CN205085983U - Manipulator that equipment for packing , bottle cleaning machine, robot and being convenient for maintained - Google Patents
Manipulator that equipment for packing , bottle cleaning machine, robot and being convenient for maintained Download PDFInfo
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- CN205085983U CN205085983U CN201520586046.6U CN201520586046U CN205085983U CN 205085983 U CN205085983 U CN 205085983U CN 201520586046 U CN201520586046 U CN 201520586046U CN 205085983 U CN205085983 U CN 205085983U
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Abstract
The utility model provides a be convenient for manipulator maintained, including the chuck seat, to open clamping jaw, main arm axle with from the arm axle, a pair of alternate wall is drawn together to the chuck stationary ladle, and a wall each prescribe a limit to porosely, and each hole is aimed at each other, it includes a pair of main clamping jaw and follows the clamping jaw to run from opposite directions double -layered formula clamping jaw, main clamping jaw and holding between a wall and injecing and have the main arm hole and from the arm hole from clamping jaw part, the main arm axle has two tip and a center no. 1, and the main arm axle extends in two into corresponding holes and runs through the main arm hole, and main arm lock is installed on center no. 1, have two tip and a center no. 2 from the arm axle, this follow arm axle extends in two into corresponding holes and runs through follow arm hole, and the follow arm lock is installed on center no. 2, the main arm axle has highlights to be equipped with the pendulum rod on this highlights. Consequently can be comparatively convenient change and maintain each part. The utility model discloses robot, bottle cleaning machine or the equipment for packing of the manipulator that still provides applied above -mentioned manipulator or be convenient for maintain.
Description
Technical field
The application relates to manipulator technical field, relate to the manipulator that a kind of manipulator/be convenient to is safeguarded particularly, and the manipulator of this manipulator/be convenient to safeguard is mainly used in the Preparation equipment of food, medical treatment, pharmacy, skin lotion or gel etc.
The application also relates to packaging facilities technical field, relate to a kind of bottle washing machine applying above-mentioned manipulator particularly.
In addition, the application also relate to a kind of robot or the packaging facilities of applying above-mentioned manipulator.
Background technology
Manipulator is used to perform the operation to specifying workpiece in multiple manufacturing process.Manipulator can clamp according to design, transports, orientation and release workpiece.In the application scenario that some are concrete, such as, in bottle washing machine, commonly use the manipulator clamping bottle of folder bottle to complete the some or all of operation in bottle-washing.
Authorization Notice No. is point out in the Chinese utility model patent document of CN201969708U: due to two open folder (or splitting folder) manipulator due to complex structure, safeguard inconvenient, make to use in bottle washing machine less; Thus this patent document provides a kind of clamping manipulator of singly opening to solve complex structure and to safeguard inconvenient problem.In practice, the researcher of the applicant finds that it at least exists following problem: 1). because the jaw singly opening clamping manipulator is fixing, easily cause the relative motion of workpiece and each jaw asymmetric inconsistent in other words when holding workpiece, thus can there is relative position and move in workpiece in the process of clamping, easily cause clip position inaccurate, also may cause the problems such as the workpiece damage of rapid wear; 2). because the jaw singly opening clamping manipulator is fixing, also there is different requirements when holding workpiece to the putting position of manipulator or workpiece.
Therefore, how to improve and optimize the structure of manipulator, make simple, the easy to maintenance those skilled in that art of being of its structure be badly in need of the important technological problems solved at present.
Summary of the invention
The purpose of this utility model comprises the manipulator providing a kind of manipulator/be convenient to safeguard.Manipulator is applicable to pharmaceutical equipment, food equipment, but also may be used for various occasion, comprises medical treatment, chemical industry, agricultural chemicals, cosmetic, and the wide in range scope of other packaging facilities.Another object of the present utility model is to provide a kind of bottle washing machine applying above-mentioned manipulator.Another object of the present utility model is to provide a kind of robot or the packaging facilities of applying above-mentioned manipulator.
