CN109941939A - A kind of manipulator being exclusively used in bottle cap and its working method - Google Patents
A kind of manipulator being exclusively used in bottle cap and its working method Download PDFInfo
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- CN109941939A CN109941939A CN201910204052.3A CN201910204052A CN109941939A CN 109941939 A CN109941939 A CN 109941939A CN 201910204052 A CN201910204052 A CN 201910204052A CN 109941939 A CN109941939 A CN 109941939A
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- manipulator
- bottle cap
- supporting plate
- fixedly mounted
- exclusively used
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Abstract
The invention discloses a kind of manipulator for being exclusively used in bottle cap and its working methods, it include: pedestal, support frame on the base is set, it is fixedly mounted on sliding rail substrate in batch of the support frame close to pedestal one end, the hoisting cross beam of activity clamping on the slide rail, the branch board group being fixedly mounted on hoisting cross beam, the Pneumatic assembly being fixedly mounted on support frame and branch board group, the rotating mechanism of branch board group one end is set, the manipulator of rotating mechanism one end is mounted on, and the testing agency of manipulator bottom is set；The Pneumatic assembly controls rotating mechanism by transmission component and manipulator moves back and forth on three axis.The present invention can accurately control Pneumatic assembly by testing agency and manipulator is driven to realize multi-direction and angle adjustment, accurately located position and in time adjustment clamping dynamics.
Description
Technical field
The invention belongs to manipulator field, especially a kind of manipulator for being exclusively used in bottle cap and its working method.
Background technique
It in chemical industry field of printing and dyeing, is usually met the needs of production using strong acid and strong base preparation, traditional production line usually makes
Open bottle cap with cover-opening manipulator, for remaining strong acid and strong base bottle body after the completion of use, usually by manually to bottle body into
Row sealing, remaining liquid still volatilizees irritating gas in seal process, is detrimental to health, and using artificial close
It seals, sealing effect is difficult to confirm, low efficiency.
Summary of the invention
Goal of the invention: providing a kind of manipulator for being exclusively used in bottle cap and its working method, of the existing technology to solve
The above problem.
A kind of technical solution: manipulator being exclusively used in bottle cap, comprising:
Support frame on the base is arranged in pedestal, is fixedly mounted on sliding rail substrate in batch of the support frame close to pedestal one end, active card
Hoisting cross beam on the slide rail is connect, the branch board group being fixedly mounted on hoisting cross beam is fixedly mounted on support frame and branch board group
Pneumatic assembly, the rotating mechanism of branch board group one end is set, is mounted on the manipulator of rotating mechanism one end, and is arranged in machine
The testing agency in tool at hand portion；The Pneumatic assembly controls rotating mechanism by transmission component and manipulator is back and forth transported on three axis
It is dynamic.
In a further embodiment, support frame as described above includes: the support column for being fixedly connected on pedestal side, is fixedly mounted
Support beam on the support columns, and fixed connection frame on the base；The sliding rail substrate in batch is two and is symmetrically mounted on
Substrate on support column, the side of the substrate are provided with sliding rail, and the both ends of the substrate are provided with limited block.
In a further embodiment, the Pneumatic assembly includes: the lifting cylinder being fixedly mounted on the support frame, fixed
It is mounted on the first telescopic cylinder on hoisting cross beam, third telescopic cylinder on the support frame is fixedly mounted, and be fixedly mounted on
The second telescopic cylinder in branch board group；Lifting cylinder power output shaft one end is fixedly connected with hoisting cross beam, and described first stretches
Contracting cylinder power output shaft is connected on transmission component, and power is transferred in branch board group by transmission component, and described second is flexible
The power output shaft of cylinder is connected to the other end of rotating mechanism, the power output axis connection supporting plate group of the third telescopic cylinder
On.
In a further embodiment, the branch board group include: the first supporting plate being fixedly mounted on hoisting cross beam and
It is connected to the second supporting plate of the first the bottom of the support plate, first supporting plate is L-type plate, and first supporting plate is mounted on hoisting cross beam
Side be provided with mounting blocks, hinged seat is provided on the mounting blocks, the transmission component is hinged on mounting blocks；Described
Two supporting plate sides are fixedly mounted on connection frame, and side is fixedly connected on the bottom of the first supporting plate, second supporting plate it is another
End is provided with sliding rail.
