CN203411039U - High-speed flat bottle arranging mechanical arm - Google Patents
High-speed flat bottle arranging mechanical arm Download PDFInfo
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- CN203411039U CN203411039U CN201320398635.2U CN201320398635U CN203411039U CN 203411039 U CN203411039 U CN 203411039U CN 201320398635 U CN201320398635 U CN 201320398635U CN 203411039 U CN203411039 U CN 203411039U
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Abstract
The utility model relates to a high-speed flat bottle arranging mechanical arm. The mechanical arm comprises a main frame body and a motion controlling mechanism which is used for controlling the mechanical arm, and also comprises an orientation detecting mechanism which is used for detecting a flat bottle opening; the main frame body is assembled with an arm swinging mechanism, an arm clamping mechanism and a driving mechanism; the arm swinging mechanism is assembled on the main frame body in a sliding manner; the arm clamping mechanism comprises two clamping arms and a loosening-clamping mechanism which is used for driving and transmitting two clamping arms to perform loosening/clamping movement; the arm clamping mechanism and a bevel gear are assembled on a support frame synchronously and rotationally. The high-speed flat bottle arranging mechanical arm, disclosed by the utility model, is capable of capturing the flat bottles quickly and accurately, keeping consistent capturing positions of different flat bottles of the same specification basically and achieving the state that flat bottles are arranged vertically with the openings of the flat bottles facing upwards; the bottle arranging effect is good. In addition, the bottle straightening speed of a single mechanical arm at least reaches 70 bottles per minute; the bottle straightening efficiency is high; less manpower is input; the production cost is reduced.
Description
Technical field
The utility model relates to a kind of bottle managing machine tool hand, refers to especially the flat bottle of a kind of high speed bottle managing machine tool hand.
Background technology
Bottle managing machine is for mixed and disorderly unordered bottle is organized into the device of specifying storing state, and bottle managing machine tool hand is the core component that completes the action of reason bottle of a bottle managing machine often.There are in the market various bottle managing machines, but existing bottle managing machine is used for arranging the cylindrical bottle of body, and for irregular body (as flat bottle), due to the irregular and bottleneck of body towards equal factor, the position that existing bottle managing machine tool hand captures flat bottle is difficult to guarantee roughly the same, and then can there is certain falling or percussion movement while causing manipulator to put down bottle, be difficult in an orderly manner flat bottle bottleneck vertically to be placed upward very undesirable of reason bottle effect.
Summary of the invention
The utility model provides the flat bottle of a kind of high speed bottle managing machine tool hand, to overcome being difficult in an orderly manner by the vertically discharge upward of flat bottle bottleneck, to the undesirable problem of flat bottle finishing effect that existing bottle managing machine tool hand exists.
The utility model adopts following technical scheme:
The flat bottle of a kind of high speed bottle managing machine tool hand, comprise main frame body and control mechanism, this control mechanism is for controlling the motion of manipulator, and this manipulator also comprises testing agency, this testing agency connects described control mechanism for detection of flat bottle bottleneck towards ，Gai testing agency; On described main frame body, be equipped with oscillating arm mechanisms, arm mechanism and driver train; This oscillating arm mechanisms bottom is assemblied in this main frame body slidably, and this driver train is used for driving this oscillating arm mechanisms to make oriented sliding, and this oscillating arm mechanisms and this driver train connect with described control mechanism respectively; This arm mechanism comprises loose clamp mechanism and two jig arm, and this loose clamp mechanism is used for driving two these jig arm of transmission to unclamp/clamp motion, and this loose clamp mechanism connects described control mechanism.
More specifically:
Above-mentioned oscillating arm mechanisms comprises bracing frame and the first servomotor, finishing bevel gear cuter, this first servomotor is fixedly assemblied in this bracing frame, this finishing bevel gear cuter is assemblied in this bracing frame rotationally, this first servomotor is used for driving this finishing bevel gear cuter to rotate, this first servomotor connects above-mentioned control mechanism, and above-mentioned arm mechanism is synchronizeed and is assemblied in rotationally on this bracing frame with this finishing bevel gear cuter.
