CN113753817B - Cover opening and closing robot - Google Patents
Cover opening and closing robot Download PDFInfo
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- CN113753817B CN113753817B CN202110573081.4A CN202110573081A CN113753817B CN 113753817 B CN113753817 B CN 113753817B CN 202110573081 A CN202110573081 A CN 202110573081A CN 113753817 B CN113753817 B CN 113753817B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67B—APPLYING CLOSURE MEMBERS TO BOTTLES JARS, OR SIMILAR CONTAINERS; OPENING CLOSED CONTAINERS
- B67B3/00—Closing bottles, jars or similar containers by applying caps
- B67B3/20—Closing bottles, jars or similar containers by applying caps by applying and rotating preformed threaded caps
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B67—OPENING, CLOSING OR CLEANING BOTTLES, JARS OR SIMILAR CONTAINERS; LIQUID HANDLING
- B67B—APPLYING CLOSURE MEMBERS TO BOTTLES JARS, OR SIMILAR CONTAINERS; OPENING CLOSED CONTAINERS
- B67B7/00—Hand- or power-operated devices for opening closed containers
- B67B7/14—Hand- or power-operated devices for opening closed containers for removing tightly-fitting lids or covers, e.g. of shoe-polish tins, by gripping and rotating
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Pressure Vessels And Lids Thereof (AREA)
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Abstract
The invention provides a cover opening and closing robot, which comprises a lifting driving mechanism, a rotary pneumatic control device and a cover screwing device, wherein: the rotary pneumatic control device is used for providing rotary power for the load and simultaneously providing pneumatic control and circuit conduction for the rotary load; the lifting driving mechanism is used for driving the rotary pneumatic control device to lift in the vertical direction so as to adjust the height of the rotary pneumatic control device; the cap screwing device is connected to the rotation output end of the rotary pneumatic control device as a load, clamps the barrel cover through the pneumatic claw, and is driven to rotate to realize cap screwing. The cover opening and closing robot provided by the invention can complete air circuit and circuit control in the mechanical rotation driving process, and can avoid the problem that a cover is damaged by collision in the cover opening and closing process.
Description
Technical Field
The invention relates to the field of industrial production, in particular to a cover opening and closing robot.
Background
The existing cover opening and closing equipment is usually a set of complex transmission system, including mechanical transmission, pneumatic control, detection circuit transmission and the like, but the cover opening and closing process is a rotating process, so how to realize pneumatic and circuit transmission in the rotating process is a technical problem to be solved at present. The existing switch cover equipment also has the problems that a cover clamping mechanism easily damages a barrel cover structure in the downward detection process, so that the switch cover is interrupted, and the whole equipment is stopped for maintenance.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a cap opening and closing robot which can complete air circuit and circuit control in a mechanical rotation driving process and can avoid the problem that a barrel cover is damaged by collision in a cap opening and closing process.
In order to realize the purpose, the following technical scheme is provided:
the utility model provides a switch lid robot, includes lift actuating mechanism, rotatory pneumatic control device, spiral cover device, wherein:
the rotary pneumatic control device is used for providing rotary power for the load and simultaneously providing pneumatic control and circuit conduction for the rotary load;
the lifting driving mechanism is used for driving the rotary pneumatic control device to lift in the vertical direction so as to adjust the height of the rotary pneumatic control device;
and the cap screwing device is connected to the rotation output end of the rotary pneumatic control device as a load, clamps the barrel cover through the pneumatic claw, and is driven to rotate to realize cap screwing.
Further, rotatory pneumatic control device, including fixed bolster, rotatory air feed mechanism, rotation driving mechanism, wherein:
the rotary air supply mechanism comprises a hollow rotating shaft, the hollow structure of the rotating shaft is used as an air guide channel, the rotating shaft is vertically arranged on the fixed support, and the top opening of the air guide channel is arranged in the center of the rotating shaft and is connected with the rotary joint; an electric slip ring is arranged on the rotary joint;
the rotary driving mechanism is arranged on the fixed support and used for driving the upper end of the rotating shaft to rotate;
the rotary cover device is connected to the rotating shaft below the fixing support and can rotate under the driving of the rotating shaft, and a pneumatic device is arranged on the rotary cover device and communicated with the other opening at the lower part of the air guide channel of the rotating shaft.
