CN109455336A - A kind of bottling manipulator - Google Patents
A kind of bottling manipulator Download PDFInfo
- Publication number
- CN109455336A CN109455336A CN201811257340.7A CN201811257340A CN109455336A CN 109455336 A CN109455336 A CN 109455336A CN 201811257340 A CN201811257340 A CN 201811257340A CN 109455336 A CN109455336 A CN 109455336A
- Authority
- CN
- China
- Prior art keywords
- bottle
- piston
- manipulator
- horizontal gird
- cavity
- 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
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B21/00—Packaging or unpacking of bottles
- B65B21/02—Packaging or unpacking of bottles in or from preformed containers, e.g. crates
- B65B21/08—Introducing or removing single bottles, or groups of bottles, e.g. for progressive filling or emptying of containers
- B65B21/12—Introducing or removing single bottles, or groups of bottles, e.g. for progressive filling or emptying of containers using grippers engaging bottles, e.g. bottle necks
Abstract
The present invention provides a kind of bottling manipulators, using compressed air extrusion piston to inwardly squeeze O-shaped spring, make what it blocked bottleneck to take a bottle mode, it is suitble to a variety of bottle-type, simple and reliable for structure, user is not necessarily to frequently replace clamping jaw according to different bottle-type, the time of replacement and installation is eliminated significantly, to improve production efficiency；By the servo synchronization of lift servo motor and translation servo-motors, the motion positions of vanning bottle-fetching mechanism can be accurately realized, and take a bottle manipulator to run smoothly, reliably in the motion process for taking bottled case.
Description
Technical field
The present invention relates to manipulator technical fields, more particularly to bottling manipulator field.
Background technique
Recrater is a kind of boxing apparatus for being usually used in the various bottled foods such as beer, beverage.Manipulator on recrater
PET bottle, vial, pop can and other items can be loaded vertically into packing case by arm.Common double leval jib vanning currently on the market
Machine, rocker-arm recrater, the mechanical arm structure in crank arm type recrater are all sufficiently complex, and cost of manufacture is high, installation and adjustment
It is cumbersome.
Summary of the invention
To overcome the above-mentioned problems in the prior art, the present invention provides a kind of bottling manipulator, including pedestal, bottoms
It is fixedly installed with support post on seat, horizontal gird is provided on support post, is provided on horizontal gird and takes a bottle manipulator, is propped up
Support column, horizontal gird take a bottle manipulator to be mutually perpendicular to two-by-two, wherein the connection structure packet between support post and horizontal gird
It includes: being provided with riser guide on support post, the lifting slider being used cooperatively with riser guide is provided on horizontal gird, support
Lifting drive is provided on column, horizontal gird can be moved up and down along support post under the driving of lifting drive；
Horizontal gird and the connection structure for taking bottle manipulator include: that horizontal guide rail is provided on horizontal gird, take the interior of bottle manipulator
End is provided with the translator slider being used cooperatively with horizontal guide rail, is additionally provided with translation driving device on horizontal gird, is translating
Take bottle manipulator that can move back and forth along horizontal gird under the driving of driving device；It is taken taking the outer end of bottle manipulator to be provided with vanning
Bottle mechanism, the structure for bottle-fetching mechanism of casing includes: to be mounted on to take a bottle clamping jaw mounting rack for manipulator outer end bottom, clamping jaw mounting rack
On be provided with several clamping jaws, the structure of each clamping jaw includes: the supporting sleeve being mounted on clamping jaw mounting rack, in supporting sleeve from
Inlet channel is provided through under, the bottom of supporting sleeve, which is provided with, grabs shell, grabs shell and is internally provided with receiving bottle head
Take a bottle cavity, grab shell bottom be provided with and take bottle cavity connects it is tubaeform take bottleneck, it is tubaeform to take grabbing at the top of bottleneck
It is provided with a circle mounting surface on shell inner wall, is provided with O-shaped spring on mounting surface, takes that be provided in bottle cavity can be along taking a bottle cavity wall
The piston moved up and down, the upper end of piston and takes Packed piston cavity is arranged between bottle cavity, and piston cavity and air inlet are logical
Road is connected, and the bottom of piston is in inclined inclined-plane from inside to outside, and piston can be downwards after compressed air is passed through into inlet channel
It is mobile, until the inclined-plane of piston base, which inwardly squeezes, to be reduced its inner ring on the outside of O shape spring and blocks the bottleneck of bottle, institute
A kind of bottling manipulator stated, wherein the structure of the lifting drive includes: the lifting being arranged at the top of support post
Servo motor is respectively arranged with a lifting sprocket on the output shaft at lift servo motor both ends, nibbles in each lifting sprocket
Conjunction is hung with elevating chain, and one end of two elevating chains is connected with horizontal gird, and the other end of two elevating chains is set respectively
It is equipped with the counterweight being adapted with the weight of horizontal gird, under the driving of lift servo motor, elevating chain can drive horizontal cross
Beam moves up and down.