For this reason, the utility model relates to a kind of manipulator being convenient to safeguard, comprises base of the carrier head, opposite opened jaw, principal arm axle and from arm axle, wherein:
Described base of the carrier head comprises a pair alternate wall, and described wall is respectively limited with at least two holes, and makes each hole aligned with each other;
Described split clip jaw comprise a pair cooperation main folder pawl and from jaw, described main folder pawl comprises main folder arm and main folder head, describedly comprises from jig arm with from chuck from jaw; Described main folder arm and described to be contained between described alternate wall and to be limited with principal arm hole and from arm aperture from clamping arm portion; Described main folder pawl and be describedly respectively equipped with intermeshing main wheel tooth and from the gear teeth from jaw;
The center one that described principal arm axle has two ends and extends between described two ends, this principal arm axle to extend in two corresponding described holes and runs through described principal arm hole, and described main folder arm is dismountable to be fixedly installed on described center one;
The described center two having two ends from arm axle and extend between described two ends, should extend into two corresponding described holes from arm axle and run through described from arm aperture, was describedly fixedly installed in described center two from jig arm is dismountable;
An end of described principal arm axle has the ledge protruding from described wall, and dismountablely on this ledge is installed with fork, and is provided with rolling bearing in the other end of this fork;
Described principal arm hole and be describedly screwed hole from arm aperture; Described center one and described center two are provided with corresponding external screw thread;
This manipulator being convenient to safeguard also comprises for main folder pawl described in pretension and the described preloading spring from jaw.
The utility model also relates to a kind of manipulator, comprising:
Comprise the base of the carrier head of a pair alternate wall, described wall is respectively limited with at least two holes, and makes each hole aligned with each other;
Coordinate formation split for a pair clip jaw main folder pawl and from jaw, described main folder pawl and described to be contained between described alternate wall and to be limited with principal arm hole and from arm aperture from gripping portions; Described main folder pawl and be describedly respectively equipped with intermeshing main wheel tooth and from the gear teeth from jaw;
Principal arm axle, its center one that there are two ends and extend between described two ends, this principal arm axle to extend in two corresponding described holes and runs through described principal arm hole, and described main folder pawl is dismountable to be fixedly installed on described center one;
From arm axle, its center two having two ends and extend between described two ends, should extend into two corresponding described holes from arm axle and run through described from arm aperture, was describedly installed on described center two from jaw is dismountable;
An end of described principal arm axle has the ledge protruding from described wall, and dismountablely on this ledge is installed with fork, and is provided with roller in the other end of this fork.
Preferably, described manipulator also comprises for main folder pawl described in pretension and the described preloading spring from jaw.
Preferably, described main folder pawl comprises main folder arm and main folder head, describedly comprises from jig arm with from chuck from jaw; Described principal arm hole to be arranged on described main folder arm and to coordinate with described center one, and described being arranged on from arm aperture described coordinates with described center two jig arm.
Preferably, described main folder arm and be describedly respectively equipped with intermeshing main wheel tooth and from the gear teeth from jig arm, the axle center of described main wheel tooth and the axis coinciding in described principal arm hole, the described axle center from the gear teeth and the described axis coinciding from arm aperture.
Preferably, described main folder arm and be describedly respectively equipped with intermeshing main wheel tooth and from the gear teeth from jig arm, described main wheel tooth with described principal arm axle for rotating shaft, described from the gear teeth with described from arm axle for rotating shaft.
Preferably, described preloading spring is Compress Spring or extension spring, torsionspring.
Preferably, described preloading spring is disk spring or ring spring, flat spring, helical spring, valute spring, torsion-bar spring.
Preferably, described main folder arm and/or to be describedly provided with for limiting described main folder pawl and and the detent mechanism of maximum clamping force from jaw from jig arm.
Preferably, described detent mechanism comprises bolt, is arranged on described main folder arm or described from the bolt hole jig arm and the nut for this bolt of pretension.
Preferably, to be describedly fixedly installed in described center two from jig arm is dismountable.
Preferably, described principal arm hole is screwed hole one, and described center one is provided with corresponding external screw thread one.
Preferably, described is screwed hole two from arm aperture, and described center two is provided with corresponding external screw thread two.
Preferably, described roller is rolling bearing.
Preferably, sliding bearing or lining is provided with in the hole on described wall.
Preferably, described in described Zhi Biyu, the ledge hole be arranged on the same side is provided with flange bearing or flange lining, and the flange end of described flange bearing and described flange lining is positioned at inner side.
Preferably, described principal arm axle also comprises with described ledge relative to the bulge loop one between the end of side and described center one.Preferably, technology groove one is also provided with between described bulge loop one and described center one.
Preferably, one end that described principal arm axle is relative with described ledge is provided with driving hole one.Preferably, described driving hole one is interior hexagonal or Nei Wujiao, interior corner, Triangle ID.
Preferably, describedly bulge loop two between an end and described center two is also comprised from arm axle.Preferably, technology groove two is also provided with between described bulge loop two and described center two.
Preferably, the described end being positioned at described bulge loop two side from arm axle is provided with driving hole two.Preferably, described driving hole two is interior hexagonal or Nei Wujiao, interior corner, Triangle ID.