The rotating shaft is a stepped rotating shaft, the large-diameter end is positioned at the upper part, and the small-diameter end is hung down.
The rotary driving mechanism comprises a motor, a speed reducer and a belt pulley, the motor drives the speed reducer to rotate, and the speed reducer drives the rotating shaft to rotate through the belt pulley; or, the rotary driving mechanism comprises a motor, a speed reducer and a gear, and the motor drives the speed reducer to rotate so as to drive the gear on the rotating shaft to drive transmission.
The opening at the lower part of the air guide channel is arranged at the center of the lower end of the rotating shaft or at the side surface of the rotating shaft.
The rotating shaft is arranged on a bearing seat vertically arranged on the fixed support, and correspondingly, the upper end and the lower end of the bearing seat are respectively connected with the rotating shaft through bearings.
Further, spiral cover device, including dustcoat frame, swivel mount, gas claw, wherein:
the housing frame is vertically arranged, and the top of the housing frame is used for receiving an external driving force;
the rotating frame is annular and is fixedly connected to the bottom of the outer cover frame, can rotate along with the outer cover frame and contains the gas claw in the outer cover frame; the pneumatic claw is arranged in an annular hole of the rotating frame and can be driven by the rotating frame to rotate;
the gas claw includes the cylinder, rotor and bung anchor clamps, rotor fixed connection is in the lower part of cylinder, and rotor and cylinder all are located the dustcoat frame to the rotor can connect at the center of swivel mount with floating, rotates under the drive of swivel mount, and the bung anchor clamps have more than three, arranges around the rotor, and the annular opening of autogiration frame stretches out downwards, and can move in order to clip the bung to the center of swivel mount under the effect of cylinder.
Each barrel cover clamp is driven by a slide way and a slide block which are arranged on the side surface of the rotating body and arranged along the horizontal direction, and the slide block is driven by an air cylinder;
alternatively, the cylinder is provided with one cylinder which is driven vertically and downwards and converts the telescopic motion of the cylinder rod in the vertical direction into the slide block motion in the horizontal direction through a transmission mechanism, and the transmission mechanism can adopt a multi-link mechanism for example; or the cylinder is a three-jaw clamping cylinder, and the three jaws drive the three sliding blocks to drive the barrel cover clamp to reciprocate along the slide way direction; or one air cylinder is arranged corresponding to each sliding block for driving.
The rotor is connected on the draw-in groove that sets up on the annular hole of swivel mount through setting up the lug more than two of its side, and the draw-in groove is vertical arranges to make the swivel mount can drive the gas claw and rotate under the effect of draw-in groove and lug.
Furthermore, the bottom surface of the clamping groove is gradually reduced towards the center of the annular hole, so that the bump can be automatically centered under the action of the clamping groove; correspondingly, a preset distance is reserved between the inner top of the outer cover frame and the air claw, so that the air claw can move upwards for the preset distance and then is limited by the outer cover frame.
And a hemisphere is arranged at the center of the inner top of the outer cover frame, so that the contact between the top of the gas claw and the outer cover frame is point contact.
The bottom center of rotor is equipped with the spiral cover ware, the spiral cover ware also is located the center of three above bung anchor clamps simultaneously, can block bung top inboard downwards, and the bottom of spiral cover ware is equipped with bead or draw-in groove with the butt joint of bung top.
The outer cover frame is also provided with an air valve for supplying air to the air cylinder so as to drive the barrel cover clamp to act; preferably, the air valve is fixed on the upper top of the housing frame.
The top of the outer cover frame is connected with a rotating shaft fixing structure through a supporting column, and the rotating shaft fixing structure can be connected to a vertical rotating shaft.
The rotating shaft fixing structure is a flange frame.
Furthermore, the lifting driving mechanism comprises a linear guide rail and a lifting cylinder, the linear guide rail is connected with the fixed sliding block in a sliding mode, and the lifting cylinder drives the rotary pneumatic control device to move in the vertical direction along the linear guide rail.
The bottom of lift cylinder is connected with fixed bolster through articulated seat, and the top is connected with corresponding outside fixed knot through articulated seat.
