CN113927576B

CN113927576B - High stability gets bottle manipulator

Info

Publication number: CN113927576B
Application number: CN202111271098.0A
Authority: CN
Inventors: 李克难; 郭杰; 郭超; 张远
Original assignee: Anhui Litian New Material Co ltd
Current assignee: Anhui Litian New Material Co ltd
Priority date: 2021-10-29
Filing date: 2021-10-29
Publication date: 2023-02-03
Anticipated expiration: 2041-10-29
Also published as: CN113927576A

Abstract

The invention discloses a high-stability bottle taking mechanical arm, which relates to the technical field of mechanical arms and comprises a base, wherein a first lifting mechanism is fixedly connected to the upper surface of the base, a driving mechanism is fixedly connected to the top end of the first lifting mechanism, the output end of the driving mechanism faces upwards and is fixedly connected with a rotating table, a plurality of second lifting mechanisms which are distributed annularly are installed inside the rotating table, mechanical claws are installed at the output ends of the second lifting mechanisms, and bottom reinforcing mechanisms are installed on the side surfaces of the mechanical claws. Compared with the prior art, the bottle transferring device has the advantages that the rotating table is provided with the plurality of mechanical claws, so that the bottle transferring efficiency can be improved, the bottom reinforcing mechanism is arranged on the side surface of each mechanical claw, the bottom of a bottle can be supported during grabbing, the bottle is prevented from being separated from the mechanical claws, and the clamping parts of the mechanical claws are provided with the clamping blocks and the air bags, so that the connecting capacity of the mechanical claws and the bottle can be improved.

Description

High stability gets bottle manipulator

Technical Field

The invention relates to the technical field of manipulators, in particular to a high-stability bottle taking manipulator.

Background

The manipulator is an automatic operating device which can imitate certain action functions of human hands and arms and is used for grabbing, carrying objects or operating tools according to a fixed program.

Through retrieval, the Chinese patent discloses a rotary bottle taking manipulator of a bottle blowing machine (publication number: CN 109352961A), the rotary bottle taking manipulator comprises a gripper, a second hydraulic telescopic rod, a rotary seat, a base and a mounting plate, wherein the base is mounted at the top of the mounting plate, a second servo motor is mounted inside the base, the top of a power output shaft of the second servo motor penetrates through the base and is fixedly provided with the rotary seat through a connecting block, a fixing plate is fixedly mounted on one side of the rotary seat, a first servo motor is fixedly mounted on one side of the fixing plate, a rotating shaft extending to the rotary seat is rotatably mounted at the output end of the first servo motor, a fixing block is mounted at the top of the rotating shaft, a hydraulic seat is fixedly mounted at the top of the fixing block, a second hydraulic telescopic rod is fixedly mounted at the top of the hydraulic seat, an adjusting device is fixedly mounted at the top of the second hydraulic telescopic rod, and the gripper is movably mounted at the top of the adjusting device.

The existing bottle taking manipulator needs to have good stability when working, and needs to prevent the separation of the bottle and the manipulator when the bottle is filled with products, and needs to arrange the bottle quickly after the bottle is taken, so as to improve the production efficiency.

Disclosure of Invention

The invention aims to provide a high-stability bottle taking manipulator, which solves the following technical problems:

how to improve the stability of manipulator when getting the bottle, especially when the bottled product that is equipped with, its weight is great, the problem that easily appears separating with the manipulator.

The purpose of the invention can be realized by the following technical scheme:

the utility model provides a bottle manipulator is got to high stability, includes the base, the first elevating system of last fixed surface of base is connected with, the top fixedly connected with actuating mechanism of first elevating system, actuating mechanism's output just fixedly connected with revolving stage up, the internally mounted of revolving stage has a plurality of to be the second elevating system that the annular distributes, the gripper is all installed to the output of second elevating system, bottom strengthening mechanism is all installed to the side of gripper for support the bottle, prevent that it from taking place to separate with the gripper, and the equal fixedly connected with grip block in grip part of gripper, the gripper all overlaps in the grip block outside of each grip part and is equipped with the gasbag, and the gasbag can adopt inflatable or be connected with outside air feeder.

As a further scheme of the invention: bottom strengthening mechanism all includes the base box with gripper fixed connection, the equal fixedly connected with driving motor in the inside both sides of base box, and the both ends of base box side all rotate and are connected with the rotating turret, the rotation position of rotating turret extends to the first fluted disc of inside and fixedly connected with of base box, and is two sets of the second fluted disc is all installed to driving motor's output, and two sets of second fluted discs are connected with the meshing of two sets of first fluted discs respectively.