Preferably, dismountablely its one end is fixedly arranged on, for preventing this from arm axle towards the locking mechanism of other end movement described also comprising from arm axle.
Preferably, described locking mechanism is positioned at described relative with described bulge loop two from arm axle the other end.
Preferably, described locking mechanism is positioned at the side identical with described ledge.
Preferably, described locking mechanism is bolt and packing ring or back-up ring.
Preferably, the week edge of the one end in described principal arm hole is boss structure one, or the week of two ends in described principal arm hole is along being boss structure one.
Preferably, the week edge of described one end from arm aperture is boss structure two, or the week of described two ends from arm aperture is along being boss structure two.
Preferably, described main folder arm is also provided with the set screw hole one of leading to described principal arm hole, and is provided with the relative position of holding screw one for main folder arm described in auxiliary tightening and described principal arm axle.
Preferably, described being also provided with jig arm leads to the described set screw hole two from arm aperture, and be provided with holding screw two for described in auxiliary tightening from jig arm and the described relative position from arm axle.
Preferably, one end that described principal arm hole is positioned at described bulge loop one is provided with the stepped hole one coordinated with described bulge loop one.
Preferably, described one end being positioned at described bulge loop two from arm aperture is provided with the stepped hole two coordinated with described bulge loop two.
Preferably, the cross section at the outer top of described bulge loop one is trapezoidal.
Preferably, the cross section at the outer top of described bulge loop two is trapezoidal.
Preferably, described manipulator also comprises splits fairlead corresponding to workpiece that clip jaw clamps and the guide plate for installing this fairlead with described, and this guide plate is arranged on the wall with described ledge or the relative side of described fork.
Preferably, described manipulator comprises multipairly splits clip jaw, this multipair opposite opened jaw linearly or circular arc be arranged on described base of the carrier head.
The utility model also relates to a kind of robot applying above-mentioned manipulator or be convenient to the manipulator safeguarded.
The utility model also relates to a kind of bottle washing machine applied above-mentioned manipulator or be convenient to the manipulator safeguarded.
The utility model also relates to a kind of packaging facilities applied above-mentioned manipulator or be convenient to the manipulator safeguarded.
Relative to above-mentioned background technology, the beneficial effects of the utility model are roughly as follows.
1. a kind of manipulator being convenient to safeguard of relating to of the utility model, comprises base of the carrier head, opposite opened jaw, principal arm axle and from arm axle, due to: base of the carrier head comprises a pair alternate wall, and a wall is respectively limited with at least two holes, and makes each hole aligned with each other; Split clip jaw comprise a pair cooperation main folder pawl and from jaw, main folder pawl comprises main folder arm and main folder head, comprises from jig arm with from chuck from jaw; Main folder arm and to be contained between wall and to be limited with principal arm hole and from arm aperture from clamping arm portion; Principal arm axle has two ends and center one, and this principal arm axle to extend in two corresponding holes and runs through principal arm hole, and main folder arm is installed on center one; From arm axle, there is two ends and center two, should extend into two corresponding holes from arm axle and run through from arm aperture, and be installed on center two from jig arm; This manipulator being convenient to safeguard also comprises for main folder pawl described in pretension and the described preloading spring from jaw.Therefore, by splitting out principal arm axle and and can separating out from base of the carrier head from jaw by main folder pawl from arm axle, thus conveniently can change part, safeguard.Due to principal arm hole be screwed hole from arm aperture, generally corresponding center one and center two also should adopt screw thread, the relative position of interconnective parts can well be fixed like this.An end due to principal arm axle has the ledge protruding from wall, and dismountablely on this ledge is installed with fork, and is provided with rolling bearing in the other end of this fork, and therefore, the fork controlling the action of opposite opened jaw is also more flexible.
2. a kind of manipulator of relating to of the utility model, comprising: the base of the carrier head comprising a pair alternate wall, and described wall is respectively limited with at least two holes, and makes each hole aligned with each other; Coordinate formation split for a pair clip jaw main folder pawl and from jaw, described main folder pawl and described to be contained between described alternate wall and to be limited with principal arm hole and from arm aperture from gripping portions; Principal arm axle, its center one that there are two ends and extend between described two ends, this principal arm axle to extend in two corresponding described holes and runs through described principal arm hole, and described main folder pawl is dismountable to be fixedly installed on described center one; From arm axle, its center two having two ends and extend between described two ends, should extend into two corresponding described holes from arm axle and run through described from arm aperture, was describedly installed on described center two from jaw is dismountable; An end of described principal arm axle has the ledge protruding from a described wall.Therefore, by splitting out principal arm axle and and can separating out from base of the carrier head from jaw by main folder pawl from arm axle, thus conveniently can change part, safeguard.Be installed with fork due to dismountable on ledge, and be provided with roller in the other end of this fork, therefore, the fork controlling the action of opposite opened jaw is also more flexible.
