CN109015727A - A kind of open-close type manipulator - Google Patents
A kind of open-close type manipulator Download PDFInfo
- Publication number
- CN109015727A CN109015727A CN201810966743.2A CN201810966743A CN109015727A CN 109015727 A CN109015727 A CN 109015727A CN 201810966743 A CN201810966743 A CN 201810966743A CN 109015727 A CN109015727 A CN 109015727A
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- Prior art keywords
- axis
- bearing
- axle
- open
- close type
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- 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.)
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- 230000007246 mechanism Effects 0.000 claims abstract description 14
- 230000000694 effects Effects 0.000 claims description 4
- 230000003447 ipsilateral effect Effects 0.000 claims description 3
- 238000012797 qualification Methods 0.000 abstract description 3
- 230000001360 synchronised effect Effects 0.000 description 9
- 238000007664 blowing Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000003796 beauty Effects 0.000 description 1
- 235000013361 beverage Nutrition 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification 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
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0226—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by cams
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of open-close type manipulator, including palm, the first axle being arranged in palm around the rotation of self-axis line direction and the second axis, it is fixedly arranged on first clamping piece and second intermediate plate in first axle and the second axis respectively；First clamping piece includes for cooperating the first end of second intermediate plate clamping, the second end being movably arranged in cam tracks, and second end is used to rotate around the direction of axis line of first axle close to second intermediate plate when movable in cam tracks, makes first end rotation far from second intermediate plate；First end and second end is located at the different two sides of first axle；Open-close type manipulator further includes the tension spring being connected between first end and second intermediate plate, the linkage mechanism between first axle and the second axis；Linkage mechanism is used in the rotation of first axle clockwise/counterclockwise, and the second axis of driving is counterclockwise/it rotates clockwise.A kind of open-close type manipulator of the present invention, can be avoided and crush bottleneck；It can be avoided collision damage caused by bottleneck, improve the qualification rate of whole line.
Description
Technical field
The present invention relates to bottle blowing technique field, in particular to a kind of open-close type manipulator.
Background technique
With the continuous development of beverage industry, client is increasingly stringenter bottle quality requirement that blows of bottle blowing machine.When bottleneck
When wall thickness is relatively thin or other special blowing technologies have an impact bottleneck, the manipulator of traditional bottle blowing machine needs while control two
Intermediate plate simultaneously operation is easy to crush bottleneck, influences whole beauty.
Summary of the invention
The object of the present invention is to provide a kind of open-close type manipulators, before clamping, control first clamping piece by cam tracks
It opens, and the synchronous opening of second intermediate plate is controlled by linkage mechanism；After clamping, first clamping piece is controlled by tension spring and second intermediate plate is fast
The synchronous reset of speed, first clamping piece clamping synchronous with second intermediate plate can be avoided bottleneck inclination；The pulling force of tension spring is controllable, can keep away
Exempt to crush bottleneck, improves overall beautiful and yields.
In order to achieve the above objectives, the technical solution adopted by the present invention is that:
A kind of open-close type manipulator, including palm, around self-axis line direction rotation the first axle being arranged in the palm,
The first clamping piece that is fixedly arranged in the first axle, around the rotation of self-axis line direction the second axis being arranged in the palm,
The second intermediate plate being fixedly arranged on second axis；
The first clamping piece includes for cooperating the first end of the second intermediate plate clamping, second be movably arranged in cam tracks
End, the second end, for the direction of axis line rotation in cam tracks when activity around the first axle close to described second
Intermediate plate rotates the first end far from the second intermediate plate；The first end and the second end are located at described first
The different two sides of axis；
The open-close type manipulator further includes the tension spring being connected between the first end and the second intermediate plate, is set to described the
Linkage mechanism between one axis and second axis；
The linkage mechanism, for driving second axis to rotate counterclockwise when the first axle rotates clockwise；Or it is used for
When the first axle rotates counterclockwise, second axis is driven to rotate clockwise.
Preferably, the linkage mechanism includes the cam being set in the first axle, first on second axis
Bearing block, the first bearing in the first bearing seat, the first bearing are connected on the cam, the first axle
It holds, for when the cam is rotated clockwise around the axial line of the first axle, driving the first bearing seat around described
The axial line of two axis rotates counterclockwise；Or for driving when the cam is rotated counterclockwise around the axial line of the first axle
The first bearing seat is rotated clockwise around the axial line of second axis.