In a further embodiment, the rotating mechanism includes: to be connected to second telescopic cylinder power output shaft one end
Slide assemblies, the support arm being fixedly mounted on slide assemblies, the rotary components being fixedly mounted on support arm, setting revolving
Turn the servo motor of component internal, and is mounted on the rotating seat of servo motor power output shaft one end.
In a further embodiment, the manipulator includes: cat's paw and the hydraulic telescopic device that cat's paw one end is arranged in,
Notch is arranged in the other end of the cat's paw, and the side of the notch is rotatablely connected movable plate, and the bottom of the movable plate is provided with
The side of spring, the movable plate is provided with pressure sensor.
In a further embodiment, the bottom of the manipulator is provided with fastening station, and the fastening station includes two
A fixation device for being symmetrically mounted on conveyor belt two sides, the fixed device have one end to be provided with hydraulic cylinder, hydraulic cylinder
One end of piston rod is provided with arc pressuring plate, and the hydraulic cylinder cuts the two sides that oblique certain angle is mounted on transmission belt.
In a further embodiment, the testing agency includes the detection of infrared laser plate that manipulator two sides are arranged in,
Photographic device at the top of support frame and computer control system are set, the image procossing collecting mechanism of testing agency is passed through
With effective combination of control system, Pneumatic assembly is controlled.
In a further embodiment, the transmission component include be hinged on the first supporting plate side the first kinematic link and
It is connected to the second kinematic link of the first kinematic link other end, one end of first kinematic link connects the first telescopic cylinder
Power output shaft, the other end of second kinematic link connects the second supporting plate, the power that first telescopic cylinder generates
The angle that the second supporting plate rotates upwardly and downwardly is controlled by transmission component.
In a further embodiment, the working method of a kind of manipulator being exclusively used in bottle cap and its working method includes such as
Lower step:
Bottle body on S1, conveyer belt after testing mechanism when, detection of infrared laser plate to the size of bottle body and bottleneck and bottle cap into
Row scanning, and scan data is sent to computer；
The instruction that S2, fastening station are sent according to computer, hydraulic cylinder obliquely stretch to which fastening office holds up bottle body；
S3, photographic device position bottleneck, and location data is sent to computer, and computer controls Pneumatic assembly movement
The clamping jaw of manipulator is set to fall in the upper of bottle cap, the hydraulic telescopic device on manipulator, control clamping jaw clamps bottle cap, clamps dynamics not
More than the default value range of pressure sensor；
S4, rotating mechanism drive manipulator rotation, open or close bottle cap.
The utility model has the advantages that comparing with traditional technology, the present invention can accurately control Pneumatic assembly drive by testing agency
Manipulator realizes multi-direction and angle adjustment, is accurately positioned the position of bottle cap, and rotating mechanism can drive manipulator to rotate, tool
There is the function of uncapping and tighten to bottle body, accomplishes unmanned operation.
Detailed description of the invention
Fig. 1 is the perspective view for the manipulator that the present invention is exclusively used in bottle cap.
Fig. 2 is the top view for the manipulator that the present invention is exclusively used in bottle cap.
Fig. 3 is the left view for the manipulator that the present invention is exclusively used in bottle cap.
Fig. 4 is the structural schematic diagram of rotating mechanism and manipulator of the present invention.
Fig. 5 is the top view of present invention fastening station.
Fig. 6 is the front view of present invention fastening station.
Fig. 7 is the cross-sectional view of manipulator clamping jaw of the present invention.
Appended drawing reference are as follows: pedestal 1, support frame 2, lifting cylinder 30, the first telescopic cylinder 31, the second telescopic cylinder 32,
One supporting plate 33, the second supporting plate 34, third telescopic cylinder 35, connection frame 36, hoisting cross beam 37, support beam 38, sliding rail substrate in batch
39, kinematic link group 4, testing agency 5, fastening station 6, arc pressuring plate 60, hydraulic cylinder 61, conveyer belt 62, manipulator 7, folder
Pawl 70, hydraulic telescopic device 71, movable plate 72, spring 73, rotating mechanism 8, servo motor 80, rotating seat 81.
Specific embodiment
In the following description, a large amount of concrete details are given so as to provide a more thorough understanding of the present invention.So
And it is obvious to the skilled person that the present invention may not need one or more of these details and be able to
Implement.In other examples, in order to avoid confusion with the present invention, for some technical characteristics well known in the art not into
Row description.
