CN201283572Y

CN201283572Y - Manipulator turnover device

Info

Publication number: CN201283572Y
Application number: CNU2008201588186U
Authority: CN
Inventors: 苏九洲; 刘振; 李鹏程; 唐岳
Original assignee: Changsha Chutian Science and Technology Co Ltd
Current assignee: Truking Technology Ltd
Priority date: 2008-10-20
Filing date: 2008-10-20
Publication date: 2009-08-05
Anticipated expiration: 2018-10-20

Abstract

A manipulator turnover device comprises a mechanical arm, a mechanical grip, a grip shaft, a rack and a cam which is fixed at a central shaft or a framework, and is characterized in that the mechanical arm is fixed on a rotating disc winding around the central shaft, the mechanical grip and a gear wheel are fixed on the grip shaft which is connected with the mechanical arm by a rotary pair, one end of the rack is meshed and rotated with the gear wheel, and the other end of the rack is contact-engaged with the cam. The manipulator turnover device has the advantages of simple and compact structure, low manufacturing cost, small occupying space, stable working and reliable turnover manipulator.

Description

Turnover device of mechanical arm

Technical field

The utility model is mainly concerned with widely used turnover device of mechanical arm in the equipment of food, pharmaceuticals industry, is specially adapted to supporting use in the cleaning of big volumetric flask class (as plastic bottle) and the can.

Background technology

At present, the general cam of the turning device of manipulator is fixed, the rotating disk of rotation drives and is rotated with passive mechanical arm and annex thereof by the active mechanical arm, they are connected with rotary pair and capstan by gusset piece and rotating shaft, complex structure, be fixed with pull bar on the gusset piece, pull bar connects through gum cover and cam, control gusset piece and whole mechanical arm on rotating disk around the shaft the center do 180 ° rotation.The centre of gyration distance of the gripper centre-to-centre spacing gusset piece of mechanical arm is big; Flip-flop transition is long, and the rotating disk profile is big; Cam should be controlled the upper and lower motion of pull bar and control the motion that pull bar is made horizontal direction again, and it is generally made by pipe, the curve more complicated, and profile is huge, and manufacture difficulty is big.Its physical dimension is big, and floor space is big, the cost height, and the gum cover on the pull bar slides on the upset cam, is dry friction, produces tiny wear particle, not only influences the accurate exactness of control but also pollute working environment.

The utility model content

The technical problems to be solved in the utility model just is: at the technical problem that prior art exists, the utility model provide a kind of simple and compact for structure, cheap for manufacturing cost, little, stable and reliable operation roll-over type mechanical arm takes up room.

For solving the problems of the technologies described above, the solution that the utility model proposes is, a kind of turnover device of mechanical arm, it is characterized in that: it comprise mechanical arm, mechanical paw, paw axle, tooth bar and be fixed in central shaft or frame on cam, described mechanical arm is fixed on the rotating disk that central shaft rotates, described mechanical paw and gear are fixed on the paw axle, the paw axle links to each other with mechanical arm by rotary pair, one end and the meshed transmission gear of described tooth bar, the other end of tooth bar contact cooperation with cam.

Described monoblock type mechanical arm is provided with slide block, and tooth bar is provided with chute, and described slide block is contained in the chute.

Be installed with slide block on the described rotating disk, chute is arranged on the tooth bar, described slide block is contained in the chute.

One end of described tooth bar is equipped with roller shaft and roller, and roller shaft rotates with rotating disk with roller, and roller cooperates with the cam path of cam.

Compared with prior art, advantage of the present utility model is: the utility model roll-over type mechanical arm have simple and compact for structure, cheap for manufacturing cost, little, advantage such as working stability is reliable takes up room; The manipulator upset is the thorny pawl axle rotation of mechanical paw in the manipulator in the utility model, the centre-to-centre spacing of rotating only is the distance of the center of mechanical paw to the paw axle, but not whole manipulator only is its part, and switching mechanism adopts the plane cam of rack-and-pinion and control upset to cooperate, tooth bar adopts roller to contact with cam, can adopt lubricating oil or grease lubrication, wearability improves, and the cam external diameter is little, and away from mechanical paw, outward appearance and sanitary condition are improved.

Description of drawings

Fig. 1 is the main TV structure schematic diagram of the utility model specific embodiment;

Fig. 2 is the left TV structure schematic diagram of Fig. 1;

Fig. 3 is the broken section structural representation at D-D place among Fig. 1;

Fig. 4 is a kind of working state schematic representation of the utility model mechanical paw;

Fig. 5 is the another kind of working state schematic representation of the utility model mechanical paw.

Marginal data

1, mechanical arm 2, mechanical paw

3, cam 4, rotating disk

5, paw axle 6, gear

7, tooth bar 8, securing member

9, slide block 10, chute

11, roller shaft 12, roller.

The specific embodiment

Below with reference to the drawings and specific embodiments the utility model is described in further details.