It is highly preferred that the cam and the first clamping piece are located at the different two sides of the palm；The first axle
It holds seat and the second intermediate plate is located at the different two sides of the palm.
It is highly preferred that the first bearing, the tension spring, the first end are respectively positioned on the ipsilateral of the cam.
Preferably, the second end includes third axis, the second bearing on the third axis, the second bearing,
For abutting the cam tracks.
It is highly preferred that the direction of axis line of the first axle, second axis, the third axis is parallel to each other, and equal edge
Vertical direction extends.
Preferably, the open-close type manipulator further includes the 3rd bearing and fourth bearing in the palm, described
First axle is set in the 3rd bearing around what self-axis line direction rotated, and second axis is rotated around self-axis line direction
Be set to the fourth bearing in.
It is highly preferred that the first clamping piece and the second intermediate plate are located at the 3rd bearing and the fourth bearing
Lower section, the open-close type manipulator further include the bottom and first clamping piece for being connected to the 3rd bearing upper surface it
Between and be sheathed in the first axle the first body, be connected to the fourth bearing bottom and the second intermediate plate it is upper
The second body that is between surface and being sheathed on second axis.
It is highly preferred that the open-close type manipulator further includes between the bottom and the palm of the 3rd bearing
First circlip, the second circlip between the bottom and the palm of the fourth bearing.
It is highly preferred that the open-close type manipulator further includes being sheathed on being located in the 3rd bearing in the first axle
Third body, be sheathed on second axis be located at the fourth bearing in the 4th body.
Due to the application of the above technical scheme, compared with the prior art, the invention has the following advantages: one kind of the present invention is opened
Box-like manipulator, before clamping, cam tracks contradict second end, and control first clamping piece is opened, and passes through linkage mechanism control second
Intermediate plate is synchronous to be opened；After clamping, cam tracks control first clamping piece by tension spring and second intermediate plate are quickly same far from second end
Step resets, and first clamping piece clamping synchronous with second intermediate plate can be avoided bottleneck inclination；The pulling force of tension spring is controllable, can be avoided and crushes
Bottleneck improves overall beautiful and yields；Manipulator opens automatically before clamping, and automatically resets after clamping, additionally it is possible to
The damage caused by bottleneck is avoided collision, the qualification rate of whole line is improved.
Detailed description of the invention
Attached drawing 1 is the structural schematic diagram one of apparatus of the present invention；
Attached drawing 2 is the structural schematic diagram two of apparatus of the present invention；
Attached drawing 3 is the cross-sectional view of apparatus of the present invention；
Attached drawing 4 is structural schematic diagram when manipulator is closed；
Attached drawing 5 is structural schematic diagram when manipulator opens.
Wherein: 1, palm；2, first axle；3, the second axis；4, first clamping piece；5, second intermediate plate；6, first end；7, second
End；8, cam tracks；9, tension spring；10, cam；11, first bearing seat；12, first bearing；13, third axis；14, second bearing；
15,3rd bearing；16, fourth bearing；17, the first body；18, the second body；19, the first circlip；20, the second circlip；21,
Three bodies；22, the 4th body.
Specific embodiment
The technical solution of the present invention will be further described below with reference to the accompanying drawings.
Referring to shown in Fig. 1-5, a kind of above-mentioned open-close type manipulator being worn including palm 1, around what self-axis line direction rotated
First axle 2 in palm 1, the first clamping piece 4 being fixedly arranged in first axle 2, being arranged in around the rotation of self-axis line direction
The second axis 3 in palm 1, the second intermediate plate 5 being fixedly arranged on the second axis 3.In the present embodiment, the axis of first axle 2 and the second axis 3
Heart line extends along the vertical direction, and top and bottom are pierced by palm 1.
First clamping piece 4 includes for cooperating second intermediate plate 5 to clamp the first end 6 of bottleneck, being movably arranged in cam tracks 8
Second end 7.Second end 7 is used to rotate around the direction of axis line of first axle 2 close to second intermediate plate 5 when movable in cam tracks 8,
Rotate first end 6 far from second intermediate plate 5 around the direction of axis line of first axle 2；First end 6 and second end 7 are located at
The different two sides of first axle 2.In the present embodiment, second end 7 includes third axis 13, the second bearing on third axis 13
14, second bearing 14 is for abutting cam tracks 8；The axial line of third axis 13 extends along the vertical direction.