A kind of manipulator being exclusively used in bottle cap as shown in Figures 1 to 7, comprising: pedestal 1, support frame 2, lifting cylinder 30,
Pneumatic assembly, the second supporting plate 34, connection frame 36, hoisting cross beam 37, support beam 38, sliding rail substrate in batch 39, passes the first supporting plate 33
Dynamic component, testing agency 5, fastening station 6, fixed plate, hydraulic cylinder 61, conveyer belt 62, manipulator 7, clamping jaw 70, hydraulically extensible
Device 71, movable plate 72, spring 73, rotating mechanism 8, servo motor 80 and rotating seat 81.
Wherein, the side of pedestal 1 is provided with support frame 2, support frame 2 include: support column, support beam 38, connection frame 36,
Hoisting cross beam 37, sliding rail substrate in batch 39 and limited block.Support column is fixedly connected on the side of pedestal 1, and support beam 38 is fixed
On the support columns, connection frame 36 is fixed on pedestal 1 for installation.Sliding rail substrate in batch 39 is two bases being symmetrically installed on the support columns
Plate, the side of substrate are provided with sliding rail, and the both ends of substrate are provided with limited block.37 activity clamping of hoisting cross beam on the slide rail, is propped up
Board group is fixedly mounted on the side of hoisting cross beam 37.
Pneumatic assembly includes: lifting cylinder 30, the first telescopic cylinder 31, the second telescopic cylinder 32 and third telescopic cylinder
35。
Lifting cylinder 30 is fixedly mounted on support frame 2, and the first telescopic cylinder 31 is fixedly mounted on hoisting cross beam 37, the
Three telescopic cylinders 35 are fixedly mounted on support frame 2, and the second telescopic cylinder 32 is fixedly mounted in branch board group；Lifting cylinder 30 is dynamic
Power output shaft one end is fixedly connected with hoisting cross beam 37, and 31 power output shaft of the first telescopic cylinder is connected on transmission component, power
It being transferred in branch board group by transmission component, the power output shaft of the second telescopic cylinder 32 is connected to the other end of rotating mechanism 8,
In the power output axis connection supporting plate group of third telescopic cylinder 35.Branch board group includes: the first supporting plate 33 and the second supporting plate 34, and first
Supporting plate 33 is fixedly mounted on the side of hoisting cross beam 37, and the second supporting plate 34 is connected to the bottom of the first supporting plate 33, the first supporting plate 33
For L-type plate, the side that the first supporting plate 33 is mounted on hoisting cross beam 37 is provided with mounting blocks, is provided with hinged seat on mounting blocks,
Transmission component is hinged on mounting blocks；Second supporting plate, 34 side is fixedly mounted on connection frame 36, and side is fixedly connected on first
The other end of the bottom of supporting plate 33, the second supporting plate 34 is provided with sliding rail.
Transmission component includes: the first kinematic link and the second kinematic link；First kinematic link is hinged on the first supporting plate 33
Side, the second kinematic link is connected to the other end of the first kinematic link, and the other end connection first of the first kinematic link is stretched
The power output shaft of contracting cylinder 31, the other end of the second kinematic link connect the second supporting plate 34, what the first telescopic cylinder 31 generated
Power controls the angle that the second supporting plate 34 rotates upwardly and downwardly by transmission component.
It is capable of the position of accurately positioning bottle-cover during Pneumatic assembly and transmission component cooperate, retro-speed is fast,
The error of transmission process appearance can also be adjusted in time simultaneously.
Rotating mechanism 8 includes: slide assemblies, support arm, rotary components, rotating seat 81 and servo motor 80.
Slide assemblies are connected to 32 power output shaft one end of the second telescopic cylinder, and slide assemblies include being arranged at second
The sliding slot of 34 side of plate and the slide being connected to inside sliding slot, the side of slide are fixedly connected with support arm, and one end of support arm is set
Rotary components are equipped with, rotary components are internally provided with servo motor 80, and outside is equipped with shell and rotating seat 81.
Manipulator 7 is arranged on rotating seat 81, comprising: cat's paw and the hydraulic telescopic device 71 that cat's paw one end is arranged in, pawl
Notch is arranged in the other end of tooth, and the side of notch is rotatablely connected movable plate 72, and the bottom of movable plate 72 is provided with spring 73, activity
The side of plate 72 is provided with pressure sensor, can monitor clamping jaw 70 in real time to the clamping dynamics of bottle body.It can when clamping bottleneck
Stress surface is clamped to adjust according to the curved surface of bottleneck, the side of movable plate 72 is provided with anti-skidding veneer, prevents clamping jaw 70 from rotating
It has skidded in the process.