Compared with the prior art, the invention has the following advantages:
the cap opening and closing robot provided by the invention can complete gas circuit and circuit control in the mechanical rotation driving process, and can avoid the problem that a barrel cover is damaged by collision in the cap opening and closing process.
Drawings
FIG. 1 is a schematic view of a rotary pneumatic control apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic view of a rotating shaft and a related structure thereof according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the overall structure of the cover opening and closing robot according to the embodiment of the present invention;
FIG. 4 is a schematic view of a cap screwing device according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a lift driving mechanism according to an embodiment of the present invention;
FIG. 6 is a schematic view showing the structure of the gas claw in the embodiment of the present invention;
fig. 7 is a schematic structural diagram of a solenoid valve according to an embodiment of the present invention.
In the figure:
1. a lifting drive mechanism; 2. a rotary pneumatic control device; 3. a cap screwing device; 5. fixing a bracket; 6. a lifting cylinder; 7. a hinged seat; 8. a connecting frame; 9. a linear guide rail;
10. a motor; 11. a speed reducer; 12. a first pulley; 13. a belt; 14. a second pulley; 15. a bearing seat; 16. a rotating shaft; 17. a bearing; 18. a rotary joint; 19. a gas pipe joint;
20. a flange frame; 21. a support column; 22. an electromagnetic valve; 23. an outer housing frame; 24. a rotating frame; 25. a rotating body; 26. a hemisphere; 27. a pneumatic claw; 28. a barrel cover clamp; 29. a cap screwing device;
30. a top plate; 32. a muffler.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Examples
The functions of the structures and components involved in the present embodiment will be described first with reference to fig. 1 to 7:
and the lifting driving mechanism 1 is used for driving the rotary pneumatic control device 2 to lift in the vertical direction so as to adjust the height of the rotary pneumatic control device.
The rotary pneumatic control device 2 is used for providing rotary power for the load and simultaneously providing pneumatic control and circuit conduction for the rotary load.
The cap screwing device 3 is connected to the rotation output end of the rotary pneumatic control device 2 as a load, clamps the barrel cover through the pneumatic claw 27, and is rotationally driven to realize cap screwing.
The fixed bracket 5 is used as a fixed structure connected with the rotary pneumatic control device 2 and is provided with a connecting frame 8 and a linear guide rail 9, so that the rotating shaft 16, the motor 10 and the cap screwing device 3 are driven by the lifting cylinder 6 to move in the vertical direction.
The lifting cylinder 6 is vertically arranged and used for controlling the lifting of the rotary pneumatic control device, and both ends of the lifting cylinder are fixedly connected through hinged seats generally.
The hinge base 7 can connect the lifting cylinder 6 and the connecting frame 8, so that the lifting cylinder 6 can drive the fixed bracket 5 to move along the linear guide 9 in the vertical direction.
The connecting frame 8 is fixedly arranged on the fixed support as a connecting structure, the height of the connecting frame is lower than that of the fixed plane of the fixed support 5, and a driving space can be reserved for the lifting cylinder 6.
The linear guide rail 9 is vertically arranged, can provide a movement path in the vertical direction for the rotary pneumatic control device 2 and the cap screwing device 3, and is a main component for connecting the lifting driving mechanism 1 and the rotary pneumatic control device 2.
The motor 10 and the reducer 11 are used together as a power device to drive the first belt pulley 12, the belt 13 and the second belt pulley 14 to rotate, and further drive the rotating shaft 16 to rotate.
The rotary joint 18 is connected with the air pipe and the air guide channel of the rotating shaft 16, so that the electromagnetic valve 22 can be continuously supplied with air in the rotating process of the rotating shaft 16; meanwhile, an electric slip ring is arranged on the rotary joint 18, and a conducting circuit can be provided for an electric control device such as a sensor on the cover screwing device.
The air pipe joint 19 is located at the lower part of the air guide channel of the rotating shaft 16, and may be at the axial center position as shown in the figure, or may be arranged at the side of the rotating shaft 16 for supplying air.