A kind of above-mentioned open-close type manipulator further includes the tension spring 9 being connected between first end 6 and second intermediate plate 5, by setting
The tension spring 9 is set, when second end 7 is detached from cam tracks 8, tension spring 9 is quickly same for controlling first clamping piece 4 and second intermediate plate 5
Step resets, and improves the efficiency of folder bottle.Meanwhile the pulling force by controlling tension spring 9, it can be avoided and crush bottleneck, improve entirety
Beautiful and yields.
A kind of above-mentioned open-close type manipulator further includes set on the linkage mechanism between first axle 2 and the second axis 3；Linkage mechanism
For when first axle 2 rotates clockwise, the second axis 3 of synchronous driving to be rotated counterclockwise；Or for being rotated counterclockwise in first axle 2
When, the second axis 3 of synchronous driving rotates clockwise.
In the present embodiment, linkage mechanism includes the cam 10 in first axle 2, the first axle on the second axis 3
Seat 11, the first bearing 12 in first bearing seat 11 are held, first bearing 12 is connected on cam；First bearing 12 is used for
When cam 10 is rotated clockwise around the axial line of first axle 2, first bearing seat 11 is driven to turn counterclockwise around the axial line of the second axis 3
It is dynamic；Or for driving first bearing seat 11 around the axis of the second axis 3 when cam 10 is rotated counterclockwise around the axial line of first axle 2
Heart line rotates clockwise.In the present embodiment, with reference to Fig. 4-5, when cam 10 is rotated clockwise around the axial line of first axle 2, lead to
It crosses and pushes first bearing 12 that first bearing seat 11 is driven to rotate counterclockwise around the direction of axis line of the second axis 3, make the first clamp hand
First end 6 and the second clamp hand are located remotely from each other, and open manipulator.
In the present embodiment, cam 10 and first clamping piece 4 are located at the different two sides of palm 1, and cam 10 is located at palm 1
Top, first clamping piece 4 then be located at palm 1 lower section；It is different that first bearing seat 11 and second intermediate plate 5 are located at palm 1
Two sides, first bearing seat 11 are located at the top of palm 1, and second intermediate plate 5 is then located at the lower section of palm 1；First bearing 12, tension spring 9,
First end 6 is respectively positioned on the ipsilateral of cam 10.
By setting tension spring 9 and linkage mechanism, manipulator automatic synchronization before clamping opens, and automatic synchronization after clamping
It resets, can be avoided collision damage caused by bottleneck, improve the qualification rate of whole line.
A kind of above-mentioned open-close type manipulator further includes the 3rd bearing 15 and fourth bearing 16 in palm 1, first axle 2
Around being set in 3rd bearing 15 for self-axis line direction rotation, the second axis 3 is set to the 4th around what self-axis line direction rotated
In bearing 16；3rd bearing 15 and fourth bearing 16 are whole in palm 1.
In the present embodiment, first clamping piece 4 and second intermediate plate 5 are located under 3rd bearing 15 and fourth bearing 16
Side, cam 10 and first bearing seat 11 are then located at the top of 3rd bearing 15 and fourth bearing 16；A kind of above-mentioned open-close type
Manipulator further includes being connected between the bottom of 3rd bearing 15 and the upper surface of first clamping piece 4 and being sheathed in first axle 2
The first body 17, between the bottom for being connected to fourth bearing 16 and the upper surface of second intermediate plate 5 and be sheathed on the second axis 3
The second body 18, the first body 17 and the second body 18 have not only acted as the effect of support, have also protected first axle 2 and second
Axis 3.
A kind of above-mentioned open-close type manipulator further includes the first circlip between the bottom and palm 1 of 3rd bearing 15
19, the second circlip 20 between the bottom of fourth bearing 16 and palm 1, be sheathed in first axle 2 be located at 3rd bearing
Third body 21 in 15, the 4th body 22 being located in fourth bearing 16 being sheathed on the second axis 3.First circlip 19,
Two circlips 20, third body 21, the 4th body 22 are respectively positioned in palm 1.