3. a kind of manipulator of relating to of the utility model, is respectively equipped with intermeshing main wheel tooth and from the gear teeth due to main folder arm with from jig arm, and main wheel tooth and from the gear teeth respectively with principal arm axle and from arm axle for rotating shaft.Make main folder arm and rotate around principal arm axle with from arm axle respectively from jig arm, open and press from both sides action time be all the state of mirror image, i.e. the one of opposite opened jaw.
4. a kind of manipulator of relating to of the utility model, owing to being provided with sliding bearing or lining in the hole on a wall, its service life obviously extends, and bearing or liner wear excessive time can also change.Further, the Zhi Biyu ledge hole be arranged on the same side is provided with flange bearing or flange lining, and the flange end of flange bearing and flange lining is positioned at inner side, is conducive to main folder arm and carries out spacing from jig arm.Especially from the locking mechanism that arm axle is arranged, make to be able to firmly from the axial location of jig arm.
5. a kind of manipulator of relating to of the utility model, because principal arm axle also comprises the bulge loop one between the end of side relative to described ledge and center one, is also provided with technology groove one between bulge loop one and described center one; Also comprise the bulge loop two between an end and described center two from arm axle, between bulge loop two and described center two, be also provided with technology groove two.Location is convenient in the setting of bulge loop, and the arranging of technology groove can prevent damage principal arm hole and from arm aperture.
6. a kind of manipulator of relating to of the utility model, because one end that principal arm axle is relative with described ledge is provided with driving hole one; The end being positioned at described bulge loop two side from arm axle is provided with driving hole two; Driving hole two is interior hexagonal or Nei Wujiao, interior corner, Triangle ID.The setting of driving hole is also convenient to dismounting.
7. a kind of manipulator of relating to of the utility model, because the week of the end in principal arm hole is along being provided with boss structure one, from arm aperture week of end along being provided with boss structure two.Be conducive to the stability and the reliability that alleviate main folder pawl and improve connection from the weight of jaw simultaneously like this.
8. a kind of manipulator of relating to of the utility model, one end that principal arm hole is positioned at described bulge loop one is provided with the stepped hole one coordinated with described bulge loop one; The one end being positioned at described bulge loop two from arm aperture is provided with the stepped hole two coordinated with described bulge loop two.Arranging of stepped hole can improve the convenience of assembling and the applicability of structure.
The purpose of this utility model, characteristic and technical scheme can be applied in any combination jointly or independently.Not necessarily need in conjunction with all objects or characteristic in each technical scheme.
Accompanying drawing explanation
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only embodiments more of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
The structural principle schematic diagram of the manipulator that the manipulator that Fig. 1 provides for a kind of specific embodiment of the utility model/be convenient to is safeguarded.
Fig. 2 is the cross-sectional schematic of A-A in Fig. 1, and have rotated certain angle to observe.
Fig. 3 is the cross-sectional schematic of B-B in Fig. 1, and have rotated certain angle to observe.
Fig. 4 is the close-up schematic view splitting clip jaw in Fig. 1, shows a kind of Alternate embodiments of detent mechanism.
Detailed description of the invention
In order to make those skilled in the art person understand each technical scheme involved by the utility model better, below in conjunction with the drawings and specific embodiments, the utility model is described in further detail.It should be noted that, when not conflicting, the embodiment in the application and each the concrete technical characteristic described in embodiment can be combined by any suitable mode; In order to avoid unnecessary repetition, the utility model illustrates no longer separately to various possible combination, as long as it is without prejudice to thought of the present utility model, it should be considered as content disclosed in the utility model equally.
As shown in Figure 1, the structural principle schematic diagram of the manipulator that the manipulator/be convenient to that Fig. 1 provides for a kind of specific embodiment of the utility model is safeguarded; Fig. 2 is the cross-sectional schematic of A-A in Fig. 1, and have rotated certain angle to observe; Fig. 3 is the cross-sectional schematic of B-B in Fig. 1, and have rotated certain angle to observe.
