block；18th, skid resistant course；19th, the first tracheae；20th, the second tracheae；21st, geometrical clamp.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.
In the description of the present invention, it is to be understood that term " on ", " under ", "front", "rear", "left", "right", " top ",
The orientation or position relationship of the instructions such as " bottom ", " interior ", " outer " are based on orientation shown in the drawings or position relationship, merely to just
In the description present invention and simplify description rather than instruction or imply signified device or element must have specific orientation, with
Specific azimuth configuration and operation, therefore be not considered as limiting the invention.
Reference Fig. 1-3, a kind of bottle catching robot of white wine foreign matter detection system, including pedestal 1,1 turn of the pedestal
Dynamic to be connected with rotating seat 2, the upper end of the rotating seat 2 is rotatably connected to the first pivoted arm 3, is equipped with up and down in first pivoted arm 3
The channel 4 of both ends perforation, the side of the rotating seat 2 are equipped with the first motor 5, the output shaft of first motor 5 and described the
The input terminal of one pivoted arm 3 is fixedly connected, and side of first motor 5 far from the rotating seat 2 is equipped with the first air pump 6, described
The upper end of first pivoted arm 3 is rotatably connected to the second pivoted arm 7, and the side of second pivoted arm 7 is equipped with the second motor 8, and described second
The output shaft of motor 8 is fixedly connected with second pivoted arm 7, and the top of second motor 8 is equipped with the second air pump 9, and described the
The upper end of two pivoted arms 7 is fixedly connected with cross bar 10, and the end of the cross bar 10 is equipped with mounting head 11, the lower end of the mounting head 11
Equipped with mounting bracket 12, the lower end of the mounting bracket 12 is fixedly connected with installing plate 13, and the lower section of the installing plate 13 is equipped with side by side
Four groups of clamping cylinders 14, the piston rod of clamping cylinder 14 described in every group have been fixedly connected with fixture 15, and the fixture 15 includes two
A clamping plate 16 being centrosymmetric, the inside of each clamping plate 16 are equipped with grip block 17.The white wine foreign matter detection system
Bottle catching robot drives the first pivoted arm 3 to rotate by the first motor 5, and the second motor 8 drives the second pivoted arm 7 to rotate, will be horizontal
The fixture 15 of 10 end of bar is adjusted to designated position, controls clamping cylinder 14 by the first air pump 6 and the second air pump 9, clamps gas
Cylinder 14 controls grip block 17 to capture bottle, so as to complete primary stable grasping movement, by setting four groups of fixtures can be disposable
Four bottles of crawl improves crawl efficiency.
Preferably, 6 output terminal of the first air pump is connected with the first tracheae 19, and first tracheae 19 passes through the channel
4 connect with the input terminal of the clamping cylinder 14.
Preferably, 9 output terminal of the second air pump is connected with the second tracheae 20, the second tracheae 20 and the clamping cylinder 14
Connection.
Preferably, 17 inside of grip block is equipped with the arc surface being recessed inwardly, in order to coordinate with the arc surface of bottle.
Preferably, the stabilization for holding chucking power, the quantity of clamping cylinder 14 described in every group is two, and two folders
Tight cylinder 14 is staggered.
Preferably, the side of the upper and lower ends of the channel 4, the rotating seat 2 far from first motor 5, described
The top and 10 upper end of the cross bar of two pivoted arms 7 are equipped with geometrical clamp 21, to prevent the first tracheae 19 and the second tracheae 20 from winding
Together.
Preferably, 17 inside of grip block, which is sticked, skid resistant course 18, and the inside of grip block 17, which is sticked, skid resistant course 18, really
It protects bottle clamping to stablize, prevents from falling generation loss.
In the present invention, the first pivoted arm 3 is driven to rotate by the first motor 5, the second motor 8 drives the second pivoted arm 7 to rotate, will
The fixture of 10 end of cross bar is adjusted to designated position, controls clamping cylinder 14 by the first air pump 6 and the second air pump 9, clamps gas
Cylinder 14 controls grip block 17 to capture bottle, so as to complete primary stable grasping movement, is accommodated by being equipped in the second pivoted arm 7
The channel 4 of first tracheae 19, and geometrical clamp 21 is equipped in the upper and lower ends of channel 4, prevent the first tracheae 19 and the second tracheae 20
It is intertwined, the first tracheae 19 and the outside of the second tracheae 20 are equipped with protective case, convenient for management, by by four clamping cylinders 14
It is staggered, increases the grip force of fixture 15, the inside of grip block 17, which is sticked, skid resistant course 18, it is ensured that bottle clamping is stablized, and is prevented
Fall generation loss.
The bottle catching robot of the white wine foreign matter detection system accommodates the first tracheae by being equipped in the second pivoted arm 7
19 channel 4, and geometrical clamp 21 is equipped in the upper and lower ends of channel 4, reduce the occupied space of the first tracheae 19, the first tracheae 19
Protective case is equipped with 20 outside of the second tracheae, connecting tube can be prevented to be intertwined mutually, convenient for management.
