CN202528187U - Automatic medicine-feeding manipulator with linear guide rail - Google Patents
Automatic medicine-feeding manipulator with linear guide rail Download PDFInfo
- Publication number
- CN202528187U CN202528187U CN2011205615428U CN201120561542U CN202528187U CN 202528187 U CN202528187 U CN 202528187U CN 2011205615428 U CN2011205615428 U CN 2011205615428U CN 201120561542 U CN201120561542 U CN 201120561542U CN 202528187 U CN202528187 U CN 202528187U
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- cylinder
- paw
- arm
- line slideway
- machinery hand
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Abstract
The utility model relates to an automatic medicine-feeding manipulator with a linear guide rail, which is characterized in that the automatic medicine-feeding manipulator comprises a power transmission unit, a linear guide rail (4), a moving platform (5), an arm elevating cylinder (6), an arm rotation cylinder (7), an arm telescoping cylinder (8), a paw rotation cylinder (9), a paw clamping cylinder (10) and a mechanical paw (11). A pneumatic motor (1) provides power. A transmission shaft (3) is driven by a synchronous driving belt (2) to rotate. The transmission shaft (3) and a linear bearing form a transmission pair, and the linear bearing is connected to a moving platform (5). Rotary movement is converted into a horizontal movement of the moving platform (5). The positive and negative rotation of the pneumatic motor (1) is realized through the reversing of a solenoid valve (13), and thereby the manipulator can conduct a horizontal reciprocating motion on the linear guide rail (4). The solenoid valve (13) controls various cylinders, and thereby the elevating, rotating and telescoping of the arm can be achieved. Accordingly, operators can be completed isolated from the dangerous work process, personal safety can be guaranteed and work safety can be improved.
Description
Technical field
The utility model patent relates to a kind of line slideway Automatic Dosing machinery hand, belongs to the industrial explosive material field.
Background technology
Along with industry structural adjustment of commercial explosive materials article and technological progress paces are accelerated, the Ministry of Industry and Information Technology has higher requirement to the safety in production of civil detonation article manufacturing enterprise, and has issued the instruction of correlation technique progress; Spirit according to instruction; Industrial detonator manufacturing enterprise will strengthen the safe precaution measure in all kinds of firer's medicament production processes, improves the safety in production basic condition, strives for isolated operation, man-machine isolation; Reach automation, intellectuality; Reduce or eliminate the post of detonator filling, assembling line manually-operated dangerous material, improve the safe and reliable and active defence capability of production line, improve the Essential Safety level.Under this background condition,, accelerate to eliminate the production technology that falls behind just in order to improve the market competitiveness of enterprise; Ensure production line operation personnel's the security of the lives and property; Need a kind of mechanical device that can add medicine automatically of invention, be used for the assembling of firer's medicament, this mechanical device claimed structure is simple, easy to operate, cheap; And can realize automation, intellectuality, this is the object of the invention just.
Summary of the invention
The utility model technical problem to be solved has provided a kind of line slideway Automatic Dosing machinery hand of man-machine isolation; It mainly clamps cylinder by actuating unit, line slideway, mobile platform, arm lift cylinder, arm rotary cylinder, arm telescopic cylinder, paw rotary cylinder, paw and mechanical paw nine big parts are formed; Wherein also include air motor, synchronous belt, power transmission shaft, rapid escape valve, magnetic valve, PLC input 1, PLC input 2, wall window, charging machine, anti-danger door, actuating unit is made up of air motor, synchronous belt, power transmission shaft.Air motor provides power, drives the power transmission shaft rotation through synchronous belt, and power transmission shaft and linear bearing constitute transmission, and linear bearing is connected with mobile platform, is converted into mobile platform rotatablely moving and moves horizontally; Switching-over through magnetic valve realizes the rotating of air motor, thereby realizes that manipulator does horizontal reciprocating movement on line slideway.This manipulator is clamped the action of cylinder and mechanical paw by solenoid control arm lift cylinder, arm rotary cylinder, arm telescopic cylinder, paw rotary cylinder, paw; Thereby realize up-down, the rotation and flexible of arm, the paw rotation, clamp and action such as unclamp.