Above-mentioned loose clamp mechanism comprise Connection Block, to folder and gas/oil cylinder, this Connection Block is assemblied on above-mentioned bracing frame, the two ends of above-mentioned jig arm are respectively coupling end and bare terminal, the coupling end of this jig arm is fixedly linked in this Connection Block rotationally; This comprises to folder left clamping bar and the right clamping bar that is all L-type, the middle part of this left clamping bar and this right clamping bar is articulated in respectively this Connection Block, the top of this left clamping bar and this right clamping bar is connected respectively this jig arm rotationally, and the bottom of this left clamping bar and this right clamping bar is fixedly connected on respectively the cylinder masthead portion of this gas/oil cylinder rotationally; This gas/oil cylinder is fixedly assemblied in this Connection Block, and this gas/oil cylinder connects above-mentioned control mechanism.The bare terminal of above-mentioned jig arm is provided with rubber mat piece free to rotate.
Above-mentioned driver train comprises the second servomotor and high speed screw mandrel, this second servomotor is fixed on above-mentioned main frame body, this second servomotor connects with above-mentioned control mechanism, the power take-off shaft of this second servomotor connects above-mentioned oscillating arm mechanisms by this high speed screw rod transmission, and the axis of this power take-off shaft and this high speed screw mandrel is on same straight line.
Above-mentioned main frame body is provided with slide rail, and above-mentioned oscillating arm mechanisms bottom is assemblied on this slide rail.
A bottle cleaning method for the flat bottle of above-mentioned a kind of high speed bottle managing machine tool hand, this bottle cleaning method comprises the steps:
A. above-mentioned testing agency detect flat bottle bottleneck to be arranged towards and detection signal is sent to above-mentioned control mechanism, this flat bottle to be arranged is laterally placed and is edge-on in conveyor track groove, the flat bottle throughput direction of take is the place ahead;
If b. flat bottle bottleneck is towards the place ahead, under the control of control mechanism: above-mentioned driver train drives above-mentioned oscillating arm mechanisms to move forward, make the bare terminal of two above-mentioned jig arm of above-mentioned arm mechanism lay respectively on the two side of flat bottle and close on bottleneck, above-mentioned loose clamp mechanism drives two jig arm inwardly to move and clamps flat bottle, above-mentioned oscillating arm mechanisms drives above-mentioned arm mechanism to be rocked to forward assigned address, and loose clamp mechanism drives two jig arm outwards to move and unclamps the flat bottle of vertical layout;
If c. flat bottle bottleneck is towards rear, under the control of control mechanism: this driver train drives this oscillating arm mechanisms to move backward, make the bare terminal of two jig arm of this arm mechanism lay respectively on the two side of flat bottle and close on bottleneck, this loose clamp mechanism drives two jig arm inwardly to move and clamps flat bottle, this oscillating arm mechanisms drives this arm mechanism to be rocked to forward assigned address, and loose clamp mechanism drives two jig arm outwards to move and unclamps the flat bottle of vertical layout;
D. manipulator resets, and prepares to carry out the reason bottle action of next round.
From the above-mentioned description to the utility model structure, compared to the prior art, the utlity model has following advantage: the flat bottle of high speed of the present utility model bottle managing machine tool hand can capture flat bottle quickly and accurately, and the position to its crawl of the flat bottle of the difference of same size can be consistent substantially, can realize the vertically discharge upward of flat bottle bottleneck, reason bottle is effective; In addition, the speed of the manipulator reason bottle of the present utility model of separate unit at least can reach 70/minute, and reason bottle efficiency is high, and human input amount is few, has reduced productive costs; In addition, this robot manipulator structure is simple, long service life, and maintenance is simple, uses convenience very.
Accompanying drawing explanation
Fig. 1 is the perspective view of manipulator of the present utility model.
Fig. 2 is the right TV structure schematic diagram of manipulator while capturing flat bottle backward of bottleneck.
Fig. 3 be manipulator decontrol to erect flat bottle time right TV structure schematic diagram.
Fig. 4 is the right TV structure schematic diagram of manipulator while capturing flat bottle forward of bottleneck.
Fig. 5 is the plan structure schematic diagram of manipulator while capturing flat bottle forward of bottleneck.
The specific embodiment
The specific embodiment of the present utility model is described with reference to the accompanying drawings.