The top end of the flange frame 20 is used for being connected with the lower end of the rotating shaft 16 and leaving an arrangement space for the air pipe joint 19, and the flange frame is used as a power transmission part and can rotate together with other parts on the flange frame 20 under the driving of the rotating shaft 16.
The support column 21 sets up 3, arranges around flange frame 20, can connect the dustcoat frame 23 of lower part to reserve the arrangement space for solenoid valve 22, make solenoid valve 22 can be fixed on dustcoat frame 23.
The electromagnetic valve 22 is communicated with the air pipe joint 19 and used for controlling the air cylinder on the air claw 27, and the electromagnetic valve 22 is fixed between the outer cover frame 23 and the flange frame 20.
The housing frame 23 has a frame shape or a cylindrical shape, and can provide a housing space for the internal air claw 27 and other structures, and the housing frame 23 is also a power transmission member as with the flange frame 20.
The rotating frame 24 is connected to the bottom of the housing frame 23, and can provide support for the air gripper 27 and drive the air gripper 27 to rotate together with the rotation of the housing frame 23.
The rotating body 25 is connected to the bottom of the cylinder of the air claw and can provide a slideway for the barrel cover clamp 29, two or three convex blocks are arranged around the rotating body 25 and connected in clamping grooves arranged on the rotating frame 24, and the rotating body 25 can drive the rotating body 25 to rotate through the connection of the clamping grooves and the convex blocks; the side of the lug of rotor 25 is for the downward convergent to the mode that can suspend is fixed in the draw-in groove, and when the lower part atress of rotor 25, rotor 25 can be along the certain distance of upwards drunkenness, then the top is spacing by hemispheroid 26, after the atress of lower part is cleared up, can fall back in the draw-in groove under the action of gravity automatically, and make rotor 25 self-centering under the side guide effect through the convergent.
The pneumatic claw 27 is usually driven by a three-claw clamping cylinder, so as to drive the sliding block to move along the sliding way, so as to control the movement of the drum cover clamp 28 along the space between the rotating body 25 and the rotating frame 24, correspondingly, a movement space of the drum cover clamp 28 is reserved between the rotating body and the rotating frame 24, and a groove is usually formed at a corresponding position, so that the drum cover clamp 28 can extend out of the rotating frame 24 downwards.
The drum lid clamps 28 are normally configured in three, converging towards the centre from three different directions to clamp the drum lid;
the cap screwing device 29 is arranged at the center of the bottom of the rotating body 25 and is positioned at the inner sides of the three barrel cover clamps 28, and the cap screwing device 29 can be matched with the top of the barrel cover when falling down and can screw the cap together under the auxiliary clamping action of the barrel cover clamps 28.
The top plate 30 is disposed on the top of the housing frame 23 for carrying the solenoid valve 22 and providing a limit to the upward movement of the air gripper 27 to prevent the air gripper 27 from completely separating from the rotating frame 24 after excessive upward movement.
Further, as shown in fig. 3, an embodiment of the present invention provides a lid opening and closing robot, including a lifting driving mechanism 1, a rotary pneumatic control device 2, and a lid screwing device 3, wherein:
the rotary pneumatic control device 2 is used for providing rotary power for the load and simultaneously providing pneumatic control and circuit conduction for the rotary load;
the lifting driving mechanism 1 is used for driving the rotary pneumatic control device to lift in the vertical direction so as to adjust the height of the rotary pneumatic control device;
and the cap screwing device 3 is connected to the rotation output end of the rotary pneumatic control device as a load, clamps the barrel cover through a pneumatic claw, and is rotationally driven to realize cap screwing.
The cover opening and closing robot provided by the invention can complete the actions of opening and closing a cover through the matching actions of the lifting driving mechanism 1, the rotary pneumatic control device 2 and the cover screwing device 3.
