CN220806200U - Screwing manipulator - Google Patents

Abstract

The utility model discloses a screwing mechanical arm, which comprises a torque regulator and a clamping part, wherein the torque regulator comprises an upper damping unit and a lower damping unit, the upper damping unit comprises an upper damping seat, the upper damping seat can rotate under the action of a first driving unit, the lower damping unit comprises a lower damping seat, a plurality of damping springs and a plurality of damping balls, the lower damping seat is upwards and rotatably connected with the upper damping seat, a plurality of first grooves are uniformly formed in the circumferential direction on the end surface of the upper damping seat facing upwards, a plurality of second grooves are formed in the corresponding position of the upper damping seat, the damping springs and the damping balls are embedded in the first grooves, the damping springs can partially press the damping balls into the second grooves, the clamping part is upwards connected with the lower damping seat and can synchronously rotate with the lower damping seat, and the clamping part can downwards clamp an object to screw the object. The utility model has reasonable structure, low cost and adjustable screwing force moment.

Description

Screwing manipulator

Technical Field

The utility model relates to the technical field of product packaging, in particular to a screwing manipulator.

Background

The screwing operation is widely adopted in a production line, for example, after reagent filling, a bottle cap is required to be screwed for packaging, in general, machining errors exist in the bottle cap and a bottle mouth inevitably, so that the number of turns of the bottle cap required to be screwed is often different, a locker used for screwing the bottle cap to the bottle mouth in the prior art is single in function and can only provide a single screwing force, the screwing tightness is different, the bottle cap or the bottle mouth can be damaged due to screwing over, accidents such as liquid leakage can be caused due to unscrewing, the trust degree of a customer on a product is reduced, and a procedure is added to detect whether screwing torque is proper; in the prior art, a locker capable of automatically adjusting the screwing torque is also arranged, but the locker is often complex in structure and high in cost.

Disclosure of utility model

The utility model discloses a screwing mechanical arm, which solves the technical problems of single screwing torque or complex structure and high cost of a locker in the prior art and has the technical effects of reasonable structure, low cost and adjustable screwing force torque. The technical scheme adopted is as follows:

The utility model provides a screw manipulator, includes torque regulator and clamping part, torque regulator includes damping unit and lower damping unit, the damping unit includes the damping seat, the damping seat of going up can be under the effect of first drive unit, the damping unit includes damping seat, a plurality of damping spring and a plurality of damping ball down, the damping seat upwards is connected with last damping seat rotatable down, the damping seat face of damping seat face upward evenly is provided with a plurality of first recesses on the terminal surface, the relevant position department of going up the damping seat is equipped with a plurality of second recesses, damping spring and damping ball inlay and locate in the first recess, just damping spring can partly impress the damping ball to the second recess in, clamping part upwards be connected and can with lower damping seat synchronous rotation down, the clamping part can be down the centre gripping article in order to twist the article.

On the basis of the technical scheme, the damping device further comprises a plurality of jackscrews which are in one-to-one correspondence with the damping springs, the first grooves penetrate through the lower damping seats, and the jackscrews are in threaded connection with the first grooves and can be abutted with the damping springs upwards so as to adjust the pressing force of the damping springs on the damping balls.

On the basis of the technical scheme, the mechanical arm further comprises a buffer seat, a buffer spring and a second driving unit, wherein the upper damping seat is connected with the buffer seat in an up-down sliding mode, the buffer spring is axially arranged along the upper damping seat, two ends of the buffer spring are respectively in butt joint with the upper damping seat and the buffer seat, the rotor end of the first driving unit can transmit rotary motion to the buffer seat, and the second driving unit can drive the mechanical arm to move up and down.

On the basis of the technical scheme, the buffer seat comprises a concave cavity with a downward opening, the upper damping seat is partially accommodated in the concave cavity, a plurality of third grooves are formed in the top end face of the upper damping seat, the lower part of the buffer spring is accommodated in the third grooves, and the buffer spring is upwards abutted to the inner top surface of the concave cavity; the damping seat is characterized in that a first long hole extending axially is formed in the side wall of the damping seat for forming the concave cavity, a first limiting rod is vertically connected to the corresponding position of the side wall of the upper damping seat, and the tail end of the first limiting rod extends into the first long hole to limit the damping stroke of the upper damping seat.