Further, the structure of the translation driving device includes: to be respectively arranged with actively at the both ends of horizontal gird
Synchronous belt, the synchronous belt are provided on synchronous pulley and driven synchronous pulley, active synchronization belt wheel and driven synchronous pulley
A side be fixedly connected with the bottom of bottle manipulator is taken, be provided on the horizontal gird of active synchronization belt wheel the same end flat
Servo motor is moved, active synchronization belt wheel is driven by translation servo-motors, under the driving of translation servo-motors, takes a bottle manipulator energy
Move back and forth along horizontal gird.
Further, described that sealing ring is provided in piston cavity, the outer wall palette of sealing ring is grabbing shell
On inner wall, the inner ring block of sealing ring enables sealing ring taking a bottle cavity together with piston in the card slot at the top of piston
Inside move up and down.
Still further, being provided with adjusting washer on the mounting surface of the O-shaped spring bottom.
Beneficial effects of the present invention: using compressed air extrusion piston to inwardly squeeze O-shaped spring, it is made to block bottleneck
Take a bottle mode, be suitble to a variety of bottle-type, simple and reliable for structure, user is not necessarily to frequently replace clamping jaw according to different bottle-type, greatly
The time of replacement and installation is eliminated greatly, to improve production efficiency；Pass through lift servo motor and translation servo-motors
Servo synchronization, can accurately realize the motion positions of vanning bottle-fetching mechanism, and a bottle manipulator is taken in the motion process for taking bottled case
It runs smoothly, reliably.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of manipulator of bottling of the present invention.
Fig. 2 is the structural schematic diagram of Fig. 1 left view direction.
Fig. 3 is the schematic diagram of internal structure of single clamping jaw in Fig. 1.
In figure: 1, pedestal, 2, support post, 3, horizontal gird, 4, take a bottle manipulator, 5, riser guide, 6, lifting slider,
7, lift servo motor, 8, elevating chain, 9, lifting sprocket, 10, horizontal guide rail, 26, counterweight, 11, horizontal slider, 12, active
Synchronous pulley, 13, driven synchronous pulley, 14, synchronous belt, 15, translation servo-motors, 16, vanning bottle-fetching mechanism, 17, clamping jaw peace
Shelve, 18, supporting sleeve, 19, inlet channel, 20, grab shell, 21, use leisure moments a bottle chamber, 22, it is tubaeform take bottleneck, 23, piston, 24,
Piston cavity, 25, O-shaped spring, 27, sealing ring, 28, clamping jaw
Specific embodiment
Below in conjunction with drawings and examples, the present invention will be described in further detail.It should be appreciated that described herein
Specific examples are only used to explain the present invention, is not intended to limit the present invention.
As shown in Figure 1-Figure 3, the present invention schematically illustrates a kind of bottling manipulator.
