CN209014457U - A kind of gripper device of inoculated needle vision detection system - Google Patents
A kind of gripper device of inoculated needle vision detection system Download PDFInfo
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- CN209014457U CN209014457U CN201821730972.6U CN201821730972U CN209014457U CN 209014457 U CN209014457 U CN 209014457U CN 201821730972 U CN201821730972 U CN 201821730972U CN 209014457 U CN209014457 U CN 209014457U
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- guiding axis
- gripper
- clamping hand
- cylinder body
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Abstract
The utility model discloses a kind of gripper devices of inoculated needle vision detection system, including gripper ontology, left and right clamping hand, clamping hand switching mechanism and rotating mechanism.Gripper ontology includes drum, the guide sleeve for being connected to drum bottom surface and the guide pressing plate for being covered on drum top surface；Left and right clamping hand is symmetrically from the cavity for being inserted into drum in the notch of drum two sides；Clamping hand switching mechanism includes that a guiding axis, cam connector, the small bearing of two cams and guiding axis drive upside down mechanism；Guiding axis is slidably inserted into the guide sleeve of gripper ontology；Cam connector is mounted on the upper end of guiding axis；On the front end face for the left plate that two small bearings of cam were respectively embedded in the guide groove of left and right arm and each were attached to cam connector and on the rear end face of right side plate；Guiding axis drives upside down the bottom that mechanism is connected to guiding axis；Rotating mechanism includes two bearings and a synchronous pulley.The gripper device of the utility model can steadily clamp inoculated needle product.
Description
Technical field
The utility model relates to a kind of gripper devices of inoculated needle vision detection system.
Background technique
In pharmaceutical machine apparatus field, full-automatic soup bottle intelligent vision checks that system is for west on pharmaceutical production line
The full-automatic on-line measuring device of the product qualities detection such as woods bottle, cillin bottle and large transfusion bottle, can with on-line checking glass chip,
The foreign matters such as metal aluminium skimmings, eraser chips, hair, fiber can also detect the package quality of the breakage of bottle body itself, crackle and bottleneck
Deng automatic rejection rejected product.Compared with artificial detection, detection speed and quality is greatly improved, artificial detection is avoided
Unstability, realize product is carried out 100% detection, and detection method and standard are uniformly unified, and thoroughly prevent not conforming to
The product of lattice enters market.It is combined with machine vision technique with Automatic Control Theory, makes to be detected by mechanical means
Product runs at high speed, brakes, and a series of images of detected material is obtained using high-speed industrial camera, with high-performance industrial control system
And software calculates image, is analyzed, and the detection to product is completed.The rejected product detected passes through holding for automatic control
Luggage, which is set, gives automatic rejection, realizes the touchless detection of medicinal liquid bottle quality.
There are mainly two types of medicinal liquid bottle vision inspection apparatus-lamp inspection machines currently on the market: one is intermittent lamp inspection machine, phases
Machine is remained stationary with light source, when bottle turns between camera and light source, is stopped operating and is completed Image Acquisition；Another kind is
Continous way lamp inspection machine, camera and light source are kept by mechanically operated mode and detect bottle synchronous rotation completion Image Acquisition.Before
Person's detection is discontinuous, and detection efficiency is extremely low；The latter is realized by mechanical drive mode and is synchronized, and is pacified to machine components processing and structure
Reload request is higher, once assembly precision does not reach requirement, will directly affect detection accuracy.
Utility model content
A kind of inoculated needle vision detection system is provided the purpose of the utility model is to overcome the defect of the prior art
Gripper device, it can clamp inoculated needle product, realize inoculated needle rotation detection process, guarantee clamping stability and
Speed.