On the basis of the technical scheme, the first driving unit comprises a first motor, the first motor is fixedly arranged on a piston rod of the second driving unit through a motor base, and the rotor end of the first motor is downwards fixedly connected with the buffer base coaxially.

On the basis of the technical scheme, the bottom of the lower damping seat comprises a connecting block, the clamping part comprises a telescopic rod, a seat plate, a third spring and two clamping arms, the first end of the telescopic rod is axially slidably connected with the lower damping seat, the seat plate is perpendicularly connected with the second end of the telescopic rod, the two clamping arms are oppositely arranged in the same structure, the clamping arms are hinged with the seat plate at the middle section position, one end of each clamping arm close to the lower damping seat is hinged with a roller, the roller can be abutted with the connecting block, the connecting block and the roller abutted surface are provided with angles inclined from bottom to top, one ends of the two clamping arms far away from the lower damping seat can be jointly enclosed to form a concave part for accommodating an object, and two ends of the third spring are respectively connected with the two clamping arms so that the roller is abutted against the abutting surface of the connecting block.

On the basis of the technical scheme, the lower damping seat comprises a central hole, the telescopic rod is accommodated in the central hole, a second long hole is formed in the side wall of the central hole, a second limiting rod is vertically connected to the corresponding position of the telescopic rod, and the tail end of the second limiting rod extends into the second long hole to limit the sliding stroke of the telescopic rod.

On the basis of the technical scheme, the telescopic rod sliding stroke limiting device further comprises a first adjusting screw, wherein the first adjusting screw is connected with the lower damping seat in a threaded mode, and the tail end of the first adjusting screw can be connected with the second limiting rod in an abutting mode in an upward mode so as to limit the telescopic rod sliding stroke.

On the basis of the technical scheme, the telescopic seat further comprises a second adjusting screw, the seat plate is sleeved outside the telescopic rod and is connected with the telescopic rod in an adjustable axial position, and the second adjusting screw vertically penetrates through the seat plate and abuts against the side wall of the telescopic rod to fix the seat plate and the telescopic rod.

On the basis of the technical scheme, the third springs are symmetrically arranged on two sides of the two clamping arms, and the third springs are arranged between the seat plate and the roller.

Advantageous effects

The utility model has reasonable structure, and the resistance to be overcome when the damping ball is unscrewed out of the second groove can be adjusted by replacing the damping spring or screwing the jackscrew so as to adapt to the screwing resistance of the bottle cap or the object and avoid screwing over or loosening; in addition, the upper damping seat and the lower damping seat are connected in a buffering way through the damping spring and the damping ball, collision to the clamped bottle cap or object can be avoided, when the clamping arm clamps the bottle cap or object, the damping ball slides out of the second groove and compresses the damping spring due to the action of screwing resistance, the rotation speed of the lower damping seat is gradually reduced, when the bottle cap or object is screwed in place, the rotation speed of the lower damping seat reaches a valley value, and then the damping ball slides into the adjacent second groove, the clamping arm releases the bottle cap or object, and meanwhile the lower damping seat and the upper damping seat synchronously rotate, so that the bottle cap or object can be flexibly clamped, screwed and released.

The utility model also comprises a buffer spring which can play a role of buffering when the clamping arm is pressed downwards against the bottle cap or the object, so that hard contact is avoided, and damage to the clamping arm, the bottle cap or the object is avoided.

The clamping part is ingenious in design, the telescopic rod is used for pressing down, and when the telescopic rod is pushed upwards by a bottle cap object, the two mechanical arms are closed and tightened to form the concave part for clamping the bottle cap or the object, in addition, the depth of the concave part and the opening angle of the two mechanical arms can be adjusted by adjusting the position of the seat plate relative to the telescopic rod, so that the clamping device is applicable to clamping various bottle caps or objects, and the practicability is good.