Further, the rotary pneumatic control device 2 comprises a fixed bracket 5, a rotary air supply mechanism and a rotary driving mechanism, wherein:
the rotary air supply mechanism comprises a hollow rotating shaft 16, the hollow structure of the rotating shaft 16 is used as an air guide channel, the rotating shaft 16 is vertically arranged on the fixed support 5, and the top opening of the air guide channel is arranged in the center of the rotating shaft 16 and is connected with a rotary joint 18;
the rotary driving mechanism is arranged on the fixed bracket 5 and is used for driving the upper end of the rotating shaft to rotate; generally, the rotation driving mechanism adopts a motor 10 to drive a speed reducer 11, and then drives the speed reducer through a mechanical transmission mode, in this embodiment, a belt pulley transmission mode is adopted, and according to the use requirement, gear and chain transmission can also be adopted;
the cap screwing device 3 is connected to a rotating shaft 16 below the fixing support 5 as a load and can rotate under the driving of the rotating shaft 16, and a pneumatic device is arranged on the cap screwing device 3 and is communicated with another opening at the lower part of the air guide channel of the rotating shaft 16.
The rotary pneumatic control device provided by the invention can realize the effects of pneumatic control and circuit transmission on a load unit (a cap screwing device) while realizing rotary drive on the load unit.
The rotating shaft 16 is a stepped rotating shaft, the large-diameter end is located at the upper part, and the small-diameter end hangs down, so that the rotating shaft can be fixed, the phenomenon that the rotating shaft descends along the axial direction due to the fact that the load is too heavy is avoided, and the rotating shaft is more convenient to assemble from top to bottom.
The rotary driving mechanism comprises a motor 10, a speed reducer 11 and a belt pulley, the motor 10 drives the speed reducer 11 to rotate, and the speed reducer 11 drives the rotating shaft to rotate through the belt pulley; or, the rotation driving mechanism includes a motor 10, a speed reducer 11 and a gear, and the motor 10 drives the speed reducer 11 to rotate, so as to drive the gear on the rotating shaft 16 to transmit.
The opening at the lower part of the air guide channel is arranged at the center of the lower end of the rotating shaft 16 or at the side of the rotating shaft 16. Because the lower end of the rotating shaft is fixed with a load (a cover screwing device), the load and the rotating shaft rotate together, so that relative movement does not exist between the lower end of the rotating shaft and the load, the lower opening of the air guide channel is arranged on the side surface of the rotating shaft, the total length of the rotating shaft and the air pipe joint 19 can be reduced, and the vertical size of the whole machine is reduced.
The rotating shaft 16 is disposed on a bearing seat 15 vertically disposed on the fixed bracket 5, and correspondingly, the upper and lower ends of the bearing seat 15 are respectively connected with the rotating shaft 16 through bearings 17.
Further, the cap screwing device 3 comprises a housing frame 23, a rotating frame 24 and a gas claw 27, wherein:
the housing frame 23 is vertically arranged, and the top of the housing frame is used for receiving external driving force;
the rotating frame 24 is annular and is fixedly connected to the bottom of the housing frame 23, can rotate along with the housing frame 23, and accommodates the air claw 27 together with the housing frame 23; the air claw 27 is arranged in an annular hole of the rotating frame 24 and can be driven by the rotating frame 24 to rotate;
the air claw 27 comprises an air cylinder, a rotating body 25 and a barrel cover clamp 28, wherein the rotating body 25 is fixedly connected to the lower portion of the air cylinder, the rotating body 25 and the air cylinder are both positioned in the outer cover frame 23, the rotating body 25 can be connected to the center of the rotating frame 24 in a floating mode and rotates under the driving of the rotating frame 24, more than three barrel cover clamps 28 are arranged around the rotating body 25, the rotating body 25 extends downwards from an annular hole of the rotating frame 24, and the barrel cover clamps can move towards the center of the rotating frame 24 under the action of the air cylinder to clamp the barrel cover.
The cover screwing device provided by the invention solves the problem that the cover screwing device can well clamp the cover to be opened and closed in a rotating manner, and further solves the problem that the cover sealing is invalid or the cover screwing operation is failed due to the collision of the cover screwing device and the cover through the suspended gas claw design.
Each barrel cover clamp 28 is driven by a slide way and a slide block which are arranged on the side surface of the rotating body 25 and arranged along the horizontal direction, and the slide block is driven by an air cylinder;
alternatively, the cylinder is provided with one cylinder which is driven vertically and downwards and converts the telescopic motion of the cylinder rod in the vertical direction into the slide block motion in the horizontal direction through a transmission mechanism, and the transmission mechanism can adopt a multi-link mechanism for example; or the cylinder is a three-jaw clamping cylinder, and the three jaws drive the three sliding blocks to drive the barrel cover clamp to reciprocate along the slide way direction; or one air cylinder is arranged corresponding to each sliding block for driving.
