CN216707158U

CN216707158U - Automatic sandblasting manipulator

Info

Publication number: CN216707158U
Application number: CN202220205907.1U
Authority: CN
Inventors: 蒋建国; 张林芬; 蒋浩淼
Original assignee: Jiangsu Xingke Pharmaceutical Equipment Manufacturing Co ltd
Current assignee: Jiangsu Xingke Pharmaceutical Equipment Manufacturing Co ltd
Priority date: 2022-01-19
Filing date: 2022-01-19
Publication date: 2022-06-10
Anticipated expiration: 2032-01-19

Abstract

The utility model belongs to the technical field of pharmaceutical equipment processing, and particularly relates to an automatic sand blasting manipulator which comprises a horizontal beam fixedly connected to a support and a rotating chassis positioned on one side of the horizontal beam, wherein a container is arranged on the rotating chassis, an upright post is connected to the horizontal beam in a sliding mode along the length direction of the horizontal beam, a connecting plate is fixedly connected to one side, close to the horizontal beam, of the upright post, an X-axis motor used for driving the upright post to move transversely is installed on the connecting plate, and a gear is fixedly connected to the tail end of an output shaft of the X-axis motor. According to the utility model, the sand blasting manipulator is arranged and simulates the design of a human body arm joint, so that the dirt removing treatment of the surface of a container can be realized by using a sand blasting gun, the manipulator can move in the horizontal and vertical directions under the action of an X-axis motor and a Y-axis motor, the universality is strong, the dirt removing effect is complete, and the problems that the device cannot be automatically operated at the present stage and the dirt removing effect is poor are solved.

Description

Automatic sandblasting manipulator

Technical Field

The utility model relates to the technical field of pharmaceutical equipment processing, in particular to an automatic sand blasting manipulator.

Background

Pharmaceutical facilities generally require decontamination processes and are generally classified by shape classification into: the device comprises a vertical type device and a horizontal type device, wherein the production link of sand blasting and decontamination on the surface of a container is always manually operated at the present stage, a sand blasting room is in a closed environment, water mist and sultriness are generated, the operation environment is severe, and the labor intensity of workers is high, so that mechanical equipment is used for decontamination of the pharmaceutical container, the device at the present stage can meet the basic use requirement when in use, and certain defects still exist.

The device in present stage can not realize the sandblast scrubbing of each position of container surface and handle, and the scrubbing effect is imperfect, and efficiency is lower, and the result of use is unsatisfactory, can not satisfy the sandblast scrubbing of not equidimension container, can not realize the automation mechanized operation of device when using simultaneously, influences pharmaceutical container's scrubbing efficiency.

SUMMERY OF THE UTILITY MODEL

Technical problem to be solved

Aiming at the defects of the prior art, the utility model provides an automatic sand blasting mechanical arm which simulates the design of a human body arm joint and can realize the decontamination treatment of the surface of a container by using a sand blasting gun.

(II) technical scheme

The utility model specifically adopts the following technical scheme for realizing the purpose:

the utility model provides an automatic sand blasting manipulator, includes the horizontal beam of fixed connection on the support to and be located the rotatory chassis of horizontal beam one side, be provided with the container on the rotatory chassis, there is the stand along the length direction sliding connection of horizontal beam on the horizontal beam, and the stand is close to one side fixedly connected with even board of horizontal beam, even install on the board and be used for driving the stand and carry out lateral shifting's X axle motor, the terminal fixedly connected with gear of X axle motor output shaft, and horizontal beam corresponds gear department and is provided with the rack of being connected with gear engagement, install the Z axle motor that is used for driving the arm body and carries out vertical motion on the stand, and be provided with the sand blasting gun that is used for carrying out the sandblast scrubbing to the container outer wall on the holder of arm body.

Furthermore, two sliding blocks are symmetrically arranged on the horizontal cross beam, and two track plates in sliding fit with the sliding blocks are fixedly connected to the positions, corresponding to the sliding blocks, of the connecting plates.

Further, install the PLC controller on the support, and the output of PLC controller respectively with the input of X axle motor, the input of Z axle motor and the input electric connection of arm body.

Further, the arm body includes the location base of sliding connection on the stand to and rotate the armed lever one of connection on the location base through rotating the joint, rotate on the rotation joint of the armed lever one other end and be connected with armed lever two, the holder setting is on two terminal centre gripping hands of armed lever, and rotation joint department all installs the air pressure telescopic link.

