CN204675205U - A kind of bulk drug input and output material manipulator - Google Patents
A kind of bulk drug input and output material manipulator Download PDFInfo
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- CN204675205U CN204675205U CN201520293061.1U CN201520293061U CN204675205U CN 204675205 U CN204675205 U CN 204675205U CN 201520293061 U CN201520293061 U CN 201520293061U CN 204675205 U CN204675205 U CN 204675205U
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- drive motor
- bulk drug
- output material
- riser guide
- frame
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Abstract
The utility model discloses a kind of bulk drug input and output material manipulator, it is characterized in that, comprise main orbit, the top of main orbit is connected with frame, driving slide block on main orbit is connected with rail system drive motor, the bottom of frame is provided with the electricity getting system be connected with rail system drive motor, frame is provided with riser guide, riser guide is provided with limit switch, the slide block of riser guide is connected with the one side of lifting support, the another side of lifting support is connected with propelling track, one end of propelling track is connected with propulsion system drive motor, slide block on propelling track is provided with spray gun fixture, electricity getting system is also connected with laser ranging and laser communications assembly and jacking system drive motor.The utility model can run when dust is severe, and there will not be the situation of stuck jumping tooth, adds the closed loop control of each axle simultaneously, and make the accurate positioning safety of spray gun, positioning precision is high, runs stability and safety more.
Description
Technical field
The utility model relates to a kind of bulk drug input and output material manipulator, is mainly used in the discharging after the reinforced of overturning plate freeze-drying machine and freeze-drying, belongs to electromechanical integration technology area.
Background technology
Overturning plate freeze-drying machine be charging without the need to pallet, tray form made by whole dividing plate, dividing plate both sides and back upward folded, the freeze-drier that prosopyle is upturned is a kind of special novel freeze dryer developed for freeze-drying bulk drug.
Bulk drug manipulator is a kind of charging/discharging device designed for overturning plate freeze-drying machine, and three axles altogether, can realize the motion of spray gun in X, Y, Z axis three directions.
There is lower column defects in existing freeze dryer input and output material:
1, existing bulk drug manipulator is open loop servocontrol, jumps tooth and just there will be the inaccurate situation of tracks positioned, bring very large risk to the safety of equipment when equipment because of external force or track.
2, the guide rail that existing bulk drug manipulator adopts is common rail, easily jumps tooth, and the Dust Capacity simultaneously because of bulk drug during discharging is large, and part dust can enter guide rail interior, and causes guide rail slide block stuck or jump tooth.
Summary of the invention
The technical problems to be solved in the utility model is: provide that a kind of positioning precision is high, the bulk drug input and output material manipulator of stable and safe in operation, solve existing bulk drug manipulator and can cause occurring the situation that tracks positioned is inaccurate, and easily cause guide rail slide block stuck or jump the problem of tooth.
In order to solve the problems of the technologies described above, the technical solution of the utility model there is provided a kind of bulk drug input and output material manipulator, it is characterized in that, comprise main orbit, the top of main orbit is connected with frame, driving slide block on main orbit is connected with rail system drive motor, the bottom of frame is provided with the electricity getting system be connected with rail system drive motor, frame is provided with riser guide, riser guide is provided with limit switch, the slide block of riser guide is connected with the one side of lifting support, the another side of lifting support is connected with propelling track, one end of propelling track is connected with propulsion system drive motor, slide block on propelling track is provided with spray gun fixture, electricity getting system is also connected with laser ranging and laser communications assembly and jacking system drive motor.
Preferably, described electricity getting system is spring spool.
Preferably, upper and lower two extreme position of riser guide are located at by described limit switch.
Preferably, in described frame, the side of lifting support is provided with control system.
Preferably, the side on described riser guide top is provided with lifting displacement pickup.
Preferably, described propelling track is provided with forward displacement sensor.
The utility model can run when dust is severe, and there will not be the situation of stuck jumping tooth, adds the closed loop control of each axle simultaneously, and make the accurate positioning safety of spray gun, positioning precision is high, runs stability and safety more.
Accompanying drawing explanation
Fig. 1 is a kind of structural representation of bulk drug input and output material manipulator;
Fig. 2 is a kind of discharging schematic diagram of bulk drug input and output material manipulator;
Fig. 3 is a kind of reinforced schematic diagram of bulk drug input and output material manipulator.
Wherein: 1 is frame, 2 is rail system drive motor, 3 is main orbit, 4 is electricity getting system, 5 is laser ranging and laser communications assembly, 6 is jacking system drive motor, 7 is limit switch, 8 is spray gun fixture, 9 is propelling track, 10 is lifting support, 11 is riser guide, 12 is lifting displacement pickup, 13 is control system, 14 is forward displacement sensor, 15 is propulsion system drive motor, 16 is vacuum intake component system, 17 is discharging gun connecting hose, 18 is overturning plate freeze-drying machine, 19 is discharging gun, 20 is feeding gun, 21 is reinforced flexible pipe, 22 is charge pump.
