CN207415342U - A kind of movable type is outer to grab lid manipulator - Google Patents
A kind of movable type is outer to grab lid manipulator Download PDFInfo
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- CN207415342U CN207415342U CN201720655772.8U CN201720655772U CN207415342U CN 207415342 U CN207415342 U CN 207415342U CN 201720655772 U CN201720655772 U CN 201720655772U CN 207415342 U CN207415342 U CN 207415342U
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- guide rod
- guide rail
- sliding slot
- pushing
- sliding block
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Abstract
The utility model is related to grab lid manipulator outside a kind of movable type, it is characterised in that it includes mobile device, the first guide rail, pushing meanss, the first guide rod, the first sliding block, the second guide rail, sliding slot item, quadrangle hinged casing, braced frame, the paw mechanism for completing grasping movement；Wherein mobile device is by driving quadrangle hinged casing to drive the sliding slot item；The sliding slot item drives the first sliding block to move in a first direction, and pushing meanss are by promoting first guide rod that the first sliding block is driven to move in a second direction；First sliding block drives paw mechanism to realize in space and moves freely crawl object；The manipulator design is simple in structure, compact-sized, and simplest structure can be used to realize that the multiple degrees of freedom in horizontal plane slides, easy to disassemble, as long as removing out of order carriage can be realized maintenance, without entire manipulator is all dismantled；It can be accurately positioned vial position, save power, safe and reliable.
Description
Technical field
The utility model is related to intelligent manufacturing equipment technical field, more specifically, being to be related to outside a kind of movable type to grab lid
Manipulator.
Background technology
The current country is in production intelligently equipment evolution from scratch, and intelligence equipment mainly will at present
Equipment in existing product line is used, and realizes intelligent production, saves and is produced into while improving production efficiency
This.
Increasingly focus on product currently for liquid goods such as drinks, daily use chemicals, the flavouring in fast consumables industry
Personalization packaging, using miscellaneous special-shaped bottle (irregular square, round bottle), for ease of the carrying of product, it is necessary to
Product is cased, is carried out after production in packaging production line, applicable industry robot carries out the work of packaging products in boxes
It is increasingly extensive.The robot type for realizing packaging products in boxes function is substantially identical, but for different products, different dresses
Box-shaped formula, robot need mating different manipulator, could smoothly capture product, and case by prescribed form.It is however different
The vanning of shape bottle proposes new requirement to packaging industry, convenient for intelligence production with being deposited convenient for manually-operated robot manipulator structure
Gap in itself, current equipment are difficult to accomplish this point.
Utility model content
In view of this, it is necessary to for it is set forth above the problem of, provide and a kind of portable outer grab lid manipulator.
A kind of movable type is outer to grab lid manipulator, including mobile device, the first guide rail, pushing meanss, the first guide rod, first
Sliding block, the second guide rail, sliding slot item, quadrangle hinged casing, braced frame, the paw mechanism for completing grasping movement；
First guide rail and the second guide rail are respectively and fixedly installed to the support frame along a first direction in parallel to each other
The both ends of frame, first guide rail are equipped with the first pushing plate being slidably connected with it, and second guide rail is equipped with and is slided with it
Second pushing plate of dynamic connection is equipped with first set in a second direction and leads between first pushing plate and the second pushing plate
To bar, first guide rod is equipped with the first sliding block being slidably matched with it；The sliding slot item is arranged on along a first direction
It in the braced frame, is set wherein the sliding slot item slides in a second direction with support frame as described above, first sliding block exists
It is slidably matched on first direction with the sliding slot item, the quadrangle hinged casing is connected to the mobile device and the sliding slot item
Between, the mobile device drives the sliding slot item to move in this second direction by driving the quadrangle hinged casing
Dynamic, the sliding slot item drives first sliding block to be slided on first guide rod along second direction；
The pushing meanss are correspondingly arranged with first pushing plate, the pushing meanss drive first pushing plate and
First guide rod slides along a first direction on first guide rail, so as to which first guide rod drives described first
Sliding block moves in a first direction；
The paw mechanism is arranged on along third direction on first sliding block.
