CN209834987U - Directional holding rotary transfer manipulator - Google Patents
Directional holding rotary transfer manipulator Download PDFInfo
- Publication number
- CN209834987U CN209834987U CN201920585969.8U CN201920585969U CN209834987U CN 209834987 U CN209834987 U CN 209834987U CN 201920585969 U CN201920585969 U CN 201920585969U CN 209834987 U CN209834987 U CN 209834987U
- Authority
- CN
- China
- Prior art keywords
- lifting
- suction nozzle
- seat
- holding
- cam
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
- 238000012546 transfer Methods 0.000 title claims abstract description 24
- 230000007246 mechanism Effects 0.000 claims abstract description 26
- 239000000463 material Substances 0.000 claims abstract description 16
- 230000005540 biological transmission Effects 0.000 claims abstract description 10
- 238000005452 bending Methods 0.000 claims description 8
- 230000003028 elevating effect Effects 0.000 abstract description 3
- 238000012856 packing Methods 0.000 description 15
- 238000004806 packaging method and process Methods 0.000 description 14
- 238000010586 diagram Methods 0.000 description 4
- 239000003814 drug Substances 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009897 systematic effect Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000012864 cross contamination Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000004519 grease Substances 0.000 description 1
- 230000001050 lubricating effect Effects 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
Abstract
The utility model relates to a can keep directional rotatory orientation at the elevating position and keep rotatory manipulator of transferring. This orientation keeps rotatory manipulator of transferring including rotation axis, swivel mount, suction nozzle mechanism and rotary power source, the rotation axis is installed in the main seat and is connected with the rotary power source transmission, and the swivel mount is installed on the rotation axis, and suction nozzle mechanism installs on the swivel mount, its characterized in that: the main seat is provided with a holding cam and a lifting cam, and the outer circle surface of the lifting cam is provided with a lifting guide groove along the circumferential direction. The directional rotary transfer manipulator keeps directional rotation of the suction nozzle only at the lifting position through double-cam double-direction, so that the stability of sucking and placing materials is obviously improved, and bubble caps and pillow packs or bubble caps and boxing can be combined more abundantly.
Description
Technical Field
The utility model relates to a manipulator in pharmacy machinery field, concretely relates to a transfer manipulator for shifting bubble cap board or pillow bag.
Background
The blister packaging machine generally comprises a blister machine and a boxing machine, wherein the blister machine completes the formation and packaging of the blister of the medicine plate, the boxing machine completes the boxing of the blister of the medicine plate, and the blister of the medicine plate and the boxing machine are linked through a transfer manipulator. Similarly, the pillow packaging machine also comprises a pillow packaging machine and a boxing machine, wherein the pillow packaging machine completes the formation and packaging of pillow packages, the boxing machine packages the pillow packages, and the pillow packaging machine and the boxing machine are also linked through a transfer manipulator. However, in both blister packaging machines and pillow packaging machines, due to structural limitations, the existing rotary manipulator can only realize full-course directional rotation or full-course revolution, and the rotary manipulator is relatively single in material transfer, has no systematic combination, and cannot give consideration to high-speed transfer of various types of objects and different packages and various layout combination linkage systematic design of different packaging linkage equipment.
Disclosure of Invention
In view of the deficiencies in the prior art, the utility model discloses the innovation provides one kind can keep directional rotatory orientation at the elevating position and keep rotatory transfer manipulator.
This orientation keeps rotatory manipulator of transferring, including rotation axis, swivel mount, suction nozzle mechanism and rotary power source, the rotation axis is installed in the main base and is connected with the rotary power source transmission, the swivel mount is installed on the rotation axis, suction nozzle mechanism installs on the swivel mount, its characterized in that: the main seat is provided with a holding cam and a lifting cam, the outer circle surface of the lifting cam is provided with a lifting guide groove along the circumferential direction, the lifting guide groove is provided with a lifting bending section, the bottom surface of the holding cam is provided with a holding guide groove along the circumferential direction, the holding guide groove is provided with a holding bending section, and the holding bending section of the holding guide groove corresponds to the lifting bending section of the lifting guide groove in position; the suction nozzle mechanism comprises a suction nozzle, a suction nozzle rod, a guide block, a lifting roller and a retaining roller, wherein the suction nozzle is installed on the suction nozzle rod, the suction nozzle rod is rotatably installed on the rotating frame, the guide block is rotatably installed on the suction nozzle rod, the lifting roller is installed on the inner side of the guide block and located in a lifting guide groove, the retaining roller is connected with the suction nozzle rod through a rotating arm, and the retaining roller is located in the retaining guide groove.