The rotor 25 is connected on the draw-in groove that sets up on the annular hole of swivel mount 24 through setting up two or more lugs on its side, and the draw-in groove is vertical to be arranged to make swivel mount 24 can drive the gas claw rotation under the effect of draw-in groove and lug. The clamping groove can play a role in supporting the convex block and the rotating body 25, an upward guide path is provided for upward movement of the rotating body 25, and when the rotating body 25 falls, vertical falling is ensured through automatic centering of the convex block.
Furthermore, the bottom surface of the clamping groove is gradually reduced towards the center of the annular hole, so that the bump can be automatically centered under the action of the clamping groove; correspondingly, a preset distance is reserved between the inner top of the outer cover frame 23 and the air claw, so that the air claw can move upwards for the preset distance and then is limited by the outer cover frame.
A hemisphere 26 is provided at the center of the inner top of the housing shelf to make the contact between the top of the gas claw 27 and the housing shelf 23 point contact.
The bottom center of rotor 25 is equipped with spiral cover ware 29, spiral cover ware 29 also is located the center of three above bung anchor clamps 28 simultaneously, can block bung top inboard downwards, and the bottom of spiral cover ware 29 is equipped with the bead or the draw-in groove with the butt joint of bung top. The integral shape of the cap screwing device 29 is matched with the shape of a groove at the top of the barrel cover, the cap screwing device is generally cylindrical, a linear clamping block is arranged at the bottom of the cap screwing device 29, the height of the linear clamping block is smaller than the depth of the groove at the top of the barrel cover, so that after the linear clamping block is clamped with the groove at the top of the barrel cover, the body structure of the cap screwing device 29 above the linear clamping block can be embedded into the top of the barrel cover, a support is provided from the inside to the outside, and the cap screwing device is matched with a barrel cover clamp to clamp the inside and the outside to clamp the barrel cover so as to clamp the barrel cover.
The outer cover frame 23 is also provided with an air valve for supplying air to the air cylinder so as to drive the barrel cover clamp 28 to act; preferably, the air valve is fixed to the upper top of the housing frame 23.
The top of the housing frame 23 is connected with a rotating shaft fixing structure through a supporting column 21, and the rotating shaft fixing structure can be connected to the vertical rotating shaft 16.
The pivot fixed knot constructs for flange frame 20, and the center of flange frame is equipped with the shaft hole to correspond fixedly connected with pivot 16, the circumference in shaft hole is the flange structure, with the top fixed connection through support column 21 and dustcoat frame 23.
Further, the lifting driving mechanism comprises a linear guide rail 9 and a lifting cylinder 6, the linear guide rail 9 is connected with the fixed sliding block in a sliding mode, and the lifting cylinder 6 drives the rotary pneumatic control device 2 to move in the vertical direction along the linear guide rail 9.
The bottom of lift cylinder 6 is connected with fixed bolster 5 through articulated seat 7, and the top is connected with corresponding outside fixed knot through another articulated seat 7.
The invention provides a lifting driving mechanism which can realize reciprocating driving of a rotary pneumatic control device 2 and a cap screwing device from the vertical direction. According to the technical idea of the present invention, the lifting driving mechanism can also be implemented by using other mechanical structures, such as a motor, a rack and a gear structure, and a motor, a belt pulley, a guide rail structure, etc.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in some detail by the above embodiments, the invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the invention, and the scope of the invention is determined by the scope of the appended claims.