Further, wherein the sliding slot item is equipped with the flanged groove opened up along the first direction.
Further, the quadrangle hinged casing, which is hinged on endpoint, is equipped with pulley, and the pulley is slided with the groove
Cooperation.
Further, the pushing meanss include the first driving motor, are connected with the shaft of first driving motor
First leading screw；The screw with the first leading screw Corresponding matching is equipped in first pushing plate, first driving motor leads to
It overdrives and rotates first leading screw, so as to which first pushing plate be driven to be slided on first guide rail, described first pushes away
Movable plate is by driving first guide rod so that second pushing plate be driven to be slided on second guide rail.
Further, the mobile device includes the second driving motor, for second driving motor to be fixedly mounted
Motor cabinet, the second leading screw being connected with the shaft of second driving motor, the second guide rod set along second direction, institute
It states the second leading screw and is equipped with the movable plate for passing through the corresponding setting of screw, the both ends of second guide rod are fixedly installed respectively
It in the motor cabinet and is arranged in the support plate of the braced frame, the movable plate is equipped with to be slided with second guide rod
The sliding eye of cooperation so that the movable plate moves under the driving of second driving motor on second guide rod；
The movable plate is connected with the quadrangle hinged casing, and the movable plate drives the quadrangle hinged casing to carry out folding and unfolding action.
Further, the paw mechanism includes pushing mechanism, linkage mechanism, tail house, and the pushing mechanism includes
Turntable and pushing meanss, the linkage mechanism is promoted to be moved up and down under the transmission of the pushing meanss, is turned in described promote
It is rotated freely under the transmission of disk in horizontal direction；The tail house is fixed on the linkage mechanism, the tail house bag
Include clamp system and grappling fixture mechanism；Wherein described clamp system includes the first clamp system and the second clamp system, the grappling fixture
Mechanism includes the first grappling fixture mechanism and the second grappling fixture mechanism；The first grappling fixture mechanism and the second grappling fixture mechanism are embedded flute profile ring
Shape slot structure；The tail house is connected directly with the linkage mechanism, and the action of the linkage mechanism is conducted to the end
Mechanism completes the tail house bottle clamping process.
The utility model design structure is simple, compact-sized, simplest structure can be used to realize more in horizontal plane
Degree of freedom is slided, and can be widely applied in the binning process of various special-shaped bottles；Easy to disassemble, more rail slide constructions can allow dimension
Protect it is more convenient, as long as removing out of order paw mechanism can be realized maintenance, without whole equipment all dismantle；It being capable of essence
It determines position vial position, saves power, safe and reliable.
Description of the drawings
Fig. 1 is the utility model embodiment dimensional structure diagram；
Fig. 2 is the utility model embodiment schematic top plan view；
Fig. 3 is the utility model embodiment paw mechanism schematic diagram；
It is marked in figure：1- mobile devices, the second driving motors of 11-, 12- motor cabinets, the second leading screws of 13-, 14- second are oriented to
Bar, 15- movable plates, 16- support plates, the first guide rails of 5-, the second guide rails of 51-, the first pushing plates of 52-, the second pushing plates of 53-, 6-
Pushing meanss, the first leading screws of 61-, the first driving motors of 62-, the first guide rods of 7-, the first sliding blocks of 71-, 8- sliding slots item, 81- are recessed
Slot, 9- quadrangles hinged casing, 91- pulleys, 10- braced frames, 100- paw mechanisms, 2- pushing mechanisms, 3- linkage mechanisms, 4- ends
Terminal structure, 211- promote turntable, 222- pushing meanss, 421- clamp systems, 422- grappling fixtures mechanism.
Specific embodiment
Illustrate specific embodiment of the present utility model below in conjunction with the accompanying drawings.