The utility model has ingenious structure, adopts a mechanical structure to flexibly clamp, screw and release the bottle cap or the object; the cost is low, an electrified intelligent control unit is not used, and the fault rate is reduced; in addition, the device has wide application range, can be suitable for screwing bottle caps or objects with different diameters and heights, can adjust the maximum screwing torque provided, and can be matched with different production requirements.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is apparent that the drawings in the following description are only one embodiment of the present utility model, and that other embodiments of the drawings may be derived from the drawings provided without inventive effort for a person skilled in the art.

Fig. 1: the structure schematic diagram of the front view of the utility model;

fig. 2: the utility model is a schematic structural diagram when clamping an object;

fig. 3: FIG. 2 is a schematic diagram of an explosive structure I;

Fig. 4: FIG. 2 is a schematic diagram of a second explosive structure;

fig. 5: the structure of the clamping part for clamping the object is shown in the schematic diagram;

Detailed Description

The following description and the drawings sufficiently illustrate specific embodiments herein to enable those skilled in the art to practice them. Portions and features of some embodiments may be included in, or substituted for, those of others. The scope of the embodiments herein includes the full scope of the claims, as well as all available equivalents of the claims. The terms "first," "second," and the like herein are used merely to distinguish one element from another element and do not require or imply any actual relationship or order between the elements. Indeed the first element could also be termed a second element and vice versa. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a structure, apparatus, or device that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such structure, apparatus, or device. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a structure, apparatus or device that comprises the element. Various embodiments are described herein in a progressive manner, each embodiment focusing on differences from other embodiments, and identical and similar parts between the various embodiments are sufficient to be seen with each other.

The terms "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like herein refer to an orientation or positional relationship based on that shown in the drawings, merely for ease of description herein and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operate in a particular orientation, and thus are not to be construed as limiting the invention. In the description herein, unless otherwise specified and limited, the terms "mounted," "connected," and "coupled" are to be construed broadly, and may be, for example, mechanically or electrically coupled, may be in communication with each other within two elements, may be directly coupled, or may be indirectly coupled through an intermediary, as would be apparent to one of ordinary skill in the art.

Herein, unless otherwise indicated, the term "plurality" means two or more.

Herein, the character "/" indicates that the front and rear objects are an or relationship. For example, A/B represents: a or B.

Herein, the term "and/or" is an association relation describing an object, meaning that three relations may exist. For example, a and/or B, represent: a or B, or, A and B.

A screwing manipulator as shown in fig. 1 to 5, comprising a slow torque regulator, a clamping part 8, a buffer seat 6, a buffer spring 7, a first drive unit 100 and a second drive unit 200;

The torque regulator comprises an upper damping unit and a lower damping unit, the upper damping unit comprises an upper damping seat 1, the upper damping seat 1 is connected with a buffer seat 6 in an up-down sliding manner, specifically, the buffer seat 6 comprises a concave cavity with a downward opening, the upper damping seat 1 is partially accommodated in the concave cavity, four third grooves are formed in the top end face of the upper damping seat 1 facing the concave cavity, as shown in fig. 3, the third grooves are circumferentially arranged on the top end face of the upper damping seat 1, the inner top surface of the concave cavity is provided with a plurality of fourth grooves in one-to-one correspondence with the third grooves, the lower part of a buffer spring 7 is accommodated in the third grooves, the upper part of the buffer spring 7 is sleeved outside a thimble, the thimble is accommodated in the fourth grooves, namely, the buffer spring 7 is axially arranged along the upper damping seat 1, two ends of the buffer spring 7 are respectively abutted with the upper damping seat 1 and the buffer seat 6, in this embodiment, the buffer spring 7 is an adhesive tape, and in other embodiments of the utility model, the buffer spring 7 can be a spring.

As shown in fig. 3 and 4, the side wall of the cushion seat 6 forming the concave cavity is provided with two axially extending first long holes 61, the first long holes 61 are symmetrically arranged, the corresponding positions of the side wall of the upper damping seat 1 are vertically connected with two first limiting rods 13, the first limiting rods 13 are symmetrically arranged, and the tail ends of the first limiting rods 13 extend into the first long holes 61 to limit the buffering stroke of the upper damping seat 1.