The bottom of manipulator 7 is provided with fastening station 6, and fastening station 6 includes two and is symmetrically mounted on 62 two sides of conveyer belt
Fixation device, fixed device has one end to be provided with hydraulic cylinder 61, and one end of the piston rod of hydraulic cylinder 61 is provided with arc
Pressing plate 60, hydraulic cylinder 61 are tilted a certain angle the two sides for being mounted on transmission belt.After fastening station 6 receives computer instruction, liquid
The piston rod of compressing cylinder 61 protracts obliquely upward, so that the bottle body on conveyer belt 62 is clamped lifting.
Testing agency 5 includes the detection of infrared laser plate that 7 two sides of manipulator are arranged in, and taking the photograph for 2 top of support frame is arranged in
As device and computer control system, pass through the image procossing collecting mechanism of testing agency 5 and effective knot of control system
It closes, controls Pneumatic assembly.
Working method includes the following steps:
Bottle body in the first step, conveyer belt 62 after testing mechanism 5 when, detection of infrared laser plate is to bottle body and bottleneck and bottle cap
Size is scanned, and scan data is sent to computer；
The instruction that second step, fastening station 6 are sent according to computer, hydraulic cylinder 61 obliquely stretch to drive arc pressure
The clamping of plate 60, which develops simultaneously, holds up bottle body；
Third step, photographic device position bottleneck, and location data is sent to computer, and computer controls Pneumatic assembly
Movement makes the clamping jaw 70 of manipulator 7 fall in the upper of bottle cap, the hydraulic telescopic device 71 on manipulator 7, and control clamping jaw 70 clamps bottle
Lid clamps the default value range that dynamics is no more than pressure sensor；
Servo motor 80 in 4th step, rotating mechanism 8 drives manipulator 7 to rotate with realizing forward and reverse, beats to reach
It opens or the purpose of closed closure.
Pneumatic assembly, which can be accurately controlled, by testing agency 5 drives manipulator 7 to realize multi-direction and angle adjustment,
It is accurately positioned the position of bottle cap, rotating mechanism 8 can drive manipulator 7 to rotate, and have the function of uncapping and tighten to bottle body, together
When can be according to unlike material, the body adjustment of curve form clamps stress surface.
It is described the prefered embodiments of the present invention in detail above in conjunction with attached drawing, still, the present invention is not limited to above-mentioned realities
The detail in mode is applied, within the scope of the technical concept of the present invention, technical solution of the present invention can be carried out a variety of etc.
With transformation, these equivalents are all belonged to the scope of protection of the present invention.
Claims (10)
1. a kind of manipulator for being exclusively used in bottle cap characterized by comprising
Support frame on the base is arranged in pedestal, is fixedly mounted on sliding rail substrate in batch of the support frame close to pedestal one end, active card
Hoisting cross beam on the slide rail is connect, the branch board group being fixedly mounted on hoisting cross beam is fixedly mounted on support frame and branch board group
Pneumatic assembly, the rotating mechanism of branch board group one end is set, is mounted on the manipulator of rotating mechanism one end, and is arranged in machine
The testing agency in tool at hand portion；The Pneumatic assembly controls rotating mechanism by transmission component and manipulator is back and forth transported on three axis
It is dynamic.
2. a kind of manipulator for being exclusively used in bottle cap according to claim 1, which is characterized in that support frame as described above includes: solid
Surely it is connected to the support column of pedestal side, support beam on the support columns, and fixed connection on the base is fixedly mounted
Frame；The sliding rail substrate in batch is two substrates being symmetrically installed on the support columns, and the side of the substrate is provided with sliding rail, described
The both ends of substrate are provided with limited block.
3. a kind of manipulator for being exclusively used in bottle cap according to claim 1, which is characterized in that the Pneumatic assembly includes:
Lifting cylinder on the support frame is fixedly mounted, is fixedly mounted on the first telescopic cylinder on hoisting cross beam, is fixedly mounted on support
Third telescopic cylinder on frame, and the second telescopic cylinder being fixedly mounted in branch board group；The lifting cylinder power output
Axis one end is fixedly connected with hoisting cross beam, and the first telescopic cylinder power output shaft is connected on transmission component, and power passes through biography
Dynamic component is transferred in branch board group, and the power output shaft of second telescopic cylinder is connected to the other end of rotating mechanism, described
In the power output axis connection supporting plate group of third telescopic cylinder.