Referring to shown in Fig. 1, Fig. 2, Fig. 3, a kind of embodiment of the utility model, a kind of movable type is outer to grab lid manipulator, wraps
Include mobile device 1, the first guide rail 5, pushing meanss 6, the first guide rod 7, the first sliding block 71, the second guide rail 51, sliding slot item 8, four
Side shape hinged casing 9, braced frame 10, the paw mechanism for completing grasping movement；
First guide rail, 5 and second guide rail 51 is respectively and fixedly installed to the support along a first direction in parallel to each other
The both ends of frame 10, first guide rail 5 are equipped with the first pushing plate 52 being slidably connected with it, are set on second guide rail 51
There is the second pushing plate 53 being slidably connected with it, be equipped in a second direction between 52 and second pushing plate 53 of the first pushing plate
The first guide rod 7 set, first guide rod 7 are equipped with the first sliding block 71 being slidably matched with it；8 edge of sliding slot item
It first direction to be arranged in the braced frame 10, wherein the sliding slot item 8 slides in a second direction with support frame as described above
It sets, first sliding block 71 is slidably matched in a first direction with the sliding slot item 8, and the quadrangle hinged casing 9 is connected to
Between the mobile device 1 and the sliding slot item 8, the mobile device 1 is by driving the quadrangle hinged casing 9 to drive
It states sliding slot item 8 to move in this second direction, the sliding slot item 8 drives first sliding block 71 in first guide rod 7
On slided along second direction；
The pushing meanss 6 are correspondingly arranged with first pushing plate 52, and the pushing meanss 6 drive described first to promote
Plate 52 and first guide rod 7 slide along a first direction on first guide rail 5, so as to 7 band of the first guide rod
First sliding block 71 is moved to move in a first direction；
The paw mechanism is arranged on along third direction on first sliding block 71.
Further, wherein the sliding slot item 8 is equipped with the flanged groove 81 opened up along the first direction.
Further, the quadrangle hinged casing 9, which is hinged on endpoint, is equipped with pulley 91, the pulley 91 with it is described recessed
Slot 81 is slidably matched.
Further, the pushing meanss 6 include the first driving motor 62, the shaft phase with first driving motor 62
The first leading screw 61 even；The interior screw being equipped with 61 Corresponding matching of the first leading screw of first pushing plate 52, described first
Driving motor 62 rotates first leading screw 61 by driving, so as to drive first pushing plate 52 in first guide rail 5
Upper slip, first pushing plate 52 drive second pushing plate 53 described by driving first guide rod 7
It is slided on second guide rail 51.
Further, the mobile device 1 includes the second driving motor 11, for second driving motor to be fixedly mounted
11 motor cabinet 12, the second leading screw 13 being connected with the shaft of second driving motor 11, set along second direction the
Two guide rods 14, second leading screw 13 are equipped with the movable plate 15 by the corresponding setting of screw, second guide rod
14 both ends are fixedly installed on the motor cabinet 12 and are arranged in the support plate 16 of the braced frame 10 respectively, the movement
Plate 15 is equipped with the sliding eye being slidably matched with second guide rod 14 so that the movable plate 15 is in second driving motor
It is moved under 11 driving on second guide rod 14；The movable plate 15 is connected with the quadrangle hinged casing 9, the shifting
Movable plate 15 drives the quadrangle hinged casing 9 to carry out folding and unfolding action.