With reference to Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, the flat bottle of a kind of high speed bottle managing machine tool hand, comprise and in main frame body 1(figure, only illustrate local main frame body 1) and control mechanism, this control mechanism is for controlling the motion of manipulator, continuation is with reference to Fig. 2, Fig. 4, this manipulator also comprises testing agency 11, this testing agency 11 for detection of flat bottle 2 bottlenecks towards, testing agency 11 comprises two detectors, the test side of the first detector 111 and the second detector 112 is all towards top, by detect the distance of the end distance detector of flat bottle 2 judge bottleneck towards; The distance detecting as the first detector 111 and the second detector 112 about equally, judges that this bottleneck is towards rear; If when the range data that the first detector 111 and the second detector 112 detect differs larger, judge that this bottleneck is towards the place ahead; This testing agency 11 connects described control mechanism.Continuation, with reference to Fig. 1, Fig. 2, Fig. 4, is equipped with oscillating arm mechanisms 12, arm mechanism 13 and driver train 14 on described main frame body 1; This driver train 14 comprises the second servomotor 141 and high speed screw mandrel 142, this second servomotor 141 is fixed on above-mentioned main frame body 1, this second servomotor 141 connects with above-mentioned control mechanism, the power take-off shaft of this second servomotor 141 is by the above-mentioned oscillating arm mechanisms 12 of this high speed screw mandrel 142 driving coupling, and the axis of this power take-off shaft and this high speed screw mandrel 142 is on same straight line.This oscillating arm mechanisms 12 comprises bracing frame 121 and the first servomotor 122, finishing bevel gear cuter 123, this first servomotor 122 is fixedly assemblied in this bracing frame 121, this finishing bevel gear cuter 123 is assemblied in this bracing frame 121 rotationally, this first servomotor 122 is for driving this finishing bevel gear cuter 123 to rotate, and this first servomotor 122 connects above-mentioned control mechanism; Main frame body 1 is provided with slide rail 124, and above-mentioned oscillating arm mechanisms 12 bottoms are assemblied on this slide rail 124 slidably, and this driver train 14 is for driving this oscillating arm mechanisms 12 to make oriented sliding, and this oscillating arm mechanisms 12 and this driver train 14 connect with described control mechanism respectively.Continuation is with reference to Fig. 1, Fig. 5, this arm mechanism 13 comprises loose clamp mechanism 131 and two jig arm 132, this loose clamp mechanism 131 is for driving two these jig arm 132 of transmission to unclamp/clamp motion, this loose clamp mechanism 131 connects described control mechanism, and this arm mechanism 13 is synchronizeed and is assemblied in rotationally on support frame as described above 121 with described finishing bevel gear cuter 123; Continuation is with reference to Fig. 1, above-mentioned loose clamp mechanism 131 comprises Connection Block 133, to pressing from both sides 134 and gas/oil cylinder 135, this Connection Block 133 is assemblied on above-mentioned bracing frame 121, the two ends of above-mentioned jig arm 132 are respectively coupling end and bare terminal, the coupling end of this jig arm 132 is fixedly linked in this Connection Block 133 rotationally, and the bare terminal of this jig arm 132 is provided with rubber mat piece 136 free to rotate; This comprises to pressing from both sides 134 left clamping bar 137 and the right clamping bar 138 that is all L-type, the middle part of this left clamping bar and this right clamping bar is articulated in respectively this Connection Block 133, the top of this left clamping bar and this right clamping bar is connected respectively this jig arm 132 rotationally, and the bottom of this left clamping bar and this right clamping bar is fixedly connected on respectively the cylinder masthead portion of this gas/oil cylinder 135 rotationally; This gas/oil cylinder 135 is fixedly assemblied in this Connection Block 133, and this gas/oil cylinder 135 connects above-mentioned control mechanism.