Furthermore, the sand blasting gun comprises a gun seat and a gun body arranged on the gun seat, and the tail end of the gun body is provided with a gun head.

Further, the rotating chassis comprises a base plate and a shaft rod rotatably connected to the center of the upper surface of the base plate, a rotating disk used for placing a container is fixedly connected to the top end of the shaft rod, a rotating motor is installed on the base plate, and an umbrella-shaped wheel arranged at the tail end of an output shaft of the rotating motor is in meshed connection with the umbrella-shaped wheel on the shaft rod.

(III) advantageous effects

Compared with the prior art, the utility model provides an automatic sand blasting mechanical arm, which has the following beneficial effects:

according to the utility model, by arranging the horizontal cross beam, the upright post and the mechanical arm body, the mechanical arm body can be driven by the X-axis motor to transversely move along the horizontal cross beam during use, and meanwhile, the mechanical arm body can be driven by the Z-axis motor to vertically move, so that the work of the mechanical arm body in each direction is realized, the sand blasting effect of a sand blasting gun on the mechanical arm body is further met, the sand blasting treatment effect is perfect, meanwhile, the mechanical arm simulates the arm design of a human body and can freely stretch and bend, when the container rotates on the rotary chassis, the sand blasting processing on each position of the outer wall of the container can be realized, the sand blasting decontamination effect is perfect, the use effect is good, the operation control is convenient, the use is simple, and the popularization and the use are further convenient.

Drawings

FIG. 1 is a top view of the present invention;

FIG. 2 is a front view of the present invention;

FIG. 3 is an enlarged view of the structure of FIG. 2 at A according to the present invention;

FIG. 4 is a schematic structural view of a robot arm body according to the present invention;

FIG. 5 is a schematic view of the construction of the sand blast gun of the present invention;

fig. 6 is a schematic structural view of the rotating chassis according to the present invention.

In the figure: 1. a horizontal cross beam; 2. a support; 3. a PLC controller; 4. a column; 5. an X-axis motor; 6. a Z-axis motor; 7. a mechanical arm body; 701. positioning a base; 702. a first arm lever; 703. a revolute joint; 704. a second arm lever; 705. a holder; 706. clamping a hand; 707. an air pressure telescopic rod; 8. a sand blasting gun; 801. a spray gun base; 802. a gun body; 803. a gun head; 9. a container; 10. rotating the chassis; 1001. a substrate; 1002. an umbrella-shaped wheel; 1003. a rotating electric machine; 1004. rotating the disc; 1005. a shaft lever; 11. connecting plates; 12. a gear; 13. a rack; 14. a slider; 15. a track plate.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Examples

As shown in fig. 1, 2 and 3, an automatic sandblasting manipulator according to an embodiment of the present invention includes a horizontal beam 1 fixedly connected to a frame 2, and a rotating chassis 10 positioned at one side of the horizontal beam 1, wherein the rotating chassis 10 is provided with a container 9, the horizontal beam 1 is connected with a vertical column 4 in a sliding way along the length direction of the horizontal beam 1, and one side of the upright post 4 close to the horizontal beam 1 is fixedly connected with a connecting plate 11, the connecting plate 11 is provided with an X-axis motor 5 for driving the upright post 4 to move transversely, the tail end of an output shaft of the X-axis motor 5 is fixedly connected with a gear 12, a rack 13 meshed with the gear 12 is arranged at the position of the horizontal beam 1 corresponding to the gear 12, a Z-axis motor 6 for driving the mechanical arm body 7 to move vertically is arranged on the upright post 4, a sand blasting gun 8 for blasting sand and removing dirt on the outer wall of the container 9 is arranged on the clamping seat 705 of the mechanical arm body 7; the horizontal beam 1 is arranged to realize the horizontal movement of the upright post 4 and the mechanical arm body 7, the upright post 4 and the mechanical arm body 7 are driven to move horizontally by adopting the X-axis motor 5, the containers 9 are decontaminated by the sand blasting guns 8 on the mechanical arm body 7, when facing the containers 9 with different sizes, the positions of the upright post 4 and the mechanical arm body 7 can be properly adjusted, further, the sand blasting decontamination treatment of the containers 9 with different sizes is met, the universality is strong, the connecting plate 11 is arranged to realize the connecting action between the X-axis motor 5 and the upright post 4, the horizontal movement of the upright post 4 can be realized under the running state of the X-axis motor 5, the connecting plate 11 can be driven to move when the X-axis motor 5 works by arranging the gear 12 and the rack 13, further, the moving treatment of the upright post 4 is finished, the Z-axis motor 6 used for lifting the mechanical arm body 7 is arranged on the upright post 4 by arranging the upright post 4, the height of the mechanical arm body 7 can be adjusted, the movement mode of the mechanical arm body is consistent with that of the stand column 4, and the sand blasting treatment of each position of the container 9 in a rotating state can be completed through the sand blasting gun 8.