Purpose of the utility model is realized as follows: a kind of gripper device of inoculated needle vision detection system, including folder
Grab ontology, left and right clamping hand, clamping hand switching mechanism and rotating mechanism；Wherein,
The gripper ontology includes cylinder body, the guide sleeve for being connected to cylinder body bottom surface and is covered on leading for cylinder body top surface
To pressing plate；The end face center of the cylinder body symmetrically opens up the notch of a up-narrow and down-wide doleiform shape；The guide pressing plate
Outer end face on correspond to two notches of cylinder body and open up notch；
The left and right clamping hand is respectively since in the inner cavity for being inserted into cylinder body in two notches of the cylinder body；Left and right folder
Hold the clamping jaw for being respectively provided with one at the top of hand horizontally and being located above the guide pressing plate of gripper ontology, the bottom of left clamping hand
Front side extends downwardly left arm, and the bottom rear of right clamping hand extends downwardly a right arm parallel with left arm, left and right arm
On open up 45 ° of kidney-shaped guide groove of an inclination；
The clamping hand switching mechanism includes a guiding axis, cam connector, the small bearing of two cams and guiding axis or more
Driving mechanism；The guiding axis is slidably inserted into the guide sleeve of the gripper ontology；The cam connector is located at the circle
In the inner cavity of staving and it is mounted on the upper end of guiding axis, the cam connector is by bottom plate and the left side plate structure being fixed on bottom plate
At；Two small bearings of cam are respectively embedded in the guide groove of left and right arm and each are attached to the left plate of cam connector
On front end face and on the rear end face of right side plate；The guiding axis drives upside down the bottom that mechanism is connected to the guiding axis；
The rotating mechanism include two tops that the guide sleeve is mounted on by bearing mounting base bearing and one
Tightly it is mounted on the guide sleeve and is located at the synchronous pulley of the lower section of bearing mounting base.
The gripper device of above-mentioned inoculated needle vision detection system, wherein the upper and lower side of the bearing mounting base respectively leads to
The step surface and bearing fixture nut crossed on the outer peripheral surface of the guide sleeve realize positioning.
The gripper device of above-mentioned inoculated needle vision detection system, wherein each self installation in inside of the left and right clamping hand
One is installed in the linear guide of the gripper body upper part.
The gripper device of above-mentioned inoculated needle vision detection system, wherein it is cylinder that the guiding axis, which drives upside down mechanism,
Or linear motor or cam mechanism.
The gripper device of above-mentioned inoculated needle vision detection system, wherein install a spring bottom in the bottom of the guiding axis
, a spring is set on the guiding axis between the spring pedestal and the bottom of guide sleeve.
The gripper device of the inoculated needle vision detection system of the utility model passes through according to the kinetic characteristic of linear cam
The linear motion up and down of guiding axis drives the horizontal direction movement of left and right clamping hand, can clamp inoculated needle product, realizes pre-
The process for filling needle rotation detection, guarantees the stability and speed of clamping.
Detailed description of the invention
Fig. 1 is the axonometric drawing of the gripper device of the inoculated needle vision detection system of the utility model；
Fig. 2 is the axial sectional view of the gripper device of the inoculated needle vision detection system of the utility model；
Fig. 3 is state diagram when the left and right clamping hand of the gripper device of the utility model is opened；
Fig. 4 is state diagram when the left and right clamping hand of the gripper device of the utility model clamps.
Specific embodiment
Below in conjunction with attached drawing, the utility model is described in further detail.