The bottle catching robot of the white wine foreign matter detection system by the way that four clamping cylinders 14 are staggered, increases
The grip force of fixture, the inside of grip block 17, which is sticked, skid resistant course 18, it is ensured that bottle clamping is stablized, and prevents from falling generation loss.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (7)
- A kind of 1. bottle catching robot of white wine foreign matter detection system, including pedestal (1), which is characterized in that the pedestal (1) Rotating seat (2) is rotatably connected to, the upper end of the rotating seat (2) is rotatably connected to the first pivoted arm (3), first pivoted arm (3) The interior channel (4) equipped with upper and lower ends perforation, the side of the rotating seat (2) are equipped with the first motor (5), first motor (5) output shaft is fixedly connected with the input terminal of first pivoted arm (3), and first motor (5) is far from the rotating seat (2) Side be equipped with the first air pump (6), the upper end of first pivoted arm (3) is rotatably connected to the second pivoted arm (7), second pivoted arm (7) side is equipped with the second motor (8), and the output shaft of second motor (8) is fixedly connected with second pivoted arm (7), institute The top for stating the second motor (8) is equipped with the second air pump (9), and the upper end of second pivoted arm (7) is fixedly connected with cross bar (10), institute The end for stating cross bar (10) is equipped with mounting head (11), and the lower end of the mounting head (11) is equipped with mounting bracket (12), the mounting bracket (12) lower end is fixedly connected with installing plate (13), and the lower section of the installing plate (13) is equipped with four groups of clamping cylinders (14) side by side, The piston rod of clamping cylinder (14) described in every group has been fixedly connected with fixture (15), and the fixture (15) is in center pair including two The clamping plate (16) of title is each equipped with grip block (17) on the inside of the clamping plate (16).
- 2. the bottle catching robot of a kind of white wine foreign matter detection system according to claim 1, which is characterized in that described First air pump (6) output terminal is connected with the first tracheae (19), and first tracheae (19) is across the channel (4) and the clamping The input terminal connection of cylinder (14).
- 3. the bottle catching robot of a kind of white wine foreign matter detection system according to claim 1, which is characterized in that described Second air pump (9) output terminal is connected with the second tracheae (20), and the second tracheae (20) is connect with the clamping cylinder (14).
- 4. the bottle catching robot of a kind of white wine foreign matter detection system according to claim 1, which is characterized in that described The arc surface being recessed inwardly is equipped on the inside of grip block (17).
- 5. the bottle catching robot of a kind of white wine foreign matter detection system according to claim 1, which is characterized in that every group The quantity of the clamping cylinder (14) is two, and two clamping cylinders (14) are staggered.
- 6. the bottle catching robot of a kind of white wine foreign matter detection system according to claim 1, which is characterized in that described The side of upper and lower ends, the rotating seat (2) far from first motor (5) of channel (4), the top of second pivoted arm (7) Portion and the cross bar (10) upper end are respectively equipped with geometrical clamp (21).
- 7. the bottle catching robot of a kind of white wine foreign matter detection system according to claim 1, which is characterized in that described Being sticked on the inside of grip block (17) has skid resistant course (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810274347.3A CN108189017A (en) | 2018-03-29 | 2018-03-29 | A kind of bottle catching robot of white wine foreign matter detection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810274347.3A CN108189017A (en) | 2018-03-29 | 2018-03-29 | A kind of bottle catching robot of white wine foreign matter detection system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108189017A true CN108189017A (en) | 2018-06-22 |
Family
ID=62596438
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810274347.3A Pending CN108189017A (en) | 2018-03-29 | 2018-03-29 | A kind of bottle catching robot of white wine foreign matter detection system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108189017A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109483632A (en) * | 2018-11-27 | 2019-03-19 | 滁州市朝友精密制造有限公司 | A kind of cabinet sealing strip processing device |
| CN110549321A (en) * | 2019-09-12 | 2019-12-10 | 苏州龙骐自动化科技有限公司 | robot clamping device for logistics transportation |
| CN115783761A (en) * | 2022-12-15 | 2023-03-14 | 安徽庐江凯胜新能源科技有限公司 | New energy automobile battery module goes into position unloading and snatchs robot |
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| CN107671992A (en) * | 2017-10-31 | 2018-02-09 | 广西南山瓷器有限公司 | Automatic glazing device in ceramic body |
| CN208375293U (en) * | 2018-03-29 | 2019-01-15 | 无锡恩特卫自动化检测设备有限公司 | A kind of bottle catching robot of white wine foreign matter detection system |
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2018
- 2018-03-29 CN CN201810274347.3A patent/CN108189017A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104227696A (en) * | 2013-06-20 | 2014-12-24 | 盐城市昱博自动化设备有限公司 | Constant pressure control assisted manipulator |
| CN103862480A (en) * | 2014-03-25 | 2014-06-18 | 江苏中科机器人科技有限公司 | Mechanical paw and multi-station mechanical paw for palletizing robot |
| CN104308855A (en) * | 2014-09-26 | 2015-01-28 | 四川锐腾电子有限公司 | Mechanical structure for improving grabbing efficiency based on workpiece grabbing process |
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| CN107671992A (en) * | 2017-10-31 | 2018-02-09 | 广西南山瓷器有限公司 | Automatic glazing device in ceramic body |
| CN208375293U (en) * | 2018-03-29 | 2019-01-15 | 无锡恩特卫自动化检测设备有限公司 | A kind of bottle catching robot of white wine foreign matter detection system |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109483632A (en) * | 2018-11-27 | 2019-03-19 | 滁州市朝友精密制造有限公司 | A kind of cabinet sealing strip processing device |
| CN110549321A (en) * | 2019-09-12 | 2019-12-10 | 苏州龙骐自动化科技有限公司 | robot clamping device for logistics transportation |
| WO2021046896A1 (en) * | 2019-09-12 | 2021-03-18 | 苏州龙骐自动化科技有限公司 | Robot gripping device for logistic transportation |
| CN115783761A (en) * | 2022-12-15 | 2023-03-14 | 安徽庐江凯胜新能源科技有限公司 | New energy automobile battery module goes into position unloading and snatchs robot |
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Application publication date: 20180622 |