Further, as shown in figure 3, paw mechanism 100 includes pushing mechanism 2, linkage mechanism 3, tail house 4.It is described
Pushing mechanism 2 includes promoting turntable 211 and pushing meanss 222, the linkage mechanism 3 can be in the biography of the pushing meanss 222
Reciprocal elevating movement is done on dynamic lower vertical direction, is rotated freely under the transmission of the promotion turntable 221 in horizontal direction；
The tail house 4 is fixed on the linkage mechanism 3, including clamp system 421 and grappling fixture mechanism 422；It is described
Clamp system includes the first clamp system and the second clamp system, and the grappling fixture mechanism includes the first grappling fixture mechanism and the second grappling fixture
Mechanism；The first grappling fixture mechanism and the second grappling fixture mechanism are embedded flute profile ring channel structures, and that realizes in horizontal plane outer grabs lid
And the elevating movement in vertical direction；
The tail house 4 is connected directly with the linkage mechanism 3, so the action of the linkage mechanism 3 eventually passes
The tail house 4 is directed at, completes the 4 bottle clamping process of tail house；
When the first grappling fixture mechanism and the second grappling fixture mechanism stress are grabbed bottle, clamping force：
F=(FtL1sina)/2L2
Wherein：Ft be the pushing mechanism motive force, α be clamp when described in the first linkage mechanism with horizontal folder
Angle；L1The connection being connected respectively with first pushing mechanism and first clamp system for the first linkage mechanism both ends
The distance between point；L2For the distance between the first clamp system fulcrum and the first grappling fixture mechanism fulcrum.
The clamping force of the first grappling fixture mechanism and the second grappling fixture mechanism must pull against dead load caused by gravity itself
It follows and bottle is moved in binning process to inertia force or moment of inertia caused by action variation during vanning position, to ensure bottle
Clamped condition.
μG≤Ft＜ Fp
Wherein：μ is embedded coefficient of friction between flute profile ring channel structures and bottle cap；G is the gravity of bottle；FpFor bottle cap
The maximum stress that will be crushed.
The utility model design structure is simple, compact-sized, simplest structure can be used to realize more in horizontal plane
Degree of freedom is slided, and can be widely applied in the binning process of various special-shaped bottles；Easy to disassemble, more rail slide constructions can allow dimension
Protect it is more convenient, as long as removing out of order paw mechanism can be realized maintenance, without whole equipment all dismantle；It being capable of essence
It determines position vial position, saves power, safe and reliable.
Embodiment described above only expresses the several embodiments of the utility model, and description is more specific and detailed,
But it should not be interpreted as limiting the scope of the present invention.It should be pointed out that for the common of this field
For technical staff, without departing from the concept of the premise utility, various modifications and improvements can be made, these all belong to
In the scope of protection of the utility model.Therefore, the protection domain of the utility model patent should be determined by the appended claims.
Claims (6)
1. a kind of movable type is outer to grab lid manipulator, it is characterised in that：It is led including mobile device, the first guide rail, pushing meanss, first
To bar, the first sliding block, the second guide rail, sliding slot item, quadrangle hinged casing, braced frame, the paw machine for completing grasping movement
Structure；
First guide rail and the second guide rail are respectively and fixedly installed to the braced frame along a first direction in parallel to each other
Both ends, first guide rail are equipped with the first pushing plate being slidably connected with it, and second guide rail is equipped with and its company of slip
The second pushing plate connect is equipped with the first guide rod set in a second direction between first pushing plate and the second pushing plate,
First guide rod is equipped with the first sliding block being slidably matched with it；The sliding slot item is arranged on the branch along a first direction
On support frame frame, set wherein the sliding slot item slides in a second direction with support frame as described above, first sliding block is in first party
It being slidably matched upwards with the sliding slot item, the quadrangle hinged casing is connected between the mobile device and the sliding slot item,
The mobile device drives the sliding slot item to move in this second direction by driving the quadrangle hinged casing, described
Sliding slot item drives first sliding block to be slided on first guide rod along second direction；
The pushing meanss are correspondingly arranged with first pushing plate, and the pushing meanss drive first pushing plate and described
First guide rod slides along a first direction on first guide rail, so as to which first guide rod drives first sliding block
It moves in a first direction；
The paw mechanism is arranged on along third direction on first sliding block.
2. a kind of movable type is outer according to claim 1 grabs lid manipulator, it is characterised in that：Wherein described sliding slot item is equipped with
The flanged groove opened up along the first direction.