In a kind of specific embodiment, as Fig. 1, shown in Fig. 2 and Fig. 3, a kind of manipulator being convenient to safeguard that the utility model provides, comprise base of the carrier head 10, opposite opened jaw 20, principal arm axle 30 and from arm axle 40, wherein, base of the carrier head 10 comprises a pair alternate wall 11, prop up wall 11 and be respectively limited with at least two holes 12, and hole 12 mutually corresponding on a wall 11 of both sides forms the duct aimed at, split clip jaw 20 comprise a pair cooperation main folder pawl 21 and from jaw 22, main folder pawl 21 comprises main folder arm 211 and main folder 212, comprise from jig arm 221 with from chuck 222 from jaw 22, described main folder arm 211 and described to be contained between alternate wall 11 and to be limited with principal arm hole 213 and from arm aperture 223 from jig arm 221 part, as shown in Figures 2 and 3, principal arm hole 213 and be screwed hole from arm aperture 223.The center 1 that principal arm axle 30 has two ends 31 and extends between two ends 31, this principal arm axle 30 to extend in two corresponding holes 12 and runs through principal arm hole 213; From the center 2 42 that arm axle 40 has two ends 41 and extends between two ends 41, should extend into two corresponding holes 12 from arm axle 40 and run through from arm aperture 223; An end 31 of principal arm axle 30 has the ledge 311 protruding from a wall 11.Preferably, as shown in Figure 1, Figure 2 and Figure 3, main folder pawl 21 is dismountable to be fixedly installed on center 1, is installed on described center 2 42 from jaw 22 is dismountable.
Further, as depicted in figs. 1 and 2, dismountablely on ledge 311 be installed with fork 50, and be provided with roller 52 in the other end 51 of this fork 50, this roller 52 is rolling bearing 53, wherein, the set-up mode of fork 50 on ledge 311, except the mode of clamping as depicted in figs. 1 and 2, can also be other various suitable modes existing.By driving rolls 52, fork 50 is swung, corresponding to jaw 22 action to drive principal arm axle 30 to rotate to drive main folder pawl 21 action, simultaneously main folder pawl 21 to drive, thus complete each action of opposite opened jaw 20.Apparently, outside the embodiment of aforementioned preferred fork 50, the driving mechanism of other types can also be adopted to drive principal arm axle 30 action to reach above-mentioned purpose, such as, be arranged at the gear on ledge 311, this object can be realized by driven wheel; Or be arranged on the drive mechanisms such as shaft coupling, key or spline on ledge 311, drive this ledge 311 also can realize this action by other various drive mechanisms.
Further, on the basis of above-described embodiment, as shown in Figure 1, Figure 2 and Figure 3, this manipulator being convenient to safeguard also comprises for pretension main folder pawl 21 and the preloading spring 23 from jaw 22.In figs. 2 and 3, preloading spring 23 is provided with two at each clip jaw 20 of splitting, and is separately positioned on both sides.Apparently, in the above-described embodiments, a preloading spring 23 is set in certain side of splitting clip jaw 20 and also can reaches same or similar effect.
In another specific embodiment, as shown in Figure 1, Figure 2 and Figure 3, the utility model provides a kind of manipulator, comprise: the base of the carrier head 10 comprising a pair alternate wall 11, prop up wall 11 and be respectively limited with at least two holes 12, and hole 12 mutually corresponding on a wall 11 of both sides forms the duct of aligning; Coordinate formation split for a pair clip jaw 20 main folder pawl 21 and from jaw 22, main folder pawl 21 and to be contained between alternate wall 11 and to be limited with principal arm hole 213 and from arm aperture 223 from jaw 22 part; Principal arm axle 30, its center 1 that there are two ends 31 and extend between two ends 31, this principal arm axle 30 to extend in two corresponding holes 12 and runs through principal arm hole 213; From arm axle 40, its center 2 42 having two ends 41 and extend between two ends 41, should extend into two corresponding holes 12 from arm axle 40 and run through from arm aperture 223; An end 31 of principal arm axle 30 has the ledge 311 protruding from a wall 11.Preferably, as shown in Figure 1, Figure 2 and Figure 3, main folder pawl 21 is dismountable to be fixedly installed on center 1, is installed on described center 2 42 from jaw 22 is dismountable.
Further, as depicted in figs. 1 and 2, dismountablely on ledge 311 be installed with fork 50, and be provided with roller 52 in the other end 51 of this fork 50, wherein, the set-up mode of fork 50 on ledge 311, except the mode of clamping as depicted in figs. 1 and 2, can also be other various suitable modes existing.By driving rolls 52, fork 50 is swung, corresponding to jaw 22 action to drive principal arm axle 30 to rotate to drive main folder pawl 21 action, simultaneously main folder pawl 21 to drive, thus complete each action of opposite opened jaw 20.Apparently, outside the embodiment of aforementioned preferred fork 50, the driving mechanism of other types can also be adopted to drive principal arm axle 30 action to reach above-mentioned purpose, such as, be arranged at the gear on ledge 311, also can realize this object by driven wheel; Or be arranged on shaft coupling, key or spline on ledge 311 etc. can the structure of transmission, drive this ledge 311 also can realize this action by other various drive mechanisms.