The gripper device of the inoculated needle vision detection system of the utility model referring to FIG. 1 to FIG. 4, including gripper ontology
2, left and right clamping hand 1,1 ', clamping hand switching mechanism and rotating mechanism；Wherein,
Gripper ontology 2 includes cylinder body 21, is connected to the guide sleeve 22 of 21 bottom surface of cylinder body and is covered on 21 top surface of drum
Guide pressing plate 23；The end face center of cylinder body 21 symmetrically opens up the notch of a up-narrow and down-wide doleiform shape；Guide sleeve 22
Inner hole be connected to the perforation of 21 bottom surface of drum；The upper and lower part of the inner hole of guide sleeve 22 is respectively mounted a guideway 24；
Two notches that cylinder body 21 is corresponded on the outer end face of guide pressing plate 23 open up notch；
Left and right clamping hand 1,1 ' is respectively since the inner cavity for being inserted into cylinder body 21 in two notches of cylinder body 21；Left and right clamping
It is respectively provided with one at the top of hand 1,1 ' horizontally and is located at the clamping jaw 10,10 ' of 23 top of guide pressing plate of gripper ontology 2, left,
Each self installation one in inside of right clamping hand 1,1 ' is installed in the linear guide 11,11 ' on 2 top of gripper ontology；Left clamping hand 1
Lower front extends downwardly left arm 12, and the bottom rear of right clamping hand 1 ' extends downwardly a right arm parallel with left arm 12
12 ', the kidney-shaped guide groove 13,13 ' of 45 ° of an inclination is opened up on left and right arm 12,12 '；
Clamping hand switching mechanism includes that a guiding axis 3, the small bearing 5 of 4, two cams of cam connector and guiding axis drive up and down
Motivation structure (not shown)；Guiding axis 3 is slidably inserted into the guide sleeve 22 of gripper ontology 2, the bottom installation of the guiding axis 3
One spring pedestal 30 is set with a spring 6 on the guiding axis 3 between the spring pedestal 30 and the bottom of guide sleeve 22；Cam
Connector 4 is located in the inner cavity of the cylinder body 21 of gripper ontology 2 and is mounted on the upper end of guiding axis 3, the cam connector 4 by bottom plate and
The left side plate being fixed on bottom plate is constituted；The small bearing 5 of two cams is respectively embedded in the guide groove of left and right arm 12,12 '
13, it in 13 ' and each is attached on the front end face of left plate and the rear end face of right side plate of cam connector 4；Guiding axis drives up and down
Motivation structure is connected to the bottom of guiding axis 3, and it is cylinder or linear motor or cam mechanism which, which drives upside down mechanism,；
Rotating mechanism includes two bearings 7 and a synchronous pulley 9, and two bearings 7 are mounted on by bearing mounting base 70
The top of guide sleeve 22, the upper and lower side of bearing mounting base 70 each by the outer peripheral surface of guide sleeve 22 step surface and bearing it is solid
Determine nut 8 and realizes positioning；Synchronous pulley 9 is tightly mounted on the lower section on guide sleeve 22 and being located at bearing mounting base 70, should
Synchronous pulley 9 connects external power mechanism, rotates entire gripper device.
The working principle of the gripper device of the inoculated needle vision detection system of the utility model is: inoculated needle bottle 20 is placed in
In the guide pressing plate 23 of gripper ontology 2, driven upside down by guiding axis on the work of guiding axis 3 that mechanism driving is placed in guide sleeve 22
Lower linear motion drives the cam connector 4 being mounted on guiding axis 3 to move up and down, makes be connected on cam connector 4 two
The small bearing 5 of cam rolls in the kidney-shaped guide groove 13,13 ' on the arm of left and right clamping hand 1,1 ', and then makes left and right clamping
Hand 1,1 ' makees horizontally relative motion and movement of supporting or opposing, and realizes the closure and opening of left and right clamping hand 1,1 '.Guiding axis 3 to
Upper movement, left and right clamping hand 1,1 ' are opened, and guiding axis 3 moves downward, and left and right clamping hand 1,1 ' is closed, and are realized and are clamped inoculated needle
Product 20 and the effect for unclamping inoculated needle product 20.The linear guide 11,11 ' in left and right clamping hand 1,1 ' is mounted on by non-
Metal material production, can avoid left and right clamping hand 1,1 ' and directly contacts with gripper ontology 2 in the action process for being closed and opening
And the abrasion generated, the spring 6 being arranged on guiding axis 4 can make guiding axis 4 play the role of buffering when moving up and down.
Above embodiments are only for illustration of the utility model, rather than limitations of the present invention, related technical field
Technical staff can also make various transformation or modification in the case where not departing from the spirit and scope of the utility model, because
This all equivalent technical solution also should belong to the scope of the utility model, should be limited by each claim.