The technical scheme that its technical problem that solves the utility model adopts is: the one, adopt the PLC programme-control; With the solenoid control cylinder; With air motor as power supplying apparatus; Compressed air is as working media, through the horizontal reciprocating movement that rotatablely moves indirect realization mobile platform of power transmission shaft; The 2nd, through the reciprocating motion of cylinder, realize a series of actions of manipulator; Air motor substitutes conventional motors power is provided, and simplifies the structure, and has reduced installation and maintenance difficulty, has prevented the harm of static effectively, and switching-over is steadily quick, accurate positioning.The 3rd, two air inlets at air motor are equipped with rapid escape valve respectively, when guaranteeing the forward and reverse running of air motor, and action unicity and commutating speed; The 4th, on mechanical paw, increase groove design, it is safer fastening to make mechanical paw grasp medicine glass, even under the situation of cutting off the power supply suddenly and dying, medicine glass does not drop yet; The 5th, manipulator is when the medicine frame adds medicine, must be anti-danger door between powder charge close and the idle state of charging machine under just dosing.
The operation principle that its technical problem that solves the utility model adopts is: when dose is lower than setting value, and through PLC programme-control magnetic valve, thus the duty of control manipulator and transmission guide rod.
The utility model has substituted artificial direct contact or operational hazards flow chart, has realized man-machine isolation, has guaranteed personal safety, has avoided operating personnel to contact with the direct of dangerous operation operation, has improved degree of safety; Realize the mechanical automation operation, alleviated manually-operated labour intensity, reduced production cost, realized the remote transmission of dangerous goods.
Description of drawings
Fig. 1 is a line slideway Automatic Dosing machinery hand structural representation;
Fig. 2 is the manipulator behavior of falling a medicine flow chart;
Fig. 3 is an air motor work schematic diagram of gas circuit;
Fig. 4 is the manipulator of falling a medicine floor plan.
The specific embodiment
1 air motor, 2 synchronous belts, 3 power transmission shafts, 4 line slideways, 5 mobile platforms, 6 arm lift cylinders, 7 arm rotary cylinders, 8 arm telescopic cylinders, 9 paw rotary cylinders, 10 paws clamp cylinder, 11 mechanical paws, 12 rapid escape valves, 13 magnetic valves, 14 PLC input, 1,15 PLC input, 2,16 wall windows, 17 charging machines, 18 anti-danger doors among the figure.
Be example with the manipulator of falling the medicine between powder charge below, the utility model further described with the flow chart form: when medicine glass is put into the wall window by the drug delivery hand, after B wall window 16 is opened between powder charge in conjunction with Fig. 1 and Fig. 4; A wall window 16 closes between the drug delivery manipulator, and B wall window 16 is opened between powder charge, and arm lift cylinder 6 rises; Arm telescopic cylinder 8 work is stretched out the manipulator of falling medicine arm, gripping medicine glass on the batch pan of the mechanical paw of falling the medicine 11 in the wall window, and arm telescopic cylinder 8 is worked the manipulator of falling medicine arm is withdrawn; Horizontally rotate 180 degree, air motor 1 forward work, and through the linear guide transmission; Mechanical paw 11 presss from both sides medicine glass to the powder charge pusher side stably, and 6 work of manipulator arm lift cylinder are risen the manipulator arm, and 8 work of arm telescopic cylinder are stretched out arm then; The anti-danger of B door 18 is closed and is put in place when between the powder charge simultaneously, and after preparing the signal of falling the medicine and putting in place, and paw rotary cylinder 9 is worked and made mechanical paw 11 Rotate 180 degree fall medicine; The completion of falling the medicine, 8 work of arm telescopic cylinder make the arm withdrawal, and then 6 work of arm lift cylinder put the decline of manipulator arm in place; The manipulator of falling medicine air motor 1 reverse operation, through the linear guide transmission with medicine glass press from both sides stably to powder charge inter process B wall outside window, wall window 16 is opened; The manipulator of falling the medicine stretches out; Mechanical paw 11 unclamps to be put empty medicine glass on the batch pan to the wall window, the arm withdrawal be parked between the manipulator of falling the medicine wall outside window, wait for next the circulation.