As Fig. 1, Fig. 2, Fig. 3, Fig. 4 and shown in Figure 5, turnover device of mechanical arm of the present utility model, it comprise mechanical arm 1, mechanical paw 2, paw axle 6, tooth bar 7 and be fixed in central shaft or frame on cam 3, mechanical arm 1 is fixed on the rotating disk 4 that central shaft rotates, mechanical paw 2 and gear 6 are fixed on the paw axle 5, paw axle 5 links to each other with mechanical arm 1 by rotary pair, an end of tooth bar 7 and gear 6 engaged transmission, and the other end of tooth bar 7 contacts cooperation with cam 3.Mechanical arm 1 and mechanical paw 2 all adopt monolithic construction, and its material is engineering plastics, utilize its good plasticity, follow-up advance bottle and bottle outlet has been created condition for simplifying.Mechanical arm 1 front end has groove, mechanical paw 2 can hold wherein, gear 6 generally is in mechanical arm 1 one sides, contact cooperation with the tooth bar 7 of gear 6 engagement with cam 3 on being fixed on central shaft, cam 3 is own static during work, one end of tooth bar 7 generally is equipped with roller shaft 11 and roller 12, they are with rotating disk 4 one rotation, roller 12 cooperates with the cam path of cam 3, promote tooth bar 7 and make the front and back linear reciprocating motion, with its meshed gears 6 every Rotate 180s °, mechanical paw 2 thorny pawl axle 5 upsets once, general rotating disk 4 rotates a circle, mechanical paw 2 turns over once the multiple again past once, because manipulator design becomes mechanical arm 1 and mechanical paw 2, what overturn is not whole manipulator, but mechanical paw 2, rotating centre-to-centre spacing is that radius is very little, upset is fast, the time of upset is few, whenever tens degree only several years till now that accounted in being rotated a circle by past rotating disk 4, one leaves the time of saving for next procedure such as water, vapour, gas flushing, two come the structure can be compacter, in light weight, cost is low, on the rotating disk 4 of original unidimensional size more manipulator can be installed, thereby can improve work efficiency.

Mechanical arm 1 is provided with slide block 9, and tooth bar 7 is provided with chute 10, and slide block 9 is contained in the chute 10, perhaps is installed with slide block 9 on the rotating disk 4, and chute 10 is arranged on the tooth bar 7, and slide block 9 is contained in the chute 10, and tooth bar 7 can be along slide block 9 moving linearlies.One end of tooth bar 7 (an anodontia end) cooperates with the cam 3 of control upset with roller shaft 11, roller 12, and the rectilinear motion before and after promotion tooth bar 7 is done is done 180 ° of rotations with the gear 6 of its engaged transmission.Because the radius of gyration of mechanical paw is little, upset is fast, and flip-flop transition is short.

Operation principle: rotating disk 4 is around the rotation of the center of cam 3, cam 3 is static, cam 3 drives tooth bar 7 moving linearly in slide block 9 by the roller 12 that is fixedly connected on the tooth bar 7, with tooth bar 7 meshed gears 6 and paw axle 5, mechanical paw 2 one paw axle 5 pilot holes rotation on mechanical arm 1, distance when tooth bar 7 number of teeth pitch sum of half gear of linear running 6 under the control of cam 3, its promote gear 6 with mechanical paw 2 at original level Rotate 180 °, the A position of the center of mechanical paw 2 from Fig. 1 rotates to the B position, it also is state shown in Figure 5, do not move under the control of cam 3 as tooth bar 7, mechanical paw 2 also remains static, and the present position is constant; If tooth bar 7 reverse linear under the control of cam 3 aforementioned same distance of moving, gear 6 be also 180 ° of reverse rotations under the drive of tooth bar 7, the center of mechanical paw 2 is turned back to the position of A, state promptly shown in Figure 4 from the B position of Fig. 1.The overall process of the utility model work that Here it is.

The above only is a preferred implementation of the present utility model, and protection domain of the present utility model also not only is confined to the foregoing description, and all technical schemes that belongs under the utility model thinking all belong to protection domain of the present utility model.Should be pointed out that for those skilled in the art in the some improvements and modifications that do not break away under the utility model principle prerequisite, these improvements and modifications also should be considered as protection domain of the present utility model.

Claims

1, a kind of turnover device of mechanical arm, it is characterized in that: it comprise mechanical arm (1), mechanical paw (2), paw axle (6), tooth bar (7) and be fixed in central shaft or frame on cam (3), described mechanical arm (1) is fixed on the rotating disk (4) that central shaft rotates, described mechanical paw (2) and gear (6) are fixed on the paw axle (5), paw axle (5) links to each other with mechanical arm (1) by rotary pair, one end of described tooth bar (7) and gear (6) engaged transmission, the other end of tooth bar (7) contacts cooperation with cam (3).

2, turnover device of mechanical arm according to claim 1 is characterized in that: described mechanical arm (1) is provided with slide block (9), and tooth bar (7) is provided with chute (10), and described slide block (9) is contained in the chute (10).

3, turnover device of mechanical arm according to claim 1 is characterized in that: be installed with slide block (9) on the described rotating disk (4), chute (10) is arranged on the tooth bar (7), described slide block (9) is contained in the chute (10).

4, according to claim 1 or 2 or 3 described turnover device of mechanical arm, it is characterized in that: an end of described tooth bar (7) is equipped with roller shaft (11) and roller (12), roller shaft (11) and roller (12) are with rotating disk (4) rotation together, and roller (12) cooperates with the cam path of cam (3).