The present invention discloses a kind of bottling manipulators, as shown in Figure 1, Figure 2, Figure 3 shows, a kind of bottling manipulator, including pedestal
1, support post 2 is fixedly installed on pedestal 1, and horizontal gird 3 is provided on support post 2, is provided on horizontal gird 3 and takes bottle
Manipulator 4, support post 2, take bottle manipulator 4 to be mutually perpendicular to two-by-two at horizontal gird 3, wherein support post 2 and horizontal gird 3
Between connection structure include: that riser guide 5 is provided on support post 2, be provided on horizontal gird 3 and match with riser guide 5
The lifting slider 6 used is closed, is provided with lifting drive on support post 2, the structure of the lifting drive includes:
The lift servo motor 7 at 2 top of support post is set, is respectively arranged with one on the output shaft at 7 both ends of lift servo motor
Lifting sprocket 9, engagement is hung with elevating chain 8 in each lifting sprocket 9, one end of two elevating chains 8 with horizontal gird 3
It is connected, the other end of two elevating chains 8 is respectively arranged with the counterweight 26 being adapted with the weight of horizontal gird 3, and counterweight is arranged
26 can reduce the output power of lift servo motor 7, to reduce energy consumption.Under the driving of lift servo motor 7, two are risen
Descending chain item 8 can drive the lifting slider 6 on horizontal gird 3 and horizontal gird 3 to slide above and below along riser guide 5, using two
Elevating chain 8 is promoted, so that horizontal gird 3 is more steady in lifting process, reliable.Horizontal gird 3 and take bottle mechanical
The connection structure of hand 4 includes: that horizontal guide rail 10 is provided on horizontal gird 3, and the inner end of bottle manipulator 4 is taken to be provided with and water
The translator slider 11 that level gauge 10 is used cooperatively is additionally provided with translation driving device, the driven in translation dress on horizontal gird 3
The structure set includes: to be respectively arranged with active synchronization belt wheel 12 and driven synchronous pulley 13 at the both ends of horizontal gird 3, actively together
Synchronous belt 14 is provided on step belt wheel 12 and driven synchronous pulley 13, a side of the synchronous belt 14 and takes a bottle manipulator
4 bottom is fixedly connected, and translation servo-motors 15 are provided on the horizontal gird 3 of 12 the same end of active synchronization belt wheel, actively
Synchronous pulley 12 is driven by translation servo-motors 15, under the driving of translation servo-motors 15, is taken bottle manipulator 4 and is taken a bottle machine
The translator slider 11 of 4 inner end of tool hand can slidably reciprocate on horizontal guide rail 10.The outer end of bottle manipulator 4 is being taken to be provided with vanning
The structure of bottle-fetching mechanism 16, vanning bottle-fetching mechanism 16 includes: to be mounted on the clamping jaw mounting rack 17 for taking 4 outer end bottom of bottle manipulator,
It is provided with several clamping jaws 28 on clamping jaw mounting rack 17, three groups of clamping jaws 28 are provided in the present embodiment, every group of clamping jaw 28 is in three column, often
Column five are arranged, and the group number of clamping jaw 28 can be configured according to the chest quantity once cased, the number of every group of clamping jaw 28
Amount and arrangement can be configured according to single box sizes specification.The structure of single clamping jaw 28 includes: to be mounted on clamping jaw installation
Supporting sleeve 18 on frame 17 is provided through inlet channel 19, the bottom of supporting sleeve 18 in supporting sleeve 18 from top to bottom
Be provided with and grab shell 20, grab being internally provided with for shell 20 and accommodate bottle head and take bottle cavity 21, grab shell 20 bottom be provided with
Take that bottle cavity 21 connects it is tubaeform take bottleneck 22, it is tubaeform that grabbing for 22 top of bottleneck is taken to be provided with circle peace on 20 inner wall of shell
Dress face 201 is provided with O-shaped spring 25 on mounting surface 201, is additionally provided with adjusting washer on the mounting surface 201 of O-shaped 25 bottom of spring
202, the height of adjusting washer 202 can be replaced according to different bottle-type, take that be provided in bottle cavity 21 can be along grabbing in shell 20
The piston 23 that wall moves up and down, the upper end of piston 23 and takes Packed piston cavity 24 is arranged between bottle cavity 21, and piston is empty
Chamber 24 is connected with inlet channel 19, and in order to guarantee the sealing performance of piston cavity 24, sealing is provided in piston cavity 24
Circle 27, the outer wall palette of sealing ring 27 is on the inner wall for grabbing shell 20, and the inner ring block of sealing ring 27 is at the top of piston 23
Card slot in, so that sealing ring 27 is moved up and down together along grabbing 20 inner wall of shell with piston 23.The bottom of piston 23 be in from it is inner to
The inclined-plane 231 of outer incline, piston 23 can move down after compressed air is passed through into inlet channel 19, until making 23 bottom of piston
Inclined-plane 231 be expressed to the outside of O shape spring 25, reduce its inner ring and block the bottleneck of bottle.