The rotary frame is provided with a positioning groove block, the inner side surface of the positioning groove block is provided with a positioning groove extending up and down, the outer side of the guide block is connected with a positioning roller, and the positioning roller is matched and positioned in the positioning groove.
The main seat is installed on the lifting seat, the lifting seat is installed on the fixed seat in a liftable mode, and the lifting seat is in transmission connection with a lifting power source for driving the lifting seat to lift.
The fixing seat is provided with a sliding rail, the lifting seat is provided with a sliding seat, and the sliding seat is arranged on the sliding rail in a sliding mode.
The lifting power source is characterized in that a screw rod is installed on the fixing seat, a threaded sleeve is connected onto the sliding seat, the screw rod is in threaded connection with the threaded sleeve, and the screw rod is in transmission connection with the lifting power source.
The rotary shaft is provided with a main gas circuit, a gas outlet of the main gas circuit is communicated with a gas circuit on the suction nozzle rod through a lower gas pipe, the gas circuit on the suction nozzle rod is communicated with the suction nozzle, a gas inlet of the main gas circuit is communicated with a rotary gas circuit through an upper gas pipe, the rotary gas circuit is connected with a solenoid valve island, and the solenoid valve island is connected with a gas storage tank.
The maintaining cam and the lifting cam are both made of supermolecular materials.
According to the utility model provides a pair of manipulator is transferred in orientation maintenance rotation, through two cam bi-orientation to realize that the suction nozzle only keeps directional rotatory in the elevating position, this kind of manipulator not only is showing the stability that has improved the material suction and put, enables bubble cap and pillow package or bubble cap and dress box combination abundanter moreover, and reduces the linkage space and accounts for the ratio, can arrange the pattern according to the user room, can realize the horizontal linkage, also can realize the vertical linkage.
Drawings
FIG. 1 is a perspective view of the present invention mounted on a frame;
fig. 2 is a perspective view of the present invention;
fig. 3 is a cross-sectional view of the present invention;
FIG. 4 is an enlarged view of a portion of FIG. 3 at C;
FIG. 5 is a perspective view of the suction nozzle mechanism;
FIG. 6 is a bottom view of the retention cam;
FIG. 7 is a schematic diagram of the linkage between the pillow packaging machine and the box packing machine of the present invention;
FIG. 8 is a schematic diagram of the linkage of the bubble cap machine, the pillow packaging machine and the box packing machine of the present invention;
FIG. 9 is a schematic diagram (two-channel box packing) of the linkage of the bubble cap machine and the box packing machine of the present invention;
fig. 10 is a schematic diagram (three-channel boxing) of the linkage of the bubble cap machine and the boxing machine of the present invention.
Detailed Description
As shown in fig. 1 and 2, the orientation maintaining rotary transfer robot a is installed on the rack B between two devices to be linked, and as shown in fig. 7, the orientation maintaining rotary transfer robot links the pillow packing machine and the box packing machine, so that the pillow packs produced by the pillow packing machine are transferred to the box packing machine by the orientation maintaining rotary transfer robot a, thereby completing the pillow packing boxes.
As shown in fig. 2 and 3, the directional-maintaining rotary transfer manipulator a includes a main base 1 (supporting flange), a rotary shaft 2, a rotary frame 3, a suction nozzle mechanism 6, and a rotary power source 8 (including a motor, a cylinder, and other driving devices as far as the power source is concerned), the rotary shaft 2 is installed in the main base 1 and is in transmission connection with the rotary power source 8, the rotary shaft 2 rotates by the driving of the rotary power source 8, the rotary frame 3 is installed on the rotary shaft 2, the suction nozzle mechanism 6 is installed on the rotary frame 3, and when the rotary shaft 2 rotates, the suction nozzle mechanism 6 rotates together with the rotary frame 3; in order to control the action of the suction nozzle mechanism 6, the main seat 1 is provided with a holding cam 5 and a lifting cam 4, the outer circle surface of the lifting cam 4 is provided with a lifting guide groove 40 along the circumferential direction, the lifting guide groove 40 is provided with a lifting bent section 400, as shown in fig. 6, the bottom surface of the holding cam 5 is provided with a holding guide groove 50 along the circumferential direction, the holding guide groove 50 is provided with a holding bent section 500, and the holding bent section 500 of the holding guide groove 50 corresponds to the lifting bent section 400 of the lifting guide groove 40; as shown in fig. 5, the suction nozzle mechanism 6 includes a suction nozzle 60, a suction nozzle rod 61, a guide block 62, a lifting roller 63, and a holding roller 66, the suction nozzle 60 is mounted on the suction nozzle rod 61, the suction nozzle rod 61 is rotatably mounted on the rotating frame 3, the guide block 62 is rotatably mounted on the suction nozzle rod 61, as shown in fig. 4, the lifting roller 63 is connected to the inner side of the guide block 62 and located in the lifting guide groove 40, the holding roller 66 is connected to the suction nozzle rod 61 through a rotating arm 65, and the holding roller 66 is located in the holding guide groove 50.