In this embodiment, as shown in fig. 1, the first driving unit 100 includes a first motor, the second driving unit 200 includes a second cylinder, where the cylinder body of the second cylinder is fixedly disposed, and the first motor is fixedly disposed on a piston rod of the second driving unit 200 through a motor base, so that the second cylinder can drive the first motor to displace up and down, and a rotor end of the first motor is fixedly connected with the buffer base 6 coaxially, that is, the rotor end of the first driving unit 100 can transmit the rotary motion to the buffer base 6, and further can drive the upper damping base 1 to rotate synchronously.

The lower damping unit comprises a lower damping seat 2, a plurality of damping springs 3, a plurality of damping balls 4 and a plurality of jackscrews 5, wherein the lower damping seat 2 is upwards rotatably connected with the upper damping seat 1, a plurality of first grooves 21 are uniformly formed in the circumferential direction on the end face of the upper damping seat 1, a plurality of second grooves 11 are formed in the corresponding position of the upper damping seat 1, the second grooves 11 are in one-to-one correspondence with the first grooves 21, the damping springs 3 and the damping balls 4 are embedded in the first grooves 21, the damping springs 3 can partially press the damping balls 4 into the second grooves 11, and when the upper damping seat 1 rotates relative to the lower damping seat 2 and the second grooves 11 and the first grooves 21 are misplaced, the damping balls 4 can further compress the damping springs 3 to further reduce the speed of the lower damping seat 2.

In this embodiment, the second groove 11 is approximately in a small hemispherical shape, and the inner wall surface and the end surface of the second groove 11 transition smoothly, so that the damping ball 4 can slide in and out conveniently. The first groove 21 penetrates through the lower damping seat 2 to form a through hole, the jackscrews 5 are in one-to-one correspondence with the damping springs 3, the jackscrews 5 are in threaded connection with the first groove 21 and can be abutted against the damping springs 3 upwards, and the pressing force of the damping springs 3 on the damping balls 4 can be adjusted by screwing the jackscrews 5, so that when the damping balls 4 are unscrewed from the second groove 11, larger resistance needs to be overcome, and bottle caps or objects with different screwing resistances can be adapted.

As shown in fig. 3 to 5, the clamping portion 8 is connected to the lower damping seat 2 upward and can rotate synchronously with the lower damping seat 2, and the clamping portion 8 can clamp an object downward to screw the object. Specifically, the clamping portion 8 includes a telescopic rod 81, a seat plate 82, a third spring 83 and two clamping arms 84, the bottom of the lower damping seat 2 is fixedly connected with a connecting block 22, in this embodiment, the connecting block 22 is conical and has a large top and a small bottom, the side wall of the connecting block 22 forms an abutting surface, and in other embodiments of the present utility model, the connecting block 22 may be a polygonal cone;

As shown in fig. 3 and 4, the lower damping seat 2 includes a central hole penetrating through the connecting block 22, a first end of the telescopic rod 81 is accommodated in the central hole and is in clearance fit with the central hole, two second long holes 23 are formed on a side wall of the central hole, the two second long holes 23 are symmetrically arranged, two second limiting rods 86 are vertically connected at corresponding positions of the telescopic rod 81, the two second limiting rods 86 are symmetrically arranged, and the tail ends of the second limiting rods 86 extend into the second long holes 23, so that, on one hand, the first end of the telescopic rod 81 is axially slidably connected with the lower damping seat 2, on the other hand, the sliding stroke of the telescopic rod 81 can be limited, and the running reliability is improved. In addition, the telescopic rod further comprises two first adjusting screws 9, the first adjusting screws 9 are connected with the lower damping seat 2 in a threaded mode, the tail ends of the first adjusting screws 9 can be connected with the second limiting rods 86 in an abutting mode to limit the sliding stroke of the telescopic rod 81, and therefore the sliding stroke of the telescopic rod 81 can be further adjusted, and the adaptability is good.