Working principle of the present invention is as follows: direction, that is, X-direction of horizontal gird 4, direction, that is, Y-direction of support post 2.It opens
Dynamic lift servo motor 7, lift servo motor 7 drive the rotation of two lifting sprockets 9, so that two elevating chains 8 of driving drive level
Crossbeam 3 is moved up or down along riser guide 5, so that change takes the vanning bottle-fetching mechanism 16 of 4 end of bottle manipulator in the Y direction
On position；Start translation servo-motors 15, translation servo-motors 15 drive active synchronization belt wheel 12 to rotate, active synchronization belt wheel
The drive of synchronous belt 14 on 12 takes bottle manipulator 4 to slidably reciprocate on horizontal guide rail 10, so as to adjust 4 end of bottle manipulator is taken
The position of vanning bottle-fetching mechanism 16 in the X direction；By servo synchronization, vanning bottle-fetching mechanism 16 can be adjusted simultaneously in X and Y-direction
Position, thus accurately realize vanning bottle-fetching mechanism 16 planar position adjustment.It, only need to be according to bottle institute when vanning work
The position bottle-fetching mechanism 16 that will case be adjusted to corresponding position so that each clamping jaw 28 takes bottle on vanning bottle-fetching mechanism 16
Mouth 22 is set in bottle head, and compressed gas is then passed through in the piston cavity 24 into each clamping jaw, and each piston is empty
Pressure in chamber 24 increases and pushes down on sealing ring 27 and piston 23, until the inclined-plane 231 of 23 bottom of piston is pressed downwardly against
The outside of O shape spring 25 reduces its inner ring and is stuck in the bottleneck of bottle, this takes a bottle mode to be suitble to a variety of bottle-type；Then pass through
Driving lift servo motor 7 and translation servo-motors 15 adjust vanning bottle-fetching mechanism 16 position in the x-direction and the z-direction,
To which the vanning bottle-fetching mechanism 16 for accompanying bottle to be moved at vanning position, and every group of clamping jaw 28 is made to be located at a chest
On, the pressure in piston cavity 24 is then released again, and under the action of atmospheric pressure, piston 23 is moved up, to release
To the pressure of O-shaped spring 25, O-shaped spring 25 restores deformation outward, so that bottleneck is unclamped, the bottle in every group of clamping jaw 28 in this way point
It does not drop into corresponding empty van, that is, completes vanning.
Advantages of the present invention are as follows: using compressed air extrusion piston to inwardly squeeze O-shaped spring 25, it is made to block bottleneck
Take a bottle mode, be suitble to a variety of bottle-type, simple and reliable for structure, user is without frequently replacing and adjusting vanning according to different bottle-type
Bottle-fetching mechanism, eliminates the time of replacement and installation significantly, to improve production efficiency；Pass through 7 peace of lift servo motor
The servo synchronization for moving servo motor 15 can accurately realize the motion positions of vanning bottle-fetching mechanism 16, and in the movement for taking bottled case
Bottle manipulator 4 is taken to run smoothly, reliably in the process.