As shown in fig. 3, in some embodiments, two sliders 14 are symmetrically disposed on the horizontal beam 1, and two track plates 15 slidably engaged with the sliders 14 are fixedly connected to the connecting plate 11 corresponding to the sliders 14; through set up slider 14 on horizontal beam 1, when even board 11 drives stand 4 and carries out lateral shifting, even track board 15 and the slider 14 sliding fit on the board 11, and then realize even stable slip of board 11, this mode stability is strong, excellent in use effect.

As shown in fig. 1, in some embodiments, a PLC controller 3 is installed on the support 2, and an output end of the PLC controller 3 is electrically connected to an input end of the X-axis motor 5, an input end of the Z-axis motor 6, and an input end of the robot arm body 7, respectively; through setting up PLC controller 3, can control X axle motor 5, the work of Z axle motor 6 through PLC controller 3 'S mode, control the drive unit work in the arm body 7 simultaneously, realize the automatic operation of device, PLC controller 3' S model is S7-400, and its working method is known prior art, and it is not repeated.

As shown in fig. 4, in some embodiments, the robot arm body 7 includes a positioning base 701 slidably connected to the column 4, and a first arm 702 rotatably connected to the positioning base 701 through a rotating joint 703, a second arm 704 rotatably connected to the rotating joint 703 at the other end of the first arm 702, a holder 705 disposed on a holding hand 706 at the end of the second arm 704, and a pneumatic telescopic rod 707 mounted at the rotating joint 703; during actual use, the Z-axis motor 6 is connected with the positioning base 701, the lifting of the positioning base 701 on the stand column 4 is realized through the remote rotation of the Z-axis motor 6, the rotation joint 703 can rotate through the arrangement of the rotation joint 703, the rotation processing of the joint of the mechanical arm body 7 is realized, the first arm lever 702, the second arm lever 704 and the clamping hand 706 can be driven to turn over through the arrangement of the air pressure telescopic rod 707, the angle adjustment is realized, and the rotation processing of the angle of the clamping seat 705 is further satisfied.

As shown in fig. 5, in some embodiments, the sand blasting gun 8 includes a gun seat 801 and a gun body 802 disposed on the gun seat 801, and a gun head 803 is disposed at a distal end of the gun body 802, so that in actual use, sand blasting can be performed through the gun head 803 to achieve sand blasting and decontamination of the outer wall of the container 9.

As shown in fig. 6, in some embodiments, the rotating chassis 10 includes a base plate 1001, and a shaft 1005 rotatably connected to the center of the upper surface of the base plate 1001, a rotating disc 1004 for placing the container 9 is fixedly connected to the top end of the shaft 1005, and a rotating motor 1003 is mounted on the base plate 1001, and a bevel wheel 1002 arranged at the end of an output shaft of the rotating motor 1003 is engaged with the bevel wheel 1002 on the shaft 1005; shaft 1005 is rotatably connected to base plate 1001 via a bearing housing, and umbrella wheel 1002 is provided on shaft 1005 and on the output shaft of rotating electric machine 1003, so that shaft 1005 can be driven to rotate when rotating electric machine 1003 is operated, and further the rotating process of rotating disk 1004 and further the rotation of container 9 can be realized.