Claims (8)
1. line slideway Automatic Dosing machinery hand is characterized in that it clamps cylinder (10), mechanical paw (11), rapid escape valve (12), magnetic valve (13), PLC input 1 (14), PLC input 2 (15), wall window (16), charging machine (17), anti-danger door (18) by air motor (1), synchronous belt (2), power transmission shaft (3), line slideway (4), mobile platform (5), arm lift cylinder (6), arm rotary cylinder (7), arm telescopic cylinder (8), paw rotary cylinder (9), paw and forms; Power is provided by air motor (1); Drive power transmission shaft (3) rotation through synchronous belt (2); Power transmission shaft (3) constitutes transmission with linear bearing, and linear bearing is connected with mobile platform (5), is converted into mobile platform (5) rotatablely moving and moves horizontally; Switching-over through magnetic valve (13) realizes the rotating of air motor (1), thereby realizes that manipulator does horizontal reciprocating movement on line slideway (4); This manipulator clamps the action of cylinder (10) and mechanical paw (11) through magnetic valve (13) control arm lift cylinder (6), arm rotary cylinder (7), arm telescopic cylinder (8), paw rotary cylinder (9), paw.
2. a kind of line slideway Automatic Dosing machinery hand according to claim 1 is characterized in that air motor (1) provides power, passes to power transmission shaft (3) to power through synchronous belt (2).
3. a kind of line slideway Automatic Dosing machinery hand according to claim 1 is characterized in that making the rotating of air motor (1) ability through the switching-over of magnetic valve (13).
4. a kind of line slideway Automatic Dosing machinery hand according to claim 1 is characterized in that between air motor (1) and magnetic valve (13), a rapid escape valve (12) being installed.
5. a kind of line slideway Automatic Dosing machinery hand according to claim 1 is characterized in that mobile platform (5) is to make horizontal reciprocating movement.
6. a kind of line slideway Automatic Dosing machinery hand according to claim 1 is characterized in that on mechanical paw (11), having increased groove.
7. a kind of line slideway Automatic Dosing machinery hand according to claim 1 is characterized in that clamping the clamping of cylinder (10) control mechanical paw and unclamping action through paw.
8. a kind of line slideway Automatic Dosing machinery hand according to claim 1 is characterized in that mechanical paw grasps between medicine glass when falling medicine powder charge anti-danger door (18) and closes, and under the idle state of charging machine, charging machine (17) medicine frame is fallen medicine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205615428U CN202528187U (en) | 2011-12-29 | 2011-12-29 | Automatic medicine-feeding manipulator with linear guide rail |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205615428U CN202528187U (en) | 2011-12-29 | 2011-12-29 | Automatic medicine-feeding manipulator with linear guide rail |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202528187U true CN202528187U (en) | 2012-11-14 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011205615428U Expired - Fee Related CN202528187U (en) | 2011-12-29 | 2011-12-29 | Automatic medicine-feeding manipulator with linear guide rail |
Country Status (1)
| Country | Link |
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| CN (1) | CN202528187U (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103707294A (en) * | 2013-12-18 | 2014-04-09 | 哈尔滨工程大学 | Perforating charge assembly manipulator |
| CN103801930A (en) * | 2014-03-04 | 2014-05-21 | 哈尔滨工业大学 | Automatic assembly mechanism for perforating bullet |
| CN103879777A (en) * | 2014-03-27 | 2014-06-25 | 重庆市隆泰稀土新材料有限责任公司 | Automatic carrying device of spool of stranding machine |