3. a kind of movable type is outer according to claim 2 grabs lid manipulator, it is characterised in that：The quadrangle hinged casing is hinged
Pulley is installed, the pulley is slidably matched with the groove on endpoint.
4. a kind of movable type is outer according to claim 1 grabs lid manipulator, it is characterised in that：The pushing meanss include first
Driving motor, the first leading screw being connected with the shaft of first driving motor；It is equipped in first pushing plate and described the
The screw of one leading screw Corresponding matching, first driving motor rotate first leading screw by driving, so as to drive described the
One pushing plate is slided on first guide rail, and first pushing plate is described so as to drive by driving first guide rod
Second pushing plate is slided on second guide rail.
5. a kind of movable type is outer according to claim 1 grabs lid manipulator, it is characterised in that：The mobile device includes second
Driving motor, for second driving motor is fixedly mounted motor cabinet, be connected with the shaft of second driving motor
Second leading screw, the second guide rod set along second direction, second leading screw are equipped with through the corresponding setting of screw
Movable plate, the both ends of second guide rod are fixedly installed on the motor cabinet and are arranged at the branch of the braced frame respectively
On fagging, the movable plate is equipped with the sliding eye that is slidably matched with second guide rod so that the movable plate is described the
It is moved under the driving of two driving motors on second guide rod；The movable plate is connected with the quadrangle hinged casing, institute
Stating movable plate drives the quadrangle hinged casing to carry out folding and unfolding action.
6. a kind of movable type is outer according to claim 1 grabs lid manipulator, it is characterised in that：The paw mechanism includes promoting
Mechanism, linkage mechanism, tail house, the pushing mechanism include promoting turntable and pushing meanss, and the linkage mechanism is described
It moves up and down under the transmission of pushing meanss, is rotated freely under the transmission of the promotion turntable in horizontal direction；The end
Mechanism is fixed on the linkage mechanism, and the tail house includes clamp system and grappling fixture mechanism；Wherein described clamp system
Including the first clamp system and the second clamp system, the grappling fixture mechanism includes the first grappling fixture mechanism and the second grappling fixture mechanism；Institute
It is embedded flute profile ring channel structures to state the first grappling fixture mechanism and the second grappling fixture mechanism；The tail house and the linkage mechanism are straight
Connect connected, the action of the linkage mechanism is conducted to the tail house, completes the tail house bottle clamping process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720655772.8U CN207415342U (en) | 2017-06-07 | 2017-06-07 | A kind of movable type is outer to grab lid manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720655772.8U CN207415342U (en) | 2017-06-07 | 2017-06-07 | A kind of movable type is outer to grab lid manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207415342U true CN207415342U (en) | 2018-05-29 |
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ID=62399031
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720655772.8U Active CN207415342U (en) | 2017-06-07 | 2017-06-07 | A kind of movable type is outer to grab lid manipulator |
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| Country | Link |
|---|---|
| CN (1) | CN207415342U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107471193A (en) * | 2017-06-07 | 2017-12-15 | 广东省智能制造研究所 | A kind of movable type is outer to grab lid manipulator |
-
2017
- 2017-06-07 CN CN201720655772.8U patent/CN207415342U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107471193A (en) * | 2017-06-07 | 2017-12-15 | 广东省智能制造研究所 | A kind of movable type is outer to grab lid manipulator |
| CN107471193B (en) * | 2017-06-07 | 2023-10-31 | 广东省智能制造研究所 | Movable outer cover grabbing manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 510000 building 13, 100 martyrs Road, Yuexiu District, Guangzhou, Guangdong. Patentee after: Institute of intelligent manufacturing, Guangdong Academy of Sciences Address before: 510000 13 building, 100 martyrs Road, Yuexiu District, Guangzhou, Guangdong. Patentee before: GUANGDONG INSTITUTE OF INTELLIGENT MANUFACTURING |
|
| CP03 | Change of name, title or address |