Further, on the basis of above-described embodiment, as shown in Figure 1, Figure 2 and Figure 3, described manipulator also comprises for pretension main folder pawl 21 and the preloading spring 23 from jaw 22.In figs. 2 and 3, preloading spring 23 is provided with two at each clip jaw 20 of splitting, and is separately positioned on both sides.Apparently, in the above-described embodiments, a preloading spring 23 is set in certain side of splitting clip jaw 20 or arranges as centre position also can reach same or similar effect.
Preferably, preloading spring 23 is Compress Spring or extension spring, torsionspring.In Fig. 1, Fig. 2 and Fig. 3, the extension spring that preloading spring 23 adopts.But, obviously, Compress Spring described above or torsionspring can also be adopted.When adopting Compress Spring, main folder pawl 21 and from the interactively at jaw 22 and preloading spring 23 two ends with just contrary during employing extension spring; What adopt the structure of torsionspring then to provide in accompanying drawing is not identical, but those skilled in the art can be easy to design according to prior art, no longer describe in detail in the application.
Preferably, preloading spring 23 is disk spring or ring spring, flat spring, helical spring, valute spring, torsion-bar spring.In Fig. 1, Fig. 2 and Fig. 3, the helical spring structure that preloading spring 23 adopts.Certainly, also can adopt other patterns, concrete scheme those skilled in the art can be easy to design according to prior art, no longer describe in detail in the application.
On the basis of above-mentioned any embodiment, further improvement can also be done.Particularly, as depicted in figs. 1 and 2, main folder pawl 21 comprises main folder arm 211 and main folder 212, and principal arm hole 213 to be arranged on main folder arm 211 and to coordinate with center 1.As shown in figures 1 and 3, comprise from jig arm 221 with from chuck 222 from jaw 22, to be arranged on jig arm 221 from arm aperture 223 and to coordinate with center 2 42.
On the basis of above-mentioned any embodiment, further improvement can also be done.Particularly, as shown in Figure 1, Figure 2 and Figure 3, main folder arm 211 and be respectively equipped with intermeshing main wheel tooth 214 and from the gear teeth 224, the axle center of main wheel tooth 214 and the axis coinciding in principal arm hole 213 from jig arm 221, the axle center from the gear teeth 224 and the axis coinciding from arm aperture 223.
On the basis of above-mentioned any embodiment, further improvement can also be done.Particularly, as shown in Figure 1, Figure 2 and Figure 3, main folder arm 211 and be respectively equipped with intermeshing main wheel tooth 214 and from the gear teeth 224 from jig arm 221, main wheel tooth 214 with principal arm axle 30 for rotating shaft, from the gear teeth 224 with from arm axle 40 for rotating shaft.
On the basis of above-mentioned any embodiment, further improvement can also be done.Please refer to Fig. 4, Fig. 4 is the close-up schematic view splitting clip jaw in Fig. 1, shows a kind of Alternate embodiments of detent mechanism.
Particularly, as shown in Figure 1 and Figure 4, main folder arm 211 is provided with for limiting main folder pawl 21 and the detent mechanism 24 from the maximum clamping force of jaw 22.As shown in Figure 4, detent mechanism 24 comprises bolt 242, is arranged on the bolt hole 241 on main folder arm 211 and the nut 243 for this bolt 241 of pretension.In addition, detent mechanism 24 also can be arranged on from jig arm 221, and now corresponding bolt hole 241 is also arranged on from jig arm 221.In addition, all right, be equipped with detent mechanism 24 on main folder arm 211 and from jig arm 221.The setting of detent mechanism 24, make main folder pawl 21 and from jaw 22 clamp time can keep limit clamping degree, thus can effectively prevent main folder pawl 21 and from jaw 22 clamping time active force excessive, with make by holding workpiece do not cause because chucking power is excessive damage.
On the basis of above-mentioned any embodiment, further improvement can also be done.Particularly, as shown in Figure 1, Figure 2 and Figure 3, be fixedly installed in center 2 42 from jig arm 221 is dismountable.Obviously, from jig arm 221 can also be movable be installed on center 2 42 because main folder pawl 21 and be the jaw of opposite opened from jaw 22, therefore main folder pawl 21 and from the general structure that there is restriction relative position relation between jaw 22, such as gear etc.Even if now can rotate in relative centre district 2 42 in theory from jig arm 221, due to the main folder arm 211 of main folder pawl 21 relation, also can not rotate in relative centre district 2 42 from jig arm 221, therefore, from the dismountable fixed installation of jig arm 221/be movably installed in center 2 42.Dismountable fixed installation contributes to keeping the stability from jig arm 221 and reliability.