The preferred embodiment of the present invention has shown and described in above description, as previously described, it should be understood that the present invention is not office
Be limited to form disclosed herein, should not be regarded as an exclusion of other examples, and can be used for various other combinations, modification and
Environment, and can be changed within that scope of the inventive concept describe herein by the above teachings or related fields of technology or knowledge
It is dynamic.And changes and modifications made by those skilled in the art do not depart from the spirit and scope of the present invention, then it all should be appended by the present invention
In scope of protection of the claims.
Claims (4)
1. a kind of bottling manipulator, it is characterised in that: including pedestal (1), be fixedly installed with support post (2), prop up on pedestal (1)
It is provided with horizontal gird (3) in support column (2), is provided with and takes a bottle manipulator (4) on horizontal gird (3), support post (2), water
Flat crossbeam (3) takes a bottle manipulator (4) to be mutually perpendicular to two-by-two, wherein the connection knot between support post (2) and horizontal gird (3)
Structure includes: to be provided on support post (2) riser guide (5), and being provided on horizontal gird (3) makes with riser guide (5) cooperation
Lifting slider (6), support post are provided with lifting drive on (2), horizontal horizontal under the driving of lifting drive
Beam (3) can be moved up and down along support post (2)；Horizontal gird (3) and the connection structure for taking a bottle manipulator (4) include: in level
It is provided with horizontal guide rail (10) on crossbeam (3), takes the inner end of a bottle manipulator (4) to be provided with and is used cooperatively with horizontal guide rail (10)
Translator slider, horizontal gird is additionally provided with translation driving device on (3), a bottle manipulator taken under the driving of translation driving device
(4) can move back and forth along horizontal gird (3)；The outer end of a bottle manipulator (4) is being taken to be provided with vanning bottle-fetching mechanism (16), vanning takes
The structure of bottle mechanism (16) includes: to be mounted on the clamping jaw mounting rack (17) for taking a bottle manipulator (4) outer end bottom, clamping jaw mounting rack
(17) it is provided on several clamping jaws (28), the structure of each clamping jaw (28) includes: the support being mounted on clamping jaw mounting rack (17)
Casing (18) is provided through inlet channel (19) from top to bottom in supporting sleeve (18), the bottom setting of supporting sleeve (18)
Shell (20) are grabbed, shell (20) is grabbed and is internally provided with and accommodate bottle head and take a bottle cavity, shell (20) bottom is grabbed and is provided with and takes bottle
Cavity connect it is tubaeform take bottleneck (22), it is tubaeform take grabbing at the top of bottleneck (22) be provided on shell (20) inner wall a circle peace
Dress face is provided with O-shaped spring (25) on mounting surface, takes that be provided in bottle cavity can be along the piston for taking bottle cavity wall to move up and down
(23), the upper end of piston (23) and taking is arranged Packed piston cavity (24) between bottle cavity, piston cavity (24) and air inlet
Channel (19) is connected, and it is empty to be passed through compression into inlet channel (19) in inclined inclined-plane from inside to outside for the bottom of piston (23)
Piston (23) can move down after gas, so that its inner ring is contracted on the outside of O shape spring until the inclined-plane of piston (23) bottom inwardly squeezes
Bottleneck that is small and blocking bottle, the structure of the lifting drive include: the lifting being arranged at the top of support post (2)
Servo motor (7) is respectively arranged with a lifting sprocket (9), each lift chain on the output shaft at lift servo motor (7) both ends
Engagement is hung with elevating chain (8) on wheel (9), and one end of two elevating chains (8) is connected with horizontal gird (3), and two liters
The other end of descending chain item (8) is respectively arranged with the counterweight (26) being adapted with the weight of horizontal gird (3), in lift servo motor
(7) under driving, elevating chain (8) can drive horizontal gird (3) to move up and down, the structure packet of the translation driving device
It includes: being respectively arranged with active synchronization belt wheel (12) and driven synchronous pulley (13), active synchronization band at the both ends of horizontal gird (3)
Wheel (12) and driven synchronous pulley (13) on be provided with synchronous belt (14), a side of the synchronous belt (14) with take a bottle machine
The bottom of tool hand (4) is fixedly connected, and translation servo electricity is provided on the horizontal gird (3) of active synchronization belt wheel (12) the same end
Machine (15), active synchronization belt wheel (12) are driven by translation servo-motors (15), under the driving of translation servo-motors (15), take bottle
Manipulator (4) can move back and forth along horizontal gird (3).