Detailed description of the invention
For making the utility model become apparent, hereby with preferred embodiment, and accompanying drawing is coordinated to be described in detail below.
The utility model is a kind of bulk drug input and output material manipulator, fundamentally solves stuck jumping tooth appears in guide rail situation because of dust reason, can make the equipment of the accurate positioning safety of spray gun simultaneously.As shown in Figure 1, it comprises rail system, electricity getting system, jacking system, propulsion system and control system.Rail system is the basis of complete machine, complete machine can be made to take the air line along the X-direction of track and move, form closed loop simultaneously by laser ranging and driven by servomotor, detect the position residing for complete machine constantly, makes complete machine realize accurately location.Jacking system is driven by jacking system drive motor 6, can drive propulsion system up-and-down movement together with spray gun, and jacking system is furnished with lifting displacement pickup 12, forms closed loop control with jacking system drive motor 6, guarantees the accuracy being elevated location.Propulsion system is driven by propulsion system drive motor 15, is also furnished with forward displacement sensor 14 simultaneously and forms closed loop control with propulsion system drive motor 15, guarantees that spray gun advances the accuracy of location.Control system links together the action automatic order of each Iarge-scale system, realizes the automation of complete machine.Control system and freeze dryer adopt laser communications, realize interlock and the interlocking of manipulator and freeze dryer.Dust-proof guide rail all selected by all guide rails, and its guide rail driving pulley is provided with belt pressure wheel, can prevent belt from jumping tooth at driving pulley place.
Wherein, rail system comprises main orbit 3, rail system drive motor 2 and laser ranging and laser communications assembly 5; Jacking system comprises jacking system drive motor 6, limit switch 7, lifting support 10, riser guide 11, lifting displacement pickup 12; Propulsion system comprises spray gun fixture 8, propelling track 9, forward displacement sensor 14, propulsion system drive motor 15; Electricity getting system is spring spool and fixed support mainly; Control system is touch-screen and PLC.
Main orbit 3 is the X-axis linear positioning system of manipulator, be connected with frame 1 above it, frame 1 is the main body of whole manipulator, for installing all parts, rail system drive motor 2 is connected with the driving slide block of main orbit 3, and for it provides driving power, laser ranging and laser communications assembly 5 are critical components of rail system with main orbit 3, by the distance measurement feedback constantly of laser ranging and laser communications assembly 5, realize the accurate location of main orbit 3, electricity getting system 4 is spring spool, be arranged on bottom frame 1, for whole set equipment provides power supply, namely electricity getting system 4 is connected with rail system drive motor 2, laser ranging and laser communications assembly 5 and jacking system drive motor 6 respectively, the automatic deploying and retracting of cable meeting simultaneously, can not affect the motion of complete machine, riser guide 11 is arranged in frame 1, with jacking system drive motor 6, the jacking system of manipulator such as composition such as part such as lifting displacement pickup 12 grade, lifting displacement pickup 12 is arranged on the side on riser guide 11 top, the position of riser guide 11 top shoe is accurately controlled by the position probing being elevated displacement pickup 12, limit switch 7 is arranged on two extreme position up and down of riser guide 11, prevent riser guide 11 over travel from running and damaging guide rail, lifting support 10 one side is connected with the slide block on riser guide 11, another side is connected with propelling track 9, support whole propulsion system, propulsion system drive motor 15 is connected with propelling track 9, power is provided to guide rail, the slide position of propelling track 9 is accurately controlled in addition by the position probing of forward displacement sensor 14 connected on propelling track 9, spray gun fixture 8 is arranged on the slide block of propelling track 9, for installation spray gun, namely spray gun fixture 8 can be used for feeding gun 20 and discharging gun 19 jointly to use, upper cover can open with hinge by spray gun fixture 8, after spray gun is installed, again upper cover is closed, tighten by hand and compress knob, convenient and swift.Control system 13 is brains of complete machine, be arranged on the side of lifting support 10 in frame 1, it controls the operation of each system according to the setting of program, to be linked freeze dryer and manipulator by laser ranging and laser communications assembly 5 and the communication of overturning plate freeze-drying machine 18 simultaneously.