As shown in fig. 7, taking the pillow packaging machine and the box packing machine as an example, during operation, the rotary power source 8 drives the rotary shaft 2 to rotate, the rotary shaft 2 drives the rotary frame 3 to rotate together with the suction nozzle mechanism 6, the lifting roller 63 of the suction nozzle mechanism 6 moves in the lifting guide groove 40 of the lifting cam 4, and the holding roller 66 of the suction nozzle mechanism 6 moves in the holding guide groove 50 of the holding cam 5; when one of the nozzle mechanisms 6 approaches the foremost end of the output flow line of the pillow packing machine, as shown in fig. 2, the lifting roller 63 of the nozzle mechanism 6 enters the lifting curved section 400 of the lifting guide groove 40, so that the nozzle mechanism 6 moves downwards under the guidance of the curved guide groove, and meanwhile, as the holding curved section 500 of the holding guide groove 50 corresponds to the lifting curved section 400 of the lifting guide groove 40, the holding cam 66 of the nozzle mechanism 6 enters the holding curved section 500 of the holding guide groove 50 during the descending process, so that the holding cam 66 drives the nozzle rod 61 to rotate through the rotating arm 65, just by the automatic overcoming of the revolution of the nozzle rod 61, the nozzle 60 always maintains one direction (for example, the nozzle rod maintains 10 ° orientation) at this stage, so that the nozzle 60 can stably suck the material; similarly, when this suction nozzle mechanism 6 absorbs the material and removes the foremost of cartoning machine input assembly line, suction nozzle 60 descends and the gassing, let the material fall, also let suction nozzle 60 remain an orientation throughout this stage during the transfer material, suction nozzle 60 can accurately place the material in the grid of cartoning machine input assembly line like this, thereby can let the size of grid accomplish minimum width (because the material is keeping unchanged all the time transferring the in-process orientation, the material just can accurately fall into the grid like this, the width of single grid just can accomplish to be slightly greater than the size of material width like this), and then raises the efficiency.
By adopting the directional maintaining rotary transfer manipulator, the linkage space occupation can be reduced, and the bubble cap machine and the boxing machine can be communicated in a transverse row according to the arrangement pattern of a user room, as shown in fig. 7; as shown in fig. 8, the bubble cap machine, the pillow packaging machine and the box packing machine realize horizontal linkage; as shown in fig. 9, the blister machine and the box packing machine realize vertical row linkage (double-channel box packing, one suction nozzle mechanism comprises a plurality of suction nozzles); as shown in figure 10, the blister machine and the boxing machine realize the vertical row linkage (three-channel boxing, one suction nozzle mechanism comprises a plurality of suction nozzles). In order to realize the multiple linkage modes, the multi-orientation holding modes such as double orientation (three orientation, four orientation and five orientation) can be realized only by correspondingly designing the lifting guide groove of the lifting cam and the holding guide groove of the holding cam and setting the number of the suction nozzles and the air circuit control, so that the multiple linkage modes such as single channel, double channel, three channel and four channel can be realized, the capacity overturning is realized, and the capacity of the front and rear equipment is maximally matched.
Under the action of the lifting cam 63, the guide block 62 drives the nozzle rod 61 to lift up and down, and only the lifting cam 63 bears the force in the direction, so that left and right deviation may occur, in order to solve the problem, the rotating frame 3 is provided with the positioning groove block 30, as shown in fig. 4 and 5, the inner side surface of the positioning groove block 30 is provided with a positioning groove 300 extending up and down, the outer side of the guide block 62 is connected with a positioning roller 64, and the positioning roller 64 is matched with and positioned in the positioning groove 300. Through the structure, when the guide block 62 drives the suction nozzle rod 61 to lift up and down, the positioning roller 64 positioned in the other direction of the guide block 62 moves up and down in the positioning groove 300 of the positioning groove block 30 and is limited by the positioning groove 3000 in the left and right directions except the direction of the lifting cam 63 under the stress, so that the suction nozzle mechanism 6 can be ensured not to shake during lifting and the stability of the suction nozzle mechanism 6 can be ensured due to the limitation of two points.