As a further scheme of the invention: the equal fixedly connected with second cylinder in the inside of rotating turret, and the inside downside sliding connection who is close to the second cylinder of rotating turret has the holding frame, fixedly connected with a plurality of piece that resets between holding frame side and the rotating turret, the piece that resets is used for maintaining the holding frame in the inside of rotating turret.

As a further scheme of the invention: the clamping frame is an L-shaped component, and the bent part of the clamping frame is arranged on the outer side of the rotating frame and used for supporting the bottom of the bottle.

As a further scheme of the invention: the second elevating system is including installing the inside two-way screw driver at the revolving stage, the outside at two-way screw driver output position is provided with two sets of opposite direction of rotation's screw thread, and the equal threaded connection in the outside of two sets of screw threads has the connecting block, and is two sets of the bottom of connecting block is all rotated and is connected with the connecting rod, and is two sets of rotate between the bottom of connecting rod and be connected with the link.

As a further scheme of the invention: the bottom fixedly connected with of link fixes the box, the internally mounted of fixed box has the lead screw driver, the gripper is connected with the output of lead screw driver for carry out horizontal migration.

As a further scheme of the invention: the bottle lifting device comprises a base, and is characterized in that a fixing frame is fixedly connected to one side, close to a first lifting mechanism, of the upper surface of the base, a containing box is fixedly connected to the upper surface of the fixing frame, a first air cylinder is fixedly connected to one side of the containing box, and a material receiving frame is mounted inside the containing box and used for containing bottles.

As a further scheme of the invention: the output of first cylinder extends to the inside of receiving the material frame, and the output fixedly connected with push pedal of first cylinder for carry out the pile-up of bottle to receiving the material frame inside.

As a further scheme of the invention: one side of material receiving frame is provided with the intercommunication position for make things convenient for the push pedal to remove, and the lower surface of material receiving frame sets up the perforating hole of a plurality of regular distribution, the internally mounted of mount has the first infrared structure of a plurality of, first infrared structure respectively with each perforating hole vertical distribution.

As a further scheme of the invention: the equal fixedly connected with second infrared structure in inside of gripper, the infrared structure of second is used for discerning with each infrared structure to place the bottle of gripper centre gripping to receiving the spacious position in the material frame.

The invention has the beneficial effects that:

compared with the prior art, the rotating table is provided with the plurality of mechanical claws, so that the transfer efficiency of the bottle can be improved, the bottom reinforcing mechanism is arranged on the side surface of each mechanical claw, the bottom of the bottle can be supported during grabbing, the bottle is prevented from being separated from the mechanical claws, the clamping parts of the mechanical claws are provided with the clamping blocks and the air bags, the connecting capacity of the mechanical claws and the bottle can be improved through the clamping blocks, and meanwhile, the mechanical claws and the clamping blocks can be prevented from damaging the connecting parts of the bottle through the air bags;

on the other hand, be provided with in the mount with receive the first infrared structure that the material frame perforating hole corresponds, through the infrared mechanism of the second of gripper, can make things convenient for the manipulator to place the bottle each perforating hole upside of receiving the material to the convenience is accomodate the bottle fast.

Drawings

The invention will be further described with reference to the accompanying drawings.

FIG. 1 is a front view of the present invention;

FIG. 2 is a schematic diagram of the kinematic structure of the gripper of the present invention;

FIG. 3 is a rear cross-sectional view of the gripper of the present invention;

FIG. 4 is a cross-sectional view of the turret of the present invention;

fig. 5 is a top view of the take-up frame of the present invention.

In the figure: 1. a base; 2. a first lifting mechanism; 3. a drive mechanism; 4. a rotating table; 5. a second lifting mechanism; 6. a gripper; 7. a bottom reinforcement mechanism; 8. a fixed mount; 9. a storage box; 10. a material receiving frame; 11. a first cylinder; 12. pushing the plate; 13. a first infrared structure; 14. a through hole; 15. a second infrared structure; 51. a bidirectional lead screw driver; 52. a connecting rod; 53. a connecting frame; 54. a fixing box; 55. a screw driver; 56. connecting blocks; 71. a base box; 72. a drive motor; 73. a rotating frame; 74. a second cylinder; 75. a clamping frame; 76. a reset member; 77. a clamping block; 78. an air bag.