2. a kind of bottling manipulator according to claim 1, it is characterised in that: be provided with sealing in piston cavity (24)
It encloses (27), the outer wall palette of sealing ring (27) is on the inner wall for grabbing shell (20), and the inner ring block of sealing ring (27) is in piston
(23) it in the card slot at top, move up and down sealing ring (27) can together taking in bottle cavity with piston (23).
3. a kind of bottling manipulator according to claim 2, it is characterised in that: be provided with sealing in piston cavity (24)
It encloses (27), the outer wall palette of sealing ring (27) is on the inner wall for grabbing shell (20), and the inner ring block of sealing ring (27) is in piston
(23) it in the card slot at top, move up and down sealing ring (27) can together taking in bottle cavity with piston (23).
4. a kind of bottling manipulator according to claim 3, it is characterised in that: the installation of O-shaped spring (25) bottom
Adjusting washer is provided on face.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811257340.7A CN109455336A (en) | 2018-10-26 | 2018-10-26 | A kind of bottling manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811257340.7A CN109455336A (en) | 2018-10-26 | 2018-10-26 | A kind of bottling manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109455336A true CN109455336A (en) | 2019-03-12 |
Family
ID=65608523
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811257340.7A Pending CN109455336A (en) | 2018-10-26 | 2018-10-26 | A kind of bottling manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109455336A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109927959A (en) * | 2019-04-19 | 2019-06-25 | 广东科达洁能股份有限公司 | It is a kind of apart from adjustable fascet |
| CN110364466A (en) * | 2019-06-13 | 2019-10-22 | 上海提牛机电设备有限公司 | Empty wafer cassette carrying device and wafer feeding system |
| CN111169938A (en) * | 2020-02-14 | 2020-05-19 | 常州机电职业技术学院 | Intelligent loading and unloading arm of dexterous type |
| CN111958578A (en) * | 2020-08-17 | 2020-11-20 | 广东万合新材料科技有限公司 | Suspension type manipulator |
| CN112811372A (en) * | 2021-01-25 | 2021-05-18 | 福建麦沃特信息科技有限公司 | Bung hole sealing device, bung hole sealing method and application |
-
2018
- 2018-10-26 CN CN201811257340.7A patent/CN109455336A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109927959A (en) * | 2019-04-19 | 2019-06-25 | 广东科达洁能股份有限公司 | It is a kind of apart from adjustable fascet |
| CN110364466A (en) * | 2019-06-13 | 2019-10-22 | 上海提牛机电设备有限公司 | Empty wafer cassette carrying device and wafer feeding system |
| CN111169938A (en) * | 2020-02-14 | 2020-05-19 | 常州机电职业技术学院 | Intelligent loading and unloading arm of dexterous type |
| CN111169938B (en) * | 2020-02-14 | 2021-07-13 | 常州机电职业技术学院 | Intelligent loading and unloading arm of dexterous type |
| CN111958578A (en) * | 2020-08-17 | 2020-11-20 | 广东万合新材料科技有限公司 | Suspension type manipulator |
| CN112811372A (en) * | 2021-01-25 | 2021-05-18 | 福建麦沃特信息科技有限公司 | Bung hole sealing device, bung hole sealing method and application |
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Application publication date: 20190312 |