Referring to figs. 1 through Fig. 5, a kind of bottle cleaning method that uses the flat bottle of above-mentioned a kind of high speed bottle managing machine tool hand, this bottle cleaning method comprises the steps:
A. the flat bottle 2 of to be arranged this is laterally placed and is edge-on in conveyor track groove, and flat bottle 2 throughput directions of take are the place ahead, and under the conveying of conveyor track groove, flat bottle 2 to be arranged moves to manipulator direction of the present utility model seriatim; Above-mentioned testing agency 11 detect flat bottle to be arranged 2 bottlenecks towards and detection signal is sent to above-mentioned control mechanism, control setup receive signal and process after send corresponding instruction, control corresponding device and make respective action;
B. with reference to Fig. 4, Fig. 5, if flat bottle 2 bottlenecks are towards the place ahead (being that bottleneck is towards manipulator), under the control of control mechanism: the second servomotor 141 of above-mentioned driver train 14 drives high speed screw mandrel 142 to rotate, 142 transmissions of high speed screw mandrel drive above-mentioned oscillating arm mechanisms 12 to move forward, make the bare terminal of two above-mentioned jig arm 132 of above-mentioned arm mechanism 13 lay respectively at flat bottle 2 sidewall middle part deflection bottle mouth positions, the gas/oil cylinder 135 cylinder bars of above-mentioned loose clamp mechanism 131 move downward and the bottom of left clamping bar 137 and right clamping bar 138 are pulled downwards, the top of left clamping bar 137 and right clamping bar 138 is ordered about two jig arm 132 and is inwardly moved to motion respectively, the bare terminal of jig arm 132 i.e. clamping flat bottle 2 tightly, then, the first servomotor 122 of above-mentioned oscillating arm mechanisms 12 rotates, driving band dynamic bevel gear 123 rotates, Connection Block 133 and 123 of this finishing bevel gear cuters of above-mentioned arm mechanism 13 synchronously rotate, thereby drive jig arm 132 to be rocked to forward assigned address (being preferably rocked to horizontal direction), now, flat bottle 2 due to the effect of self gravitation in bottleneck upright state upward, gas/oil cylinder 135 cylinder bar upward movements, two jig arm 132 are outwards moved and unclamp flat bottle 2, and flat bottle 2 is placed on the load-transfer device of subsequent processing,
If c. flat bottle 2 bottlenecks towards rear (as Fig. 1, Fig. 2, shown in Fig. 3), under the control of control mechanism: the second servomotor 141 of above-mentioned driver train 14 drives high speed screw mandrel 142 to rotate, 142 transmissions of high speed screw mandrel drive above-mentioned oscillating arm mechanisms 12 to move backward, make the bare terminal of two above-mentioned jig arm 132 of above-mentioned arm mechanism 13 lay respectively at flat bottle 2 sidewall middle part deflection bottle mouth positions, the gas/oil cylinder 135 cylinder bars of above-mentioned loose clamp mechanism 131 move downward and the bottom of left clamping bar 137 and right clamping bar 138 are pulled downwards, the top of left clamping bar 137 and right clamping bar 138 is ordered about two jig arm 132 and is inwardly moved to motion respectively, the bare terminal of jig arm 132 i.e. clamping flat bottle 2 tightly, with reference to Fig. 3, then, the first servomotor 122 of above-mentioned oscillating arm mechanisms 12 rotates, driving band dynamic bevel gear 123 rotates, Connection Block 133 and 123 of this finishing bevel gear cuters of above-mentioned arm mechanism 13 synchronously rotate, thereby drive jig arm 132 to be rocked to forward assigned address (being preferably rocked to horizontal direction), now, flat bottle 2 due to the effect of self gravitation in bottleneck upright state upward, gas/oil cylinder 135 cylinder bar upward movements, two jig arm 132 are outwards moved and unclamp flat bottle 2, and flat bottle 2 is placed on the load-transfer device of subsequent processing,
D. manipulator resets, and prepares to carry out the reason bottle action of next round.
Above are only the specific embodiment of the present utility model, but design concept of the present utility model is not limited to this, allly utilizes this design to carry out the change of unsubstantiality to the utility model, all should belong to the behavior of invading the utility model protection domain.
Claims (6)
1. the flat bottle of high speed bottle managing machine tool hand, comprise main frame body and control mechanism, this control mechanism, for controlling the motion of manipulator, is characterized in that: described manipulator also comprises testing agency, this testing agency connects described control mechanism for detection of flat bottle bottleneck towards ，Gai testing agency; On described main frame body, be equipped with oscillating arm mechanisms, arm mechanism and driver train;
This oscillating arm mechanisms is assemblied in this main frame body slidably, and this driver train is used for driving this oscillating arm mechanisms to make oriented sliding, and this oscillating arm mechanisms and this driver train connect with described control mechanism respectively;
This arm mechanism comprises loose clamp mechanism and two jig arm, and this loose clamp mechanism is used for driving two these jig arm of transmission to unclamp/clamp motion, and this loose clamp mechanism connects described control mechanism.
2. the flat bottle of a kind of high speed as claimed in claim 1 bottle managing machine tool hand, it is characterized in that: described oscillating arm mechanisms comprises bracing frame and the first servomotor, finishing bevel gear cuter, this first servomotor is fixedly assemblied in this bracing frame, this finishing bevel gear cuter is assemblied in this bracing frame rotationally, this first servomotor is used for driving this finishing bevel gear cuter to rotate, this first servomotor connects described control mechanism, and described arm mechanism is synchronizeed and is assemblied in rotationally on this bracing frame with this finishing bevel gear cuter.