Detailed Description

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 only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-5, the present invention is a high stability bottle-taking robot, including a base 1, a first lifting mechanism 2 is fixedly connected to an upper surface of the base 1, a driving mechanism 3 is fixedly connected to a top end of the first lifting mechanism 2, an output end of the driving mechanism 3 faces upward and is fixedly connected to a rotating table 4, a plurality of second lifting mechanisms 5 distributed in an annular shape are installed inside the rotating table 4, gripper 6 are installed at output ends of the second lifting mechanisms 5, a bottom reinforcing mechanism 7 is installed at a side surface of the gripper 6 for supporting a bottle and preventing the bottle from separating from the gripper 6, a clamping block 77 is fixedly connected to a clamping position of the gripper 6, an air bag 78 is sleeved outside the clamping block 77 of each clamping position of the gripper 6, and the air bag 78 can be inflated or connected to an external air supply device.

The upper surface of the base 1 is close to one side of the first lifting mechanism 2 and is fixedly connected with a fixing frame 8, the upper surface of the fixing frame 8 is fixedly connected with a containing box 9, one side of the containing box 9 is fixedly connected with a first air cylinder 11, and a material receiving frame 10 is arranged inside the containing box 9 and used for containing bottles.

The output end of the first cylinder 11 extends to the inside of the material receiving frame 10, and the output end of the first cylinder 11 is fixedly connected with a push plate 12 for stacking the bottles inside the material receiving frame 10.

One side of receiving frame 10 is provided with the intercommunication position for make things convenient for push pedal 12 to remove, and the lower surface of receiving frame 10 sets up a plurality of regularly distributed perforating hole 14, and the internally mounted of mount 8 has a plurality of first infrared structure 13, and first infrared structure 13 distributes with each perforating hole 14 vertical distribution respectively.

The infrared structure 15 of the equal fixedly connected with second of inside of gripper 6, the infrared structure 15 of second is used for discerning with each infrared structure 13 to place the bottle of gripper 6 centre gripping to receiving the spacious position in the material frame 10.

Referring to fig. 2, the second lifting mechanism 5 includes a bidirectional screw driver 51 installed inside the rotary table 4, two sets of threads with opposite rotation directions are disposed on the outer side of the output end of the bidirectional screw driver 51, the outer sides of the two sets of threads are both in threaded connection with a connection block 56, the bottom ends of the two sets of connection blocks 56 are both in rotational connection with a connection rod 52, and a connection frame 53 is rotatably connected between the bottom ends of the two sets of connection rods 52.

The bottom of the connecting frame 53 is fixedly connected with a fixing box 54, a screw driver 55 is installed inside the fixing box 54, and the mechanical claw 6 is connected with the output end of the screw driver 55 and used for horizontal movement.

Referring to fig. 3-4, each bottom reinforcing mechanism 7 includes a base box 71 fixedly connected to the gripper 6, driving motors 72 are fixedly connected to two sides of the inside of the base box 71, rotating frames 73 are rotatably connected to two ends of the side surfaces of the base box 71, a rotating portion of each rotating frame 73 extends into the inside of the base box 71 and is fixedly connected to a first toothed disc, second toothed discs are mounted at output ends of the two sets of driving motors 72, and the two sets of second toothed discs are respectively engaged with the two sets of first toothed discs.

The second air cylinders 74 are fixedly connected to the inner portions of the rotating frames 73, the L-shaped clamping frames 75 are connected to the lower sides, close to the second air cylinders 74, of the inner portions of the rotating frames 73 in a sliding mode, the bending portions of the clamping frames 75 are arranged on the outer sides of the rotating frames 73 and used for supporting the bottoms of bottles, a plurality of reset pieces 76 are fixedly connected between the side faces of the clamping frames 75 and the rotating frames 73, and the reset pieces 76 are used for maintaining the clamping frames 75 in the rotating frames 73.

The working principle of the invention is as follows:

moving the bottle to the lower side of the corresponding mechanical claw 6 through the conveying device, then starting the two-way screw rod driver 51 in the second lifting mechanism 5 to drive the two groups of connecting blocks 56 to move in opposite directions, so as to drive the two groups of connecting rods 52 to rotate downwards, reduce the height of the fixed box 54, then starting the screw rod driver 55 to drive the mechanical claw 6 to move in the horizontal direction until the mechanical claw 6 moves to the outer side of the bottle, then starting the mechanical claw 6 to clamp the bottle, then starting the second lifting mechanism 5 to separate the bottle from the conveying device, then starting the driving motor 72 in the bottom reinforcing mechanism 7 to rotate the two groups of rotating frames 73, and when the rotating frames 73 rotate, starting the second air cylinder 74 to move the clamping frames 75 through the compression reset piece 76, then resetting the second air cylinder 74 after the rotating frames 73 rotate to the vertical state, pulling the clamping frames 75 to move upwards by the reset piece 76 until the bent parts of the clamping frames 75 support the bottom of the bottle;