Because of the different quantity of packing bubble-cap board, the thickness of pillow package has thickly to have thinly, in order to satisfy the transfer of different thickness pillow packages, the utility model discloses a main seat 1 is installed on lift seat 11, and install on fixing base 12 with lift seat 11 liftable, and lift seat 11 is connected with the lift power supply transmission that the drive lift seat goes up and down (the lift power supply is not drawn). The lifting seat 11 is driven by the lifting power source to lift on the fixed seat 12, so that the whole manipulator is lifted or lowered, and the height of the suction nozzle 60 can be controlled.
In order to make the lifting seat 11 move smoothly, the fixed seat 12 is provided with a slide rail 120, and the lifting seat 11 is provided with a slide seat 110, and the slide seat 110 is slidably disposed on the slide rail 120. In order to enable the lifting seat 11 to be lifted accurately, a screw rod is mounted on the fixed seat 12, a threaded sleeve is connected to the sliding seat 110, the screw rod is in threaded connection with the threaded sleeve, and a lifting power source is in transmission connection with the screw rod. The screw rod is rotated by the driving of the lifting power source, and the sliding base 110 is lifted on the sliding rail 120 smoothly and accurately.
Of course, the suction nozzle 60 is connected to an air supply, and the suction nozzle 60 is connected to the air supply as follows: the rotary shaft 2 is provided with a main air path 20, an air outlet of the main air path 20 is communicated with an air path 610 on the suction nozzle rod 61 through a lower air pipe, the air path 610 on the suction nozzle rod 61 is communicated with the suction nozzle 60, an air inlet of the main air path 20 is communicated with the rotary air path 7 through an upper air pipe, the rotary air path 7 is connected with the electromagnetic valve island 10, and the electromagnetic valve island 10 is connected with the air storage tank 9. The nozzle rod 61 is controlled by an independent electromagnetic valve, high-speed switching between negative pressure and positive pressure is completed in a set area, and high-speed transfer of blister plate materials in 600 packs/MIN pillow bags and 800 packs/MIN can be completed.
Finally, it is worth mentioning that the holding cam and the lifting cam are both made of supermolecular materials (specifically, 900 ten thousand ultrahigh molecules are adopted). The cam made of the material has the advantages that: firstly, the noise can be reduced by contacting with the roller (keeping the roller and the lifting roller); and secondly, the maintenance is not needed, lubricating grease is not needed to be filled in the cam guide groove, the whole machine is clean and has no oil stain, and the risk of cross contamination of packaged products is avoided.
Claims (7)
1. Directional rotatory manipulator that transfers that keeps, including main seat (1), rotation axis (2), swivel mount (3), suction nozzle mechanism (6) and rotary power source (8), rotation axis (2) are installed in main seat (1) and are connected with rotary power source (8) transmission, swivel mount (3) are installed on rotation axis (2), suction nozzle mechanism (6) are installed on swivel mount (3), its characterized in that: the main seat (1) is provided with a holding cam (5) and a lifting cam (4), the outer circle surface of the lifting cam (4) is provided with a lifting guide groove (40) along the circumferential direction, the lifting guide groove (40) is provided with a lifting bending section (400), the bottom surface of the holding cam (5) is provided with a holding guide groove (50) along the circumferential direction, the holding guide groove (50) is provided with a holding bending section (500), and the holding bending section (500) of the holding guide groove (50) corresponds to the lifting bending section (400) of the lifting guide groove (40); the suction nozzle mechanism (6) comprises a suction nozzle (60), a suction nozzle rod (61), a guide block (62), a lifting roller (63) and a holding roller (66), wherein the suction nozzle (60) is installed on the suction nozzle rod (61), the suction nozzle rod (61) is rotatably installed on a rotating frame (3), the guide block (62) is rotatably installed on the suction nozzle rod (61), the lifting roller (63) is installed on the inner side of the guide block (62) and located in a lifting guide groove (40), the holding roller (66) is connected with the suction nozzle rod (61) through a rotating arm (65), and the holding roller (66) is located in a holding guide groove (50).
2. The orientation preserving rotary transfer robot of claim 1, wherein: install positioning groove piece (30) on swivel mount (3), be equipped with constant head tank (300) that extend from top to bottom on the medial surface of positioning groove piece (30), the outside of guide block (62) is connected with positioning roller (64), positioning roller (64) matching is located constant head tank (300).