On the basis of above-mentioned any embodiment, further improvement can also be done.Particularly, as depicted in figs. 1 and 2, principal arm hole 213 is screwed hole one, and described center 1 is provided with corresponding external screw thread 1.As shown in figures 1 and 3, be screwed hole two from arm aperture 223, described center 2 42 is provided with corresponding external screw thread 2 421.Be threaded and can better ensure relative position relationship, be conducive to improving stability and reliability.
Further, as depicted in figs. 1 and 2, roller 52 is rolling bearing 53.This place adopts rolling bearing to contribute to reducing frictional force, raises the efficiency.
On the basis of above-mentioned any embodiment, further improvement can also be done.Particularly, as shown in Figure 1, Figure 2 and Figure 3, prop up in the hole on wall 11 and be provided with sliding bearing 13 or lining 14.Preferably, as shown in Figure 2, a wall 11 and ledge 311 hole be arranged on the same side are provided with flange bearing 15 or flange lining 16, and the flange end of flange bearing 15 and flange lining 16 is positioned at inner side.The use of flange bearing 15 or flange lining 16, contribute to keeping main folder pawl 21 and/or from the relative distance between jaw 22 and a wall 11, and contribute to making main folder pawl 21 and remaining on less level from the resistance of the relative sliding between jaw 22 and a wall 11.
On the basis of above-mentioned any embodiment, further improvement can also be done.Particularly, as shown in Figure 2, principal arm axle 30 also comprises the bulge loop 1 between the end of side relative to ledge 311 and center 1.Preferably, technology groove 1 is also provided with between bulge loop 1 and center 1.Further, as shown in Figure 2, one end that principal arm axle 30 is relative with ledge 311 is provided with driving hole 1.Preferably, driving hole 1 is interior hexagonal or Nei Wujiao, interior corner, Triangle ID.The setting of driving hole 1, is conducive to dismounting.
On the basis of above-mentioned any embodiment, further improvement can also be done.Particularly, as shown in Figure 3, the bulge loop 2 43 between an end and center 2 42 is also comprised from arm axle 40.Preferably, technology groove 2 44 is also provided with between bulge loop 2 43 and center 2 42.Further, as shown in Figure 3, the end being positioned at bulge loop 2 43 side from arm axle 40 is provided with driving hole 2 45.Preferably, driving hole 2 45 is interior hexagonal or Nei Wujiao, interior corner, Triangle ID.The setting of driving hole 2 45, is conducive to dismounting.
On the basis of above-mentioned any embodiment, further improvement can also be done.Particularly, as shown in Figure 3, also comprise from arm axle 40 and be dismountablely fixedly arranged on its one end, for preventing this from arm axle towards the locking mechanism 46 of other end movement.As shown in Figure 3, locking mechanism 46 is positioned at the other end relative with bulge loop 2 43 from arm axle 40.Further, as shown in Figure 3, locking mechanism 46 is bolt 461 and packing ring 462 or back-up ring.The setting of locking mechanism 46, can lock the position from arm axle 40, thus has also locked the axial location from jig arm 221, thus improves from stability during jaw 22 action and reliability.
Further, as shown in Figure 1, Figure 2 and Figure 3, locking mechanism 46 is positioned at the side identical with ledge 311.Be conducive to convenience when improving mounting or dismounting, improve efficiency when safeguarding, improve the convenience safeguarded further.
On the basis of above-mentioned any embodiment, further improvement can also be done.Particularly, as shown in Figure 2, the week of two ends in principal arm hole 213 is along being boss structure 1.Certainly, also only can arrange boss structure 1 on the week edge of the one end in principal arm hole 213, being specifically set to which end needs to determine according to design.Be conducive to alleviating the weight of main folder pawl 21 or improving the reliability of installation.
On the basis of above-mentioned any embodiment, further improvement can also be done.Particularly, as shown in Figure 3, boss structure 2 225 is from the week edge of two ends of arm aperture 223.Certainly, also only can arrange boss structure 2 225 on the week edge of the one end from arm aperture 223, being specifically set to which end needs to determine according to design.Be conducive to alleviating the reliability of installing from weight or the raising of jaw 22.