In this embodiment, the second end of the telescopic rod 81 is coaxially and fixedly connected with a sleeve 87, the sleeve 87 is of a hollow structure and the inner wall of the sleeve is conical, the axial position of the seat board 82 is adjustably connected with the telescopic rod 81, and specifically, the telescopic rod further comprises two second adjusting screws (not shown), the seat board 82 is sleeved outside the sleeve 87, the second adjusting screws are in threaded connection with the seat board 82, and the second adjusting screws vertically penetrate through the seat board 82 and abut against the side wall of the telescopic rod 81 to fix the seat board 82 and the telescopic rod 81. The relative positions of the seat plate 82 and the telescopic rod 81 can be adjusted in this way, and the adaptability is further improved.

As shown in fig. 3 to 5, the two clamping arms 84 are oppositely arranged in the same structure, the clamping arms 84 are approximately L-shaped, the clamping arms 84 are hinged with the seat plate 82 at the middle section, one end of each clamping arm 84 close to the lower damping seat 2 is hinged with a roller 85, the outer circumferential surface of each roller 85 is abutted against the abutting surface of the corresponding connecting block 22, one end of each clamping arm 85 far away from the lower damping seat 2 can jointly enclose to form a concave part of the accommodating part, as shown in fig. 4, two third springs 83 are symmetrically arranged on two sides of each clamping arm 84, the third springs 83 are tension springs and are arranged between the seat plate 82 and the corresponding roller 85, two ends of each third spring 83 are respectively connected with the two clamping arms 84, and the two rollers 85 are close to each other and abutted against the side wall of the corresponding connecting block 22 under the action of no external force.

Principle of operation (taking the case of screwing the cap to the mouth of a bottle)

As shown in fig. 5, before the clamping part 8 is pressed down to screw the bottle cap, the damping ball 4 is embedded in the second groove 11, so that the lower damping seat 2 and the upper damping seat 1 rotate synchronously;

when the clamping part is pressed downwards and is in contact with the bottle cap, the bottle cap upwards abuts against the sleeve 87 to enable the telescopic rod 81 to shrink inwards relative to the lower damping seat 2, meanwhile, the two clamping arms 84 clamp the bottle cap and screw the bottle cap, screwing resistance is generated at the same time, when the screwing resistance reaches a set value, the resistance of the damping ball 4 out of the second groove 11 is overcome, the damping ball 4 out of the second groove 11, at the moment, the end face of the damping ball 4, which faces the lower damping seat 2, of the upper damping seat 1 is abutted, the damping ball 4 compresses the damping spring 3, the rotation speed of the lower damping seat 2 and the clamping part 8 is reduced, at the same time, the upper damping seat 1 rotates relative to the lower damping seat 2, at the same time, when the bottle cap is screwed in place, the damping ball 4 is screwed into the adjacent second groove 11, at the same time, the second driving unit 200 drives the first driving unit 100 to displace upwards, the clamping part 8 is separated from the bottle cap upwards, the telescopic rod 81 is outwards protruded relative to the lower damping seat in the process of separating from the bottle cap, screwing resistance is zero, and the lower damping seat 2 and the upper damping seat 1 rotates synchronously with the upper damping seat 1, and thus the cycle reciprocates.

The present utility model has been described above by way of example, but the present utility model is not limited to the above-described embodiments, and any modifications or variations based on the present utility model fall within the scope of the present utility model.

Claims (10)

1. The utility model provides a screw manipulator, its characterized in that includes torque regulator and clamping part (8), torque regulator includes damping unit and lower damping unit, it includes damping seat (1) to go up damping unit, go up damping seat (1) and can spin under first drive unit (100) effect, damping unit includes damping seat (2), a plurality of damping spring (3) and a plurality of damping ball (4) down, damping seat (2) upwards are connected with last damping seat (1) rotatable, the terminal surface of damping seat (2) face upwards is gone up circumference evenly and is provided with a plurality of first recess (21) down, the relevant position department of damping seat (1) is equipped with a plurality of second recess (11), damping spring (3) and damping ball (4) inlay and locate in first recess (21), just damping spring (3) can partly impress damping ball (4) to in second recess (11), clamping part (8) upwards are connected with damping seat (2) and can twist down with clamping part (8) rotatable synchronous article (8) down.