As shown in Figure 2, for a kind of discharging schematic diagram of bulk drug input and output material manipulator, discharging gun 19, when discharging, is first arranged on spray gun fixture 8 by the bulk drug after freeze-drying, and is connected on vacuum intake component system 16 by discharging gun connecting hose 17 by discharging gun 19.After dead work completes, open vacuum intake component system 16 to vacuumize, discharging gun 19 is by the location of rail system in X-direction, determine spray gun 19 suction from one side of overturning plate freeze-drying machine 18 flaggy, then move the width of a rifle head at every turn, until be drawn onto another side, complete the discharging of one piece of flaggy; Discharging gun 19, by the location of jacking system in Y direction, is determined to carry out discharging to the flaggy of specified altitude assignment; Discharging gun 19, by the movement of propulsion system in Z-direction, makes discharging gun 19 move discharging at flaggy depth direction.
Wherein, X-axis is the horizontal parallel direction of 3 main orbits, and Y-axis is the parallel directions of 9 propelling tracks, and Z axis is the parallel direction of vertical direction and riser guide.
As shown in Figure 3, for a kind of reinforced schematic diagram of bulk drug input and output material manipulator, before carrying out freeze dryer and be reinforced, first feeding gun 20 is arranged on spray gun fixture 8, and feeding gun 20 is connected on charge pump 22 by reinforced flexible pipe 21, by the location of rail system in X-direction, feeding gun 20 is navigated to the position of center line of flaggy, then coordinate to select by jacking system and propulsion system the flaggy of specified altitude assignment is fed in raw material.
Claims (6)
1. a bulk drug input and output material manipulator, it is characterized in that, comprise main orbit (3), the top of main orbit (3) is connected with frame (1), driving slide block on main orbit (3) is connected with rail system drive motor (2), the bottom of frame (1) is provided with the electricity getting system (4) be connected with rail system drive motor (2), frame (1) is provided with riser guide (11), riser guide (11) is provided with limit switch (7), the slide block of riser guide (11) is connected with the one side of lifting support (10), the another side of lifting support (10) is connected with propelling track (9), one end of propelling track (9) is connected with propulsion system drive motor (15), slide block on propelling track (9) is provided with spray gun fixture (8), electricity getting system (4) is also connected with laser ranging and laser communications assembly (5) and jacking system drive motor (6).
2. a kind of bulk drug input and output material manipulator as claimed in claim 1, is characterized in that, described electricity getting system (4) is spring spool.
3. a kind of bulk drug input and output material manipulator as claimed in claim 1, is characterized in that, upper and lower two extreme position of riser guide (11) are located at by described limit switch (7).
4. a kind of bulk drug input and output material manipulator as claimed in claim 1, is characterized in that, described frame (
1) side of upper lifting support (10) is provided with control system (13).
5. a kind of bulk drug input and output material manipulator as claimed in claim 1, is characterized in that, the side on described riser guide (11) top is provided with lifting displacement pickup (12).
6. a kind of bulk drug input and output material manipulator as claimed in claim 1, is characterized in that, described propelling track (9) is provided with forward displacement sensor (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520293061.1U CN204675205U (en) | 2015-05-08 | 2015-05-08 | A kind of bulk drug input and output material manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520293061.1U CN204675205U (en) | 2015-05-08 | 2015-05-08 | A kind of bulk drug input and output material manipulator |
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| CN204675205U true CN204675205U (en) | 2015-09-30 |
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| CN201520293061.1U Active CN204675205U (en) | 2015-05-08 | 2015-05-08 | A kind of bulk drug input and output material manipulator |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105620995A (en) * | 2016-04-11 | 2016-06-01 | 山东建筑大学 | Automatic storing and fetching device for expresses |
| CN106882524A (en) * | 2017-02-15 | 2017-06-23 | 安得物流股份有限公司 | Automatically go out shelf |
| CN110118536A (en) * | 2019-05-15 | 2019-08-13 | 大连民族大学 | A kind of measurement surface of test piece any position deformed finger target device |
| CN114061302A (en) * | 2021-12-31 | 2022-02-18 | 楚天科技股份有限公司 | Discharging optimization control system and control method for freeze dryer |
-
2015
- 2015-05-08 CN CN201520293061.1U patent/CN204675205U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105620995A (en) * | 2016-04-11 | 2016-06-01 | 山东建筑大学 | Automatic storing and fetching device for expresses |
| CN106882524A (en) * | 2017-02-15 | 2017-06-23 | 安得物流股份有限公司 | Automatically go out shelf |
| CN106882524B (en) * | 2017-02-15 | 2022-03-25 | 芜湖安得智联科技有限公司 | Full-automatic goods delivery frame |
| CN110118536A (en) * | 2019-05-15 | 2019-08-13 | 大连民族大学 | A kind of measurement surface of test piece any position deformed finger target device |
| CN114061302A (en) * | 2021-12-31 | 2022-02-18 | 楚天科技股份有限公司 | Discharging optimization control system and control method for freeze dryer |
| CN114061302B (en) * | 2021-12-31 | 2022-11-29 | 楚天科技股份有限公司 | Discharging optimization control system and control method for freeze dryer |
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