The working principle and the using steps of the utility model are as follows: when the horizontal position adjusting device is used, the sand blasting gun 8 is fixed on the clamping seat 705 of the mechanical arm body 7, the container 9 is arranged on the rotating disc 1004 of the rotating chassis 10, the horizontal position of the mechanical arm body 7 is adjusted according to the size of the container 9, during adjustment, the X-axis motor 5 drives the gear 12 to rotate, the gear 12 is meshed with the rack 13, the connecting plate 11 fixed by the X-axis motor 5 is further driven to move, the track plate 15 on the connecting plate 11 slides on the sliding block 14, the horizontal sliding of the connecting plate 11 on the horizontal beam 1 is realized, the horizontal moving action of the upright post 4 is further driven, the mechanical arm body 7 is arranged on the upright post 4, the horizontal position of the mechanical arm body 7 is adjusted, after the position of the mechanical arm body 7 is adjusted, the rotating motor 1003 is driven to work, the 1005 is driven to rotate in a mode of the bevel wheel 1002, the shaft lever of the rotating disc 1004 is further driven to rotate, and the rotating treatment of the container 9 on the rotating disc 1004 is realized, when the container 9 rotates, the gun head 803 of the sand blasting gun 8 performs sand blasting decontamination on the outer wall of the container 9, meanwhile, the Z-axis motor 6 drives the mechanical arm body 7 to lift on the stand column 4, the lifting mode is consistent with the moving mode of the stand column 4 on the horizontal beam 1, and the lifting mode can be realized through the meshing relation between the gear 12 and the rack 13, so that sand blasting decontamination on each position of containers 9 with different sizes is realized, meanwhile, the first arm rod 702 and the second arm rod 704 are arranged in the mechanical arm body 7, and the rotary joint 703 and the air pressure telescopic rod 707 are arranged between the two arms, so that angle adjustment can be realized.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the utility model. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides an automatic sand blasting manipulator, includes horizontal beam (1) of fixed connection on support (2) to and be located the rotatory chassis (10) of horizontal beam (1) one side, be provided with container (9), its characterized in that on rotatory chassis (10): horizontal beam (1) is gone up along the length direction sliding connection of horizontal beam (1) has stand (4), and stand (4) are close to one side fixedly connected with even board (11) of horizontal beam (1), even install on board (11) and be used for driving stand (4) and carry out lateral shifting's X axle motor (5), the terminal fixedly connected with gear (12) of X axle motor (5) output shaft, and horizontal beam (1) corresponds gear (12) department and is provided with rack (13) of being connected with gear (12) meshing, install on stand (4) and be used for driving arm body (7) and carry out Z axle motor (6) of vertical motion, and be provided with sand blasting gun (8) that are used for carrying out the sandblast scrubbing to container (9) outer wall on holder (705) of arm body (7).

2. The automated grit blasting robot of claim 1, wherein: two sliding blocks (14) are symmetrically arranged on the horizontal beam (1), and two track plates (15) in sliding fit with the sliding blocks (14) are fixedly connected to the positions, corresponding to the sliding blocks (14), of the connecting plate (11).

3. The automated grit blasting robot of claim 1, wherein: install PLC controller (3) on support (2), and the output of PLC controller (3) respectively with the input of X axle motor (5), the input of Z axle motor (6) and the input electric connection of arm body (7).

4. The automated grit blasting robot of claim 1, wherein: the mechanical arm body (7) comprises a positioning base (701) which is connected onto the stand column (4) in a sliding mode, a first arm rod (702) which is connected onto the positioning base (701) is connected onto the rotating joint (703) through a rotating joint (703), a second arm rod (704) is connected onto the rotating joint (703) at the other end of the first arm rod (702) in a rotating mode, a clamping seat (705) is arranged on a clamping hand (706) at the tail end of the second arm rod (704), and an air pressure telescopic rod (707) is installed at the rotating joint (703).

5. The automated grit blasting robot of claim 1, wherein: the sand blasting gun (8) comprises a sand blasting gun seat (801) and a gun body (802) arranged on the sand blasting gun seat (801), and a gun head (803) is arranged at the tail end of the gun body (802).

6. The automated grit blasting robot of claim 1, wherein: the rotating chassis (10) comprises a base plate (1001) and a shaft rod (1005) rotatably connected to the center of the upper surface of the base plate (1001), a rotating disc (1004) used for placing a container (9) is fixedly connected to the top end of the shaft rod (1005), a rotating motor (1003) is installed on the base plate (1001), and an umbrella-shaped wheel (1002) arranged at the tail end of an output shaft of the rotating motor (1003) is in meshing connection with the umbrella-shaped wheel (1002) on the shaft rod (1005).