The course of work of lower the present embodiment is illustrated in detail below:
Manipulator is whole to be rotated around a certain central point, and referring to fig. 4-5, which is located at the right side of cam tracks 8, and manipulator turns
Move to second bearing 14 abut cam tracks 8 when, second bearing 14 is under the action of cam tracks 8 around the axial line of first axle 2
Direction rotates clockwise, and drives the whole direction of axis line around first axle 2 of first clamping piece 4 to rotate clockwise, at this point, first end 6
Far from second intermediate plate 5；It is rotated clockwise since first axle 2 also synchronizes, first bearing 12 is contradicted by cam 10, makes first bearing
12 drive first bearing seats 11 and the second axis 3 rotate counterclockwise, and so that second intermediate plate 5 is synchronized separate first clamping piece 4, at this time manipulator
It is automatic to open, for filling in bottleneck；
Manipulator integrally continues to rotate, when turning to second bearing 14 far from cam tracks 8, first clamping piece 4 and second intermediate plate 5
The synchronous reset under the pulling force effect of tension spring 9, manipulator is closed automatically at this time, for clamping bottleneck.
The above embodiments merely illustrate the technical concept and features of the present invention, and its object is to allow person skilled in the art
Scholar cans understand the content of the present invention and implement it accordingly, and it is not intended to limit the scope of the present invention.It is all according to the present invention
Equivalent change or modification made by Spirit Essence, should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of open-close type manipulator, it is characterised in that: be arranged in the hand including palm, around the rotation of self-axis line direction
First axle in the palm, the first clamping piece being fixedly arranged in the first axle are arranged in the hand around the rotation of self-axis line direction
The second axis in the palm, the second intermediate plate being fixedly arranged on second axis；
The first clamping piece includes for cooperating the first end of the second intermediate plate clamping, second be movably arranged in cam tracks
End, the second end, for the direction of axis line rotation in cam tracks when activity around the first axle close to described second
Intermediate plate rotates the first end far from the second intermediate plate；The first end and the second end are located at described first
The different two sides of axis；
The open-close type manipulator further includes the tension spring being connected between the first end and the second intermediate plate, is set to described the
Linkage mechanism between one axis and second axis；
The linkage mechanism, for driving second axis to rotate counterclockwise when the first axle rotates clockwise；Or it is used for
When the first axle rotates counterclockwise, second axis is driven to rotate clockwise.
2. a kind of open-close type manipulator according to claim 1, it is characterised in that: the linkage mechanism includes set on described
Cam in first axle, the first bearing seat on second axis, the first bearing in the first bearing seat, institute
It states first bearing to be connected on the cam, the first bearing, for suitable around the axial line of the first axle in the cam
When hour hands rotate, the first bearing seat is driven to rotate counterclockwise around the axial line of second axis；Or in the cam
When rotating counterclockwise around the axial line of the first axle, drive the first bearing seat clockwise around the axial line of second axis
Rotation.
3. a kind of open-close type manipulator according to claim 2, it is characterised in that: the cam and the first clamping piece point
It Wei Yu not the different two sides of the palm；The first bearing seat and the second intermediate plate are located at different two of the palm
Side.
4. a kind of open-close type manipulator according to claim 2, it is characterised in that: the first bearing, the tension spring, institute
It states first end and is respectively positioned on the ipsilateral of the cam.
5. a kind of open-close type manipulator according to claim 1, it is characterised in that: the second end includes third axis, sets
Second bearing on the third axis, the second bearing, for abutting the cam tracks.
6. a kind of open-close type manipulator according to claim 5, it is characterised in that: the first axle, second axis, institute
The direction of axis line for stating third axis is parallel to each other, and extends along the vertical direction.
7. a kind of open-close type manipulator according to claim 1, it is characterised in that: the open-close type manipulator further includes setting
3rd bearing and fourth bearing in the palm, the first axle are set to the third around what self-axis line direction rotated
In bearing, second axis is set in the fourth bearing around what self-axis line direction rotated.
8. a kind of open-close type manipulator according to claim 7, it is characterised in that: the first clamping piece and second folder
Piece is located at the lower section of the 3rd bearing and the fourth bearing, and the open-close type manipulator further includes being connected to described
The first body that is between the bottom of three bearings and the upper surface of the first clamping piece and being sheathed in the first axle is connected to
The second body that is between the bottom of the fourth bearing and the upper surface of the second intermediate plate and being sheathed on second axis.