Claims (11)
1. The utility model provides a switch lid robot, includes lift actuating mechanism, rotatory pneumatic control device, spiral cover device, its characterized in that, wherein:
the rotary pneumatic control device is used for providing rotary power for the load and simultaneously providing pneumatic control and circuit conduction for the rotary load;
the lifting driving mechanism is used for driving the rotary pneumatic control device to lift in the vertical direction so as to adjust the height of the rotary pneumatic control device;
the cap screwing device is connected to the rotating output end of the rotary pneumatic control device as a load, clamps the barrel cover through a pneumatic claw, and is rotationally driven to realize cap screwing;
spiral cover device, including dustcoat frame, swivel mount, gas claw, wherein:
the outer cover frame is vertically arranged, and the top of the outer cover frame is used for receiving external driving force;
the rotary frame is annular and fixedly connected to the bottom of the outer cover frame, can rotate along with the outer cover frame and holds the gas claw in the outer cover frame; the pneumatic claw is arranged in an annular hole of the rotating frame and can be driven by the rotating frame to rotate;
the gas claw includes the cylinder, rotor and bung anchor clamps, rotor fixed connection is in the lower part of cylinder, rotor and cylinder all are located the dustcoat frame, and the rotor can float ground and connect at the center of swivel mount, the rotor rotates under the drive of swivel mount, the rotor provides the slide for the bung anchor clamps, the bung anchor clamps have more than three, the bung anchor clamps are connected around the rotor, the annular hole of self-rotating frame stretches out downwards, and can move in order to clip the bung to the center of swivel mount under the effect of cylinder.
2. The lid opening and closing robot according to claim 1,
rotatory pneumatic control device, including fixed bolster, rotatory air feed mechanism, rotation driving mechanism, wherein:
the rotary air supply mechanism comprises a hollow rotating shaft, the hollow structure of the rotating shaft is used as an air guide channel, the rotating shaft is vertically arranged on the fixed support, and the top opening of the air guide channel is arranged in the center of the rotating shaft and is connected with the rotary joint; an electric slip ring is arranged on the rotary joint;
the rotary driving mechanism is arranged on the fixed support and used for driving the upper end of the rotating shaft to rotate;
the rotary cover device is connected to the rotating shaft below the fixing support and can rotate under the driving of the rotating shaft, and a pneumatic device is arranged on the rotary cover device and communicated with the other opening in the lower portion of the air guide channel of the rotating shaft.
3. The lid opening and closing robot according to claim 2,
the rotating shaft is a stepped rotating shaft, the large-diameter end is positioned at the upper part, and the small-diameter end is hung down;
the rotary driving mechanism comprises a motor, a speed reducer and a belt pulley, the motor drives the speed reducer to rotate, and the speed reducer drives the rotating shaft to rotate through the belt pulley; or, the rotary driving mechanism comprises a motor, a speed reducer and a gear, and the motor drives the speed reducer to rotate so as to drive the gear on the rotating shaft to drive transmission.
4. The lid opening and closing robot according to claim 2,
the opening at the lower part of the air guide channel is arranged at the center of the lower end of the rotating shaft or at the side surface of the rotating shaft.
5. A lid opening and closing robot according to claim 4,
the rotating shaft is arranged on a bearing seat vertically arranged on the fixed support, and correspondingly, the upper end and the lower end of the bearing seat are respectively connected with the rotating shaft through bearings.
6. The lid opening and closing robot according to claim 1,
each barrel cover clamp is driven by a sliding block which is arranged in a sliding way along the horizontal direction, wherein the sliding way and the sliding block are arranged on the side surface of the rotating body, and the sliding block is driven by an air cylinder;
the cylinder is provided with one cylinder which is driven vertically and downwards and converts the telescopic motion of a cylinder rod in the vertical direction into the motion of a sliding block in the horizontal direction through a transmission mechanism; or the cylinder is a three-jaw clamping cylinder, and the three jaws drive the three sliding blocks to further drive the barrel cover clamp to reciprocate along the slide way direction; or one air cylinder is arranged corresponding to each sliding block for driving.
7. The lid opening and closing robot according to claim 1,
the rotor is connected on the draw-in groove that sets up on the annular hole of swivel mount through setting up the lug more than two of its side, and the draw-in groove is vertical arranges to make the swivel mount can drive the gas claw rotation under the effect of draw-in groove and lug.
8. A lid opening and closing robot according to claim 7,
the bottom surface of the groove is gradually reduced towards the center of the annular hole, so that the bump can be automatically centered under the action of the groove; correspondingly, a preset distance is reserved between the inner top of the outer cover frame and the air claw, so that the air claw can move upwards for the preset distance and then is limited by the outer cover frame.