3. the flat bottle of a kind of high speed as claimed in claim 1 bottle managing machine tool hand, it is characterized in that: described loose clamp mechanism comprise Connection Block, to folder and gas/oil cylinder, this Connection Block is assemblied on support frame as described above, the two ends of described jig arm are respectively coupling end and bare terminal, and the coupling end of this jig arm is fixedly linked in this Connection Block rotationally; This comprises to folder left clamping bar and the right clamping bar that is all L-type, the middle part of this left clamping bar and this right clamping bar is articulated in respectively this Connection Block, the top of this left clamping bar and this right clamping bar is connected respectively this jig arm rotationally, and the bottom of this left clamping bar and this right clamping bar is fixedly connected on respectively the cylinder masthead portion of this gas/oil cylinder rotationally; This gas/oil cylinder is fixedly assemblied in this Connection Block, and this gas/oil cylinder connects described control mechanism.
4. the flat bottle of a kind of high speed as claimed in claim 3 bottle managing machine tool hand, is characterized in that: the bare terminal of described jig arm is provided with rubber mat piece free to rotate.
5. the flat bottle of a kind of high speed as claimed in claim 1 bottle managing machine tool hand, it is characterized in that: described driver train comprises the second servomotor and high speed screw mandrel, this second servomotor is fixed on described main frame body, this second servomotor connects with described control mechanism, the power take-off shaft of this second servomotor connects described oscillating arm mechanisms by this high speed screw rod transmission, and the axis of this power take-off shaft and this high speed screw mandrel is on same straight line.
6. the flat bottle of a kind of high speed as claimed in claim 1 bottle managing machine tool hand, is characterized in that: described main frame body is provided with slide rail, and described oscillating arm mechanisms bottom is assemblied on this slide rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320398635.2U CN203411039U (en) | 2013-07-05 | 2013-07-05 | High-speed flat bottle arranging mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320398635.2U CN203411039U (en) | 2013-07-05 | 2013-07-05 | High-speed flat bottle arranging mechanical arm |
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| CN203411039U true CN203411039U (en) | 2014-01-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320398635.2U Withdrawn - After Issue CN203411039U (en) | 2013-07-05 | 2013-07-05 | High-speed flat bottle arranging mechanical arm |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103303667A (en) * | 2013-07-05 | 2013-09-18 | 泉州华硕实业有限公司 | High-speed flat bottle straightening mechanical hand and bottle straightening method thereof |
| CN106144584A (en) * | 2016-08-31 | 2016-11-23 | 天津立中车轮有限公司 | A kind of mechanical hand sliding rail |
| CN109281480A (en) * | 2018-11-07 | 2019-01-29 | 中建八局第建设有限公司 | A kind of construction site reserved opening closure plate automatic transhipment and laying apparatus |
| CN111113393A (en) * | 2019-12-31 | 2020-05-08 | 北京猎户星空科技有限公司 | Actuator, mechanical arm, control method and intelligent catering preparation system |
-
2013
- 2013-07-05 CN CN201320398635.2U patent/CN203411039U/en not_active Withdrawn - After Issue
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103303667A (en) * | 2013-07-05 | 2013-09-18 | 泉州华硕实业有限公司 | High-speed flat bottle straightening mechanical hand and bottle straightening method thereof |
| CN103303667B (en) * | 2013-07-05 | 2015-06-17 | 泉州华硕实业有限公司 | High-speed flat bottle straightening mechanical hand and bottle straightening method thereof |
| CN106144584A (en) * | 2016-08-31 | 2016-11-23 | 天津立中车轮有限公司 | A kind of mechanical hand sliding rail |
| CN109281480A (en) * | 2018-11-07 | 2019-01-29 | 中建八局第建设有限公司 | A kind of construction site reserved opening closure plate automatic transhipment and laying apparatus |
| CN109281480B (en) * | 2018-11-07 | 2023-10-20 | 中建八局第一建设有限公司 | Automatic transfer and laying device for building site reserved opening plugging plate |
| CN111113393A (en) * | 2019-12-31 | 2020-05-08 | 北京猎户星空科技有限公司 | Actuator, mechanical arm, control method and intelligent catering preparation system |
| CN111113393B (en) * | 2019-12-31 | 2021-11-16 | 北京猎户星空科技有限公司 | Actuator, mechanical arm, control method and intelligent catering preparation system |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20140129 Effective date of abandoning: 20150617 |
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| RGAV | Abandon patent right to avoid regrant |