starting the driving mechanism 3, rotating the mechanical claws 6 for clamping the bottle, then repeating the steps on the other group of mechanical claws 6 for clamping the bottle, and matching the internal second infrared structure 15 of the mechanical claws 6 moving to the upper side of the material receiving frame 10 with the second infrared structure 15 penetrating through the through holes 14 in the material receiving frame 10 so as to move the bottle to the part, which is not provided with the bottle, in the material receiving frame 10;

repeating the steps, and taking the material receiving frame 10 out of the containing box 9 after the bottles in the material receiving frame 10 are placed, so as to perform subsequent work;

on the other hand, the first cylinder 11 can be started to drive the push plate 12 to move, bottles in the material receiving frame 10 are stacked tightly, and the bottles in the push plate 12 are distributed regularly, so that the problem of falling is avoided during moving.

In the description of the present invention, it should be understood that the terms "upper", "lower", "left", "right", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation and a specific orientation configuration and operation, and thus, should not be construed as limiting the present invention. Furthermore, "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

While one embodiment of the present invention has been described in detail, the description is only a preferred embodiment of the present invention and should not be taken as limiting the scope of the invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.

Claims

1. The high-stability bottle taking manipulator comprises a base (1), wherein a first lifting mechanism (2) is fixedly connected to the upper surface of the base (1), a driving mechanism (3) is fixedly connected to the top end of the first lifting mechanism (2), the output end of the driving mechanism (3) faces upwards and is fixedly connected with a rotating table (4), a plurality of second lifting mechanisms (5) distributed in an annular mode are installed inside the rotating table (4), the high-stability bottle taking manipulator is characterized in that mechanical claws (6) are installed at the output end of each second lifting mechanism (5), bottom reinforcing mechanisms (7) are installed on the side faces of each mechanical claw (6), clamping positions of the mechanical claws (6) are fixedly connected with clamping blocks (77), and air bags (78) are sleeved on the outer sides of the clamping blocks (77);

the bottom reinforcing mechanism (7) comprises a base box (71) fixedly connected with the mechanical claw (6), two sides of the interior of the base box (71) are fixedly connected with driving motors (72), and two ends of the side surface of the base box (71) are rotatably connected with rotating frames (73);

the rotating part of the rotating frame (73) extends to the inside of the base box (71), and the rotating part of the rotating frame (73) is in driving connection with the corresponding driving motor (72);

the interior of the rotating frame (73) is fixedly connected with a second air cylinder (74), a clamping frame (75) is connected to the lower side, close to the second air cylinder (74), of the interior of the rotating frame (73) in a sliding mode, and a plurality of reset pieces (76) are fixedly connected between the side face of the clamping frame (75) and the rotating frame (73);

the clamping frame (75) is an L-shaped component, and the bent part of the clamping frame (75) is arranged on the outer side of the rotating frame (73);

when rotating turret (73) rotated, start second cylinder (74), reset piece (76) through the compression with clamping frame (75) and remove, after rotating turret (73) rotated to vertical state again, reset second cylinder (74), reset piece (76) pulling clamping frame (75) and carry out the rebound, until the bottom of the bending position of clamping frame (75) support the bottle can.

2. The high-stability bottle taking manipulator according to claim 1, wherein a fixing frame (8) is fixedly connected to one side of the upper surface of the base (1) close to the first lifting mechanism (2), a containing box (9) is fixedly connected to the upper surface of the fixing frame (8), a first cylinder (11) is fixedly connected to one side of the containing box (9), and a material receiving frame (10) is installed inside the containing box (9).

3. The high-stability bottle taking manipulator as claimed in claim 2, wherein a communication part is arranged on one side of the receiving frame (10), and a plurality of through holes (14) are regularly distributed on the lower surface of the receiving frame (10).

4. The high-stability bottle taking manipulator according to claim 3, wherein a plurality of first infrared structures (13) are installed inside the fixing frame (8), and the first infrared structures (13) are respectively vertically distributed with the through holes (14).

5. The high-stability bottle-taking manipulator according to claim 4, wherein the inner part of each gripper (6) is fixedly connected with a second infrared structure (15) for identifying a plurality of first infrared structures (13).