3. The orientation preserving rotary transfer robot of claim 1, wherein: the lifting seat is characterized in that the main seat (1) is installed on the lifting seat (11), the lifting seat (11) is installed on the fixed seat (12) in a lifting mode, and the lifting seat (11) is in transmission connection with a lifting power source for driving the lifting seat (11) to lift.
4. The orientation preserving rotary transfer robot of claim 3, wherein: install slide rail (120) on fixing base (12), install slide (110) on lift seat (11), slide (110) slide setting is on slide rail (120).
5. The orientation preserving rotary transfer robot of claim 4, wherein: the screw rod is installed on the fixing seat (12), a threaded sleeve is connected to the sliding seat (110), the screw rod is in threaded connection with the threaded sleeve, and the screw rod is in transmission connection with a lifting power source.
6. The orientation preserving rotary transfer robot of claim 1, wherein: the rotary shaft is characterized in that a main air path (20) is arranged on the rotary shaft (2), an air outlet of the main air path (20) is communicated with an air path on the suction nozzle rod (61) through a lower air pipe, an air path on the suction nozzle rod (61) is communicated with the suction nozzle (60), an air inlet of the main air path (20) is communicated with a rotary air path (7) through an upper air pipe, the rotary air path (7) is connected with the electromagnetic valve island (10), and the electromagnetic valve island (10) is connected with the air storage tank (9).
7. The orientation preserving rotary transfer robot of claim 1, wherein: the maintaining cam (5) and the lifting cam (4) are both made of supermolecular materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920585969.8U CN209834987U (en) | 2019-04-26 | 2019-04-26 | Directional holding rotary transfer manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920585969.8U CN209834987U (en) | 2019-04-26 | 2019-04-26 | Directional holding rotary transfer manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209834987U true CN209834987U (en) | 2019-12-24 |
Family
ID=68914051
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920585969.8U Withdrawn - After Issue CN209834987U (en) | 2019-04-26 | 2019-04-26 | Directional holding rotary transfer manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209834987U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109941740A (en) * | 2019-04-26 | 2019-06-28 | 浙江希望机械有限公司 | Orientation keeps rotation transfer manipulator |
-
2019
- 2019-04-26 CN CN201920585969.8U patent/CN209834987U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109941740A (en) * | 2019-04-26 | 2019-06-28 | 浙江希望机械有限公司 | Orientation keeps rotation transfer manipulator |
| CN109941740B (en) * | 2019-04-26 | 2024-02-09 | 浙江希望机械有限公司 | Directional-keeping rotary transfer manipulator |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103359320B (en) | Novel opening, packing and sealing integrated machine for carton | |
| EP3689759B1 (en) | High-speed blister pack machine integrated with box carton machine | |
| CN109229568A (en) | Full-automatic fills joint sealing all-in-one machine | |
| CN108421679B (en) | Full-automatic double-vacuum box glue filling machine | |
| CN109941740B (en) | Directional-keeping rotary transfer manipulator | |
| CN209834987U (en) | Directional holding rotary transfer manipulator | |
| CN111361801A (en) | Double-arm cooperation box opening and material receiving turnover robot | |
| CN204527701U (en) | A kind of Handling device | |
| CN104670542B (en) | Carrying device | |
| CN210526993U (en) | Bag mechanism is got in upset | |
| JP4893176B2 (en) | Conveying apparatus and conveying method | |
| CN208361376U (en) | The material transferring device of medicine pill packing machine | |
| CN214493501U (en) | Automatic battery assembling device | |
| CN210763063U (en) | Eccentric rotation parallel holding transfer manipulator | |
| JP5496861B2 (en) | Packaging machine for packaging machine | |
| CN108792047A (en) | A kind of automation melon seeds sack filling machine | |
| CN207089765U (en) | A kind of syringe packs material placing mechanism automatically | |
| CN210503305U (en) | Adsorption type box filling machine | |
| CN208021850U (en) | Powder packing machine double-station is to bagging apparatus | |
| CN205891360U (en) | Wafer vacuum capper | |
| CN217575816U (en) | Bagging unit of suction nozzle bagging mechanism | |
| CN110626788A (en) | Eccentric rotation parallel holding transfer manipulator | |
| CN205705472U (en) | A kind of splitter plate molding machine | |
| CN214420792U (en) | Automatic bottled product boxing device | |
| CN217049223U (en) | Bag opening device and packaging machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20191224 Effective date of abandoning: 20240209 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20191224 Effective date of abandoning: 20240209 |