Claims (5)
1. a kind of gripper device of inoculated needle vision detection system, including gripper ontology, left and right clamping hand, clamping hand opening/closing machine
Structure and rotating mechanism；It is characterized in that,
The gripper ontology includes cylinder body, the guide sleeve for being connected to cylinder body bottom surface and the guiding pressure for being covered on cylinder body top surface
Plate；The end face center of the cylinder body symmetrically opens up the notch of a up-narrow and down-wide doleiform shape；Outside the guide pressing plate
Two notches that cylinder body is corresponded on end face open up notch；
The left and right clamping hand is respectively since in the inner cavity for being inserted into cylinder body in two notches of the cylinder body；Left and right clamping hand
Top be respectively provided with one horizontally and be located at gripper ontology guide pressing plate above clamping jaw, it is left clamping hand lower front
Extend downwardly left arm, the bottom rear of right clamping hand extends downwardly a right arm parallel with left arm, equal on left and right arm
Open up the kidney-shaped guide groove of 45 ° of an inclination；
The clamping hand switching mechanism includes that a guiding axis, cam connector, the small bearing of two cams and guiding axis drive upside down
Mechanism；The guiding axis is slidably inserted into the guide sleeve of the gripper ontology；The cam connector is located at the cylinder body
Inner cavity in and be mounted on the upper end of guiding axis, which is made of bottom plate and the left side plate being fixed on bottom plate；Two
A small bearing of cam is respectively embedded in the guide groove of left and right arm and the front end face of the left plate that each is attached to cam connector
On the upper and rear end face of right side plate；The guiding axis drives upside down the bottom that mechanism is connected to the guiding axis；
The rotating mechanism includes the bearing and a close-fitting on two tops that the guide sleeve is mounted on by bearing mounting base
It is mounted on the guide sleeve and is located at the synchronous pulley of the lower section of bearing mounting base with closing.
2. the gripper device of inoculated needle vision detection system according to claim 1, which is characterized in that the bearing installation
Seat upper and lower side each by the outer peripheral surface of the guide sleeve step surface and bearing fixture nut realize positioning.
3. the gripper device of inoculated needle vision detection system according to claim 1, which is characterized in that the left and right folder
Each self installation one in inside for holding hand is installed in the linear guide of the gripper body upper part.
4. the gripper device of inoculated needle vision detection system according to claim 1, which is characterized in that on the guiding axis
Lower drive mechanism is cylinder or linear motor or cam mechanism.
5. the gripper device of inoculated needle vision detection system according to claim 1, which is characterized in that the guiding axis
A spring pedestal is installed in bottom, is set with a spring on the guiding axis between the spring pedestal and the bottom of guide sleeve.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821730972.6U CN209014457U (en) | 2018-10-24 | 2018-10-24 | A kind of gripper device of inoculated needle vision detection system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821730972.6U CN209014457U (en) | 2018-10-24 | 2018-10-24 | A kind of gripper device of inoculated needle vision detection system |
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| CN209014457U true CN209014457U (en) | 2019-06-21 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111273061A (en) * | 2020-03-28 | 2020-06-12 | 杨其国 | Clamp device for transformer detection |
| CN113134462A (en) * | 2021-05-10 | 2021-07-20 | 博众精工科技股份有限公司 | Rotary clamping device |
| CN114378738A (en) * | 2021-12-13 | 2022-04-22 | 东富龙包装技术（上海）有限公司 | Pre-filling needle clamping and grabbing device |
-
2018
- 2018-10-24 CN CN201821730972.6U patent/CN209014457U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111273061A (en) * | 2020-03-28 | 2020-06-12 | 杨其国 | Clamp device for transformer detection |
| CN111273061B (en) * | 2020-03-28 | 2022-08-09 | 国网冀北电力有限公司廊坊供电公司 | Clamp device for transformer detection |
| CN113134462A (en) * | 2021-05-10 | 2021-07-20 | 博众精工科技股份有限公司 | Rotary clamping device |
| CN113134462B (en) * | 2021-05-10 | 2022-06-14 | 博众精工科技股份有限公司 | Rotary clamping device |
| CN114378738A (en) * | 2021-12-13 | 2022-04-22 | 东富龙包装技术（上海）有限公司 | Pre-filling needle clamping and grabbing device |
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