2. Screwing manipulator according to claim 1, further comprising a plurality of jackscrews (5) in one-to-one correspondence with the damping springs (3), the first grooves (21) penetrating the lower damping seat (2), the jackscrews (5) being screwed with the first grooves (21) and being able to abut upwards against the damping springs (3) in order to adjust the compression force of the damping springs (3) against the damping balls (4).

3. Screwing manipulator according to claim 1 or 2, further comprising a buffer seat (6), a buffer spring (7) and a second driving unit (200), wherein the upper damping seat (1) is connected with the buffer seat (6) in a vertically slidable manner, the buffer spring (7) is axially arranged along the upper damping seat (1) and two ends of the buffer spring are respectively abutted with the upper damping seat (1) and the buffer seat (6), the rotor end of the first driving unit (100) can transmit rotary motion to the buffer seat (6), and the second driving unit (200) can drive the manipulator to move up and down.

4. A screwing manipulator according to claim 3, wherein the buffer seat (6) comprises a concave cavity with a downward opening, the upper damping seat (1) is partially accommodated in the concave cavity, a plurality of third grooves are formed in the top end surface of the upper damping seat (1), the lower part of the buffer spring (7) is accommodated in the third grooves, and the buffer spring (7) is abutted upwards against the inner top surface of the concave cavity; the side wall of the buffer seat (6) forming the concave cavity is provided with a first long hole (61) extending axially, a first limiting rod (13) is vertically connected to the corresponding position of the side wall of the upper damping seat (1), and the tail end of the first limiting rod (13) extends into the first long hole (61) to limit the buffer stroke of the upper damping seat (1).

5. A screwing manipulator according to claim 3, wherein the first drive unit (100) comprises a first motor, which is fixed on a piston rod of the second drive unit (200) by a motor mount, and the rotor end of the first motor is fixed coaxially and fixedly connected with the buffer mount (6) downwards.

6. Screwing manipulator according to claim 4 or 5, wherein the bottom of the lower damping seat (2) comprises a connecting block (22), the clamping part (8) comprises a telescopic rod (81), a seat plate (82), a third spring (83) and two clamping arms (84), the first end of the telescopic rod (81) is axially slidably connected with the lower damping seat (2), the seat plate (82) is vertically connected with the second end of the telescopic rod (81), the two clamping arms (84) are oppositely arranged in the same structure, the clamping arms (84) are hinged with the seat plate (82) at a middle position, one end of the clamping arms (84) close to the lower damping seat (2) is hinged with a roller (85), the roller (85) can be abutted with the connecting block (22), the abutting face of the connecting block (22) is provided with an angle inclined from bottom to top, one end of the two clamping arms (84) far away from the lower damping seat (2) can be jointly enclosed to form a concave part for accommodating objects, and the two ends of the third spring (83) are abutted against the two abutting faces (84) respectively, so that the two abutting faces of the roller (84) are abutted against the connecting block (22).

7. The screwing manipulator according to claim 6, wherein the lower damping seat (2) comprises a central hole, the telescopic rod (81) is accommodated in the central hole, a second long hole (23) is formed in the side wall of the central hole, a second limiting rod (86) is vertically connected to the telescopic rod (81) at a corresponding position, and the tail end of the second limiting rod (86) extends into the second long hole (23) to limit the sliding stroke of the telescopic rod (81).

8. The screwing manipulator according to claim 7, further comprising a first adjusting screw (9), said first adjusting screw (9) being screwed up with the lower damping seat (2), and the end of said first adjusting screw (9) being able to abut up with a second stop lever (86) to limit the sliding travel of the telescopic rod (81).

9. The screwing manipulator according to claim 7 or 8, further comprising a second adjusting screw, wherein the seat plate (82) is sleeved outside the telescopic rod (81) and is connected with the telescopic rod (81) in an adjustable axial position, and the second adjusting screw vertically penetrates through the seat plate (82) to abut against the side wall of the telescopic rod (81) so as to fix the seat plate (82) and the telescopic rod (81).

10. The screwing manipulator according to claim 9, characterized in that said third springs (83) are two and symmetrically divided on both sides of the two gripping arms (84), and said third springs (83) are arranged between the seat plate (82) and the rollers (85).