9. a kind of open-close type manipulator according to claim 7, it is characterised in that: the open-close type manipulator further includes setting
The first circlip between the bottom and the palm of the 3rd bearing, the bottom set on the fourth bearing and the palm
Between the second circlip.
10. a kind of open-close type manipulator according to claim 7, it is characterised in that: the open-close type manipulator further includes
The third body being located in the 3rd bearing that is sheathed in the first axle, be sheathed on second axis be located at it is described
The 4th body in fourth bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810966743.2A CN109015727A (en) | 2018-08-23 | 2018-08-23 | A kind of open-close type manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810966743.2A CN109015727A (en) | 2018-08-23 | 2018-08-23 | A kind of open-close type manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109015727A true CN109015727A (en) | 2018-12-18 |
Family
ID=64628146
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810966743.2A Pending CN109015727A (en) | 2018-08-23 | 2018-08-23 | A kind of open-close type manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109015727A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110356808A (en) * | 2019-07-11 | 2019-10-22 | 湖南乾康科技有限公司 | It is a kind of to position the mechanism that automatic push-in is released for paper box |
| CN111941381A (en) * | 2020-08-28 | 2020-11-17 | 国家电网有限公司 | Manipulator for disassembling and assembling ground potential bird repeller and use method thereof |
| CN113879599A (en) * | 2021-07-02 | 2022-01-04 | 上海畅选科技合伙企业(有限合伙) | Automatic fruit conveying system |
| CN115092473A (en) * | 2022-08-22 | 2022-09-23 | 江苏新美星包装机械股份有限公司 | Clamping piece linkage mechanism and active and passive container clamping device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2318779A (en) * | 1996-11-01 | 1998-05-06 | Bwi Dawson | Gripping device |
| EP2769941A1 (en) * | 2013-02-20 | 2014-08-27 | Tyrolon-Schulnig GmbH | Gripper arm for containers and method for manufacturing this gripper arm |
| CN104723343A (en) * | 2015-03-16 | 2015-06-24 | 江苏新美星包装机械股份有限公司 | Initiative-unfolding-folding mechanical arm |
| CN108214534A (en) * | 2018-01-16 | 2018-06-29 | 深圳市大寰机器人科技有限公司 | Adaptive lack of driven robot clamping jaw |
| CN208773624U (en) * | 2018-08-23 | 2019-04-23 | 江苏新美星包装机械股份有限公司 | A kind of open-close type manipulator |
-
2018
- 2018-08-23 CN CN201810966743.2A patent/CN109015727A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2318779A (en) * | 1996-11-01 | 1998-05-06 | Bwi Dawson | Gripping device |
| EP2769941A1 (en) * | 2013-02-20 | 2014-08-27 | Tyrolon-Schulnig GmbH | Gripper arm for containers and method for manufacturing this gripper arm |
| CN104723343A (en) * | 2015-03-16 | 2015-06-24 | 江苏新美星包装机械股份有限公司 | Initiative-unfolding-folding mechanical arm |
| CN108214534A (en) * | 2018-01-16 | 2018-06-29 | 深圳市大寰机器人科技有限公司 | Adaptive lack of driven robot clamping jaw |
| CN208773624U (en) * | 2018-08-23 | 2019-04-23 | 江苏新美星包装机械股份有限公司 | A kind of open-close type manipulator |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110356808A (en) * | 2019-07-11 | 2019-10-22 | 湖南乾康科技有限公司 | It is a kind of to position the mechanism that automatic push-in is released for paper box |
| CN111941381A (en) * | 2020-08-28 | 2020-11-17 | 国家电网有限公司 | Manipulator for disassembling and assembling ground potential bird repeller and use method thereof |
| CN111941381B (en) * | 2020-08-28 | 2023-05-30 | 国家电网有限公司 | Manipulator for dismounting ground potential bird repeller and application method thereof |
| CN113879599A (en) * | 2021-07-02 | 2022-01-04 | 上海畅选科技合伙企业(有限合伙) | Automatic fruit conveying system |
| CN115092473A (en) * | 2022-08-22 | 2022-09-23 | 江苏新美星包装机械股份有限公司 | Clamping piece linkage mechanism and active and passive container clamping device |
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Application publication date: 20181218 |