9. The lid opening and closing robot according to claim 1,
a hemisphere is arranged at the center of the inner top of the outer cover frame, so that the contact between the top of the gas claw and the outer cover frame is point contact;
the center of the bottom of the rotating body is provided with a cap screwing device, the cap screwing device is also positioned at the center of more than three barrel cover clamps at the same time and can clamp the inner side of the top of the barrel cover downwards, and the bottom of the cap screwing device is provided with a convex edge or a clamping groove which is butted with the top of the barrel cover;
the outer cover frame is also provided with an air valve for supplying air to the air cylinder so as to drive the barrel cover clamp to act;
the top of the outer cover frame is connected with a rotating shaft fixing structure through a support column, and the rotating shaft fixing structure can be connected to a vertical rotating shaft;
the rotating shaft fixing structure is a flange frame.
10. The lid opening and closing robot according to claim 9,
the air valve is fixed on the upper top of the outer cover frame.
11. The lid opening and closing robot according to claim 1,
the lifting driving mechanism comprises a linear guide rail and a lifting cylinder, the linear guide rail is connected with the fixed sliding block in a sliding mode, and the lifting cylinder drives the rotary pneumatic control device to move in the vertical direction along the linear guide rail;
the bottom of the lifting cylinder is connected with the fixed support through the hinged seat, and the top of the lifting cylinder is connected with the corresponding external fixed structure through the hinged seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110573081.4A CN113753817B (en) | 2021-05-25 | 2021-05-25 | Cover opening and closing robot |
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| CN113753817B true CN113753817B (en) | 2022-11-18 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115159416A (en) * | 2022-03-18 | 2022-10-11 | 江西凯利德科技有限公司 | Automatic screwing device |
| CN114789983A (en) * | 2022-04-16 | 2022-07-26 | 展一智能科技(东台)有限公司 | Flange bucket cover opening and closing manipulator and flange bucket cover opening and closing method |
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| GB2010789A (en) * | 1977-12-27 | 1979-07-04 | Aluminum Co Of America | Apparatus for removing closures from containers assembled in cases |
| CN205740290U (en) * | 2015-08-09 | 2016-11-30 | 浙江泰林生物技术股份有限公司 | Spiral cover frock |
| CN106976832A (en) * | 2015-10-07 | 2017-07-25 | 澁谷工业株式会社 | Cao rotating head |
| CN110294443A (en) * | 2019-07-04 | 2019-10-01 | 佛山艾嘉化妆品有限公司 | A kind of automatic screw capping mechanism of cosmetic bottle body |
| CN210480817U (en) * | 2019-09-17 | 2020-05-08 | 江苏汤姆森智能装备有限公司 | Automatic cap screwing device |
| CN212450561U (en) * | 2020-08-13 | 2021-02-02 | 上海汇像信息技术有限公司 | Sample injection bottle grabbing cover opening and closing mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN208700536U (en) * | 2018-08-28 | 2019-04-05 | 楚天科技股份有限公司 | One kind taking lid cap rotating device |
| CN209755227U (en) * | 2019-04-01 | 2019-12-10 | 长春融成智能设备制造股份有限公司 | Robot workstation closes lid |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| GB2010789A (en) * | 1977-12-27 | 1979-07-04 | Aluminum Co Of America | Apparatus for removing closures from containers assembled in cases |
| CN205740290U (en) * | 2015-08-09 | 2016-11-30 | 浙江泰林生物技术股份有限公司 | Spiral cover frock |
| CN106976832A (en) * | 2015-10-07 | 2017-07-25 | 澁谷工业株式会社 | Cao rotating head |
| CN110294443A (en) * | 2019-07-04 | 2019-10-01 | 佛山艾嘉化妆品有限公司 | A kind of automatic screw capping mechanism of cosmetic bottle body |
| CN210480817U (en) * | 2019-09-17 | 2020-05-08 | 江苏汤姆森智能装备有限公司 | Automatic cap screwing device |
| CN212450561U (en) * | 2020-08-13 | 2021-02-02 | 上海汇像信息技术有限公司 | Sample injection bottle grabbing cover opening and closing mechanism |
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| CN113753817A (en) | 2021-12-07 |
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