4. a kind of manipulator for being exclusively used in bottle cap according to claim 1, which is characterized in that the branch board group includes: solid
First supporting plate of the Dingan County on the hoisting cross beam and the second supporting plate for being connected to the first the bottom of the support plate, first supporting plate is L
Template, first supporting plate are mounted on the side on hoisting cross beam and are provided with mounting blocks, are provided with hinged seat on the mounting blocks,
The transmission component is hinged on mounting blocks；Second supporting plate side is fixedly mounted on connection frame, and side is fixedly connected on
The other end of the bottom of first supporting plate, second supporting plate is provided with sliding rail.
5. a kind of manipulator for being exclusively used in bottle cap according to claim 1, which is characterized in that the rotating mechanism includes:
The slide assemblies of second telescopic cylinder power output shaft one end are connected to, the support arm being fixedly mounted on slide assemblies is fixed
The servo motor inside rotary components is arranged in the rotary components being mounted on support arm, and is mounted on servo motor power
The rotating seat of output shaft one end.
6. a kind of manipulator for being exclusively used in bottle cap according to claim 1 or 5, which is characterized in that the manipulator includes:
Notch is arranged in cat's paw and the hydraulic telescopic device that cat's paw one end is arranged in, the other end of the cat's paw, and the side of the notch turns
Dynamic connection movable plate, the bottom of the movable plate are provided with spring, and the side of the movable plate is provided with pressure sensor.
7. a kind of manipulator for being exclusively used in bottle cap according to claim 1, which is characterized in that the bottom of the manipulator is set
It is equipped with fastening station, the fastening station includes two fixation devices for being symmetrically mounted on conveyor belt two sides, the fixed device
There is one end to be provided with hydraulic cylinder, one end of the piston rod of hydraulic cylinder is provided with arc pressuring plate, and the hydraulic cylinder cuts oblique one
Determine the two sides that angle is mounted on transmission belt.
8. a kind of manipulator for being exclusively used in bottle cap according to claim 1, which is characterized in that the testing agency includes setting
The detection of infrared laser plate in manipulator two sides is set, photographic device and computer at the top of support frame are set.
9. a kind of according to claim 1, manipulator for being exclusively used in bottle cap described in 3 or 4, which is characterized in that the transmission component
Including being hinged on the first kinematic link of the first supporting plate side and being connected to the second kinematic link of the first kinematic link other end,
One end of first kinematic link connects the power output shaft of the first telescopic cylinder, and the other end of second kinematic link connects
The second supporting plate is connect, the power that first telescopic cylinder generates controls the angle that the second supporting plate rotates upwardly and downwardly by transmission component.
10. a kind of working method for the manipulator for being exclusively used in bottle cap, which comprises the steps of:
Bottle body on S1, conveyer belt after testing mechanism when, detection of infrared laser plate to the size of bottle body and bottleneck and bottle cap into
Row scanning, and scan data is sent to computer；
The instruction that S2, fastening station are sent according to computer, hydraulic cylinder obliquely stretch to which fastening office holds up bottle body；
S3, photographic device position bottleneck, and location data is sent to computer, and computer controls Pneumatic assembly movement
The clamping jaw of manipulator is set to fall in the upper of bottle cap, the hydraulic telescopic device on manipulator, control clamping jaw clamps bottle cap, clamps dynamics not
More than the default value range of pressure sensor；
S4, rotating mechanism drive manipulator rotation, open or close bottle cap.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910204052.3A CN109941939A (en) | 2019-03-18 | 2019-03-18 | A kind of manipulator being exclusively used in bottle cap and its working method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910204052.3A CN109941939A (en) | 2019-03-18 | 2019-03-18 | A kind of manipulator being exclusively used in bottle cap and its working method |
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| Publication Number | Publication Date |
|---|---|
| CN109941939A true CN109941939A (en) | 2019-06-28 |
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ID=67008398
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910204052.3A Pending CN109941939A (en) | 2019-03-18 | 2019-03-18 | A kind of manipulator being exclusively used in bottle cap and its working method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109941939A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112683586A (en) * | 2020-12-14 | 2021-04-20 | 西安奕斯伟硅片技术有限公司 | Sampling device |
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Application publication date: 20190628 |
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