| CN104550528A (en) * | 2013-10-18 | 2015-04-29 | 珠海格力电器股份有限公司 | Automatic workpiece reversing device |
| CN104550531A (en) * | 2014-12-12 | 2015-04-29 | 天津石泰伟业技术开发有限公司 | Conveying device of punching machine |
| CN105479121A (en) * | 2016-01-30 | 2016-04-13 | 邓泽松 | Automatic conducting strip welding device and machining technology thereof |
| CN105583741A (en) * | 2016-03-10 | 2016-05-18 | 东莞市叁益机械科技有限公司 | Feeding and discharging manipulator used for precision sand blasting machine |
| CN105690415A (en) * | 2016-04-06 | 2016-06-22 | 江苏金铁人自动化科技有限公司 | Mechanical hand mechanism for gripping PCB boards |
| CN105772787A (en) * | 2016-04-22 | 2016-07-20 | 杭州新智远数控设备有限公司 | Automatic countersinking machine for key teeth |
| CN106167245A (en) * | 2016-07-13 | 2016-11-30 | 刘运华 | A kind of gardener uses automatic pouring device |
| CN106622432A (en) * | 2016-10-10 | 2017-05-10 | 南京卡迪逊机电设备有限公司 | Test tube clamping device, mobile platform provided with test tube clamping device and application method thereof |
| CN107378934A (en) * | 2017-08-22 | 2017-11-24 | 江苏鲁汶仪器有限公司 | Manipulator electromagnetic lifter structure |
| CN115111969A (en) * | 2022-06-30 | 2022-09-27 | 辽宁北方华丰特种化工有限公司 | Automatic mold conveying device for automatic assembling production line of insensitive electric initiator |
-
2011
- 2011-12-29 CN CN2011205615428U patent/CN202528187U/en not_active Expired - Fee Related
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104550528B (en) * | 2013-10-18 | 2017-04-12 | 珠海格力电器股份有限公司 | Automatic workpiece reversing device |
| CN104550528A (en) * | 2013-10-18 | 2015-04-29 | 珠海格力电器股份有限公司 | Automatic workpiece reversing device |
| CN103707294A (en) * | 2013-12-18 | 2014-04-09 | 哈尔滨工程大学 | Perforating charge assembly manipulator |
| CN103707294B (en) * | 2013-12-18 | 2015-12-02 | 哈尔滨工程大学 | Perforating bullet assembly manipulator |
| CN103801930A (en) * | 2014-03-04 | 2014-05-21 | 哈尔滨工业大学 | Automatic assembly mechanism for perforating bullet |
| CN103801930B (en) * | 2014-03-04 | 2016-04-06 | 哈尔滨工业大学 | A kind of perforating bullet Automated assembly mechanism |
| CN103879777A (en) * | 2014-03-27 | 2014-06-25 | 重庆市隆泰稀土新材料有限责任公司 | Automatic carrying device of spool of stranding machine |
| CN104550531A (en) * | 2014-12-12 | 2015-04-29 | 天津石泰伟业技术开发有限公司 | Conveying device of punching machine |
| CN105479121A (en) * | 2016-01-30 | 2016-04-13 | 邓泽松 | Automatic conducting strip welding device and machining technology thereof |
| CN105583741A (en) * | 2016-03-10 | 2016-05-18 | 东莞市叁益机械科技有限公司 | Feeding and discharging manipulator used for precision sand blasting machine |
| CN105690415A (en) * | 2016-04-06 | 2016-06-22 | 江苏金铁人自动化科技有限公司 | Mechanical hand mechanism for gripping PCB boards |
| CN105772787A (en) * | 2016-04-22 | 2016-07-20 | 杭州新智远数控设备有限公司 | Automatic countersinking machine for key teeth |
| CN106167245A (en) * | 2016-07-13 | 2016-11-30 | 刘运华 | A kind of gardener uses automatic pouring device |
| CN106167245B (en) * | 2016-07-13 | 2018-07-24 | 台州开腾园林工程有限公司 | A kind of automatic pouring device of gardener |
| CN106622432A (en) * | 2016-10-10 | 2017-05-10 | 南京卡迪逊机电设备有限公司 | Test tube clamping device, mobile platform provided with test tube clamping device and application method thereof |
| CN106622432B (en) * | 2016-10-10 | 2019-09-03 | 南京卡迪逊机电设备有限公司 | A kind of test tube clamping device, mobile platform and application method with test tube clamping device |
| CN107378934A (en) * | 2017-08-22 | 2017-11-24 | 江苏鲁汶仪器有限公司 | Manipulator electromagnetic lifter structure |
| CN115111969A (en) * | 2022-06-30 | 2022-09-27 | 辽宁北方华丰特种化工有限公司 | Automatic mold conveying device for automatic assembling production line of insensitive electric initiator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121114 Termination date: 20141229 |
|
| EXPY | Termination of patent right or utility model |