On the basis of above-mentioned any embodiment, further improvement can also be done.Particularly, as shown in Figure 1, main folder arm 211 is also provided with the set screw hole 1 of leading to principal arm hole 213, and is provided with the relative position of holding screw one for auxiliary tightening main folder arm 211 and principal arm axle 30.Thus be conducive to stability and the reliability of the location of further improving main folder arm 211 and principal arm axle 30.Preferably, as shown in Figure 1, jig arm 221, be also provided with the set screw hole 2 227 of leading to from arm aperture 223, and be provided with holding screw two for auxiliary tightening from jig arm 221 and the relative position from arm axle 40.Thus be conducive to further improving from jig arm 221 with from the stability of the location of arm axle 40 and reliability.
On the basis of above-mentioned any embodiment, further improvement can also be done.Particularly, as shown in Figure 2, one end that principal arm hole 213 is positioned at described bulge loop 1 is provided with the stepped hole 1 coordinated with bulge loop 1.Preferably, as shown in Figure 3, the one end being positioned at described bulge loop 2 43 from arm aperture 223 is provided with the stepped hole 2 226 coordinated with bulge loop 2 43.Being provided with of stepped hole is beneficial to raising assembling and serviceability.
On the basis of above-mentioned any embodiment, further improvement can also be done.Particularly, as shown in Figure 2, the cross section at the outer top of bulge loop 1 is trapezoidal.Preferably, as shown in Figure 3, the cross section at the outer top of bulge loop 2 43 is trapezoidal.Further, bulge loop 1 and bulge loop 2 43 are equipped with the shaft shoulder coordinated with sliding bearing 13 or lining 14.
On the basis of above-mentioned any embodiment, further improvement can also be done.Particularly, as shown in Figures 2 and 3, described manipulator also comprises the fairlead 60 corresponding with splitting workpiece that clip jaw 20 clamps and the guide plate 70 for installing this fairlead 60, and this guide plate 70 is arranged on a wall 11 of side relative to fork 50.
On the basis of above-mentioned any embodiment, further improvement can also be done.Particularly, as shown in Figure 1, described manipulator comprises multipairly splits clip jaw 20, and this multipair opposite opened jaw 20 is arranged on base of the carrier head 10 in circular arc.The employing of this arc form structure is conducive to being set to by manipulator on circular bottle washing machine.In FIG, preferably adopt 4 to be arranged on same circular arc to splitting clip jaw 20, certainly, can also be 2 to or 3 right, can also be 5 to, 6 to or more multipair, specifically can design according to product needed.In addition, multipair opposite opened jaw 20 can also linearly be arranged on base of the carrier head 10.
The utility model also relates to a kind of robot applying above-mentioned manipulator or be convenient to the manipulator safeguarded, this robot has the some or all of technique effect that aforementioned mechanical hand has.Specific embodiment please refer to foregoing, and in conjunction with related art to obtain the technical scheme of this robot, can repeat no more in the application.
The utility model also relates to a kind of bottle washing machine applied above-mentioned manipulator or be convenient to the manipulator safeguarded, this bottle washing machine has the some or all of technique effect that aforementioned mechanical hand has.Specific embodiment please refer to foregoing, and in conjunction with related art to obtain the technical scheme of this bottle washing machine, can repeat no more in the application.
The utility model also relates to a kind of packaging facilities applied above-mentioned manipulator or be convenient to the manipulator safeguarded, this packaging facilities has the some or all of technique effect that aforementioned mechanical hand has.Specific embodiment please refer to foregoing, and in conjunction with related art to obtain the technical scheme of this packaging facilities, can repeat no more in the application.
Above-mentioned to the function of dependency structure of the present utility model or the description of effect, refer to that it has this function or effect, it likely also has other function or effect, therefore, should not be considered as the improper restriction it being carried out to function or effect.
Manipulator, the robot comprising this manipulator/be convenient to manipulator safeguarded, bottle washing machine, packaging facilities that a kind of manipulator provided utility model above/be convenient to is safeguarded are described in detail.Apply specific case herein to set forth principle of the present utility model and embodiment, the explanation of above embodiment just understands method of the present utility model and core concept thereof for helping.Should be understood that, although carried out detailed description to execution better model of the present utility model, but under the prerequisite not departing from the utility model principle, those skilled in the art can learn that being used in the scope of appended claim implements many replacement design and implementation examples of the present utility model.
Claims (40)
1. be convenient to the manipulator safeguarded, comprise base of the carrier head, opposite opened jaw, principal arm axle and from arm axle, it is characterized in that:
Described base of the carrier head comprises a pair alternate wall, and described wall is respectively limited with at least two holes, and makes each hole aligned with each other;
Described split clip jaw comprise a pair cooperation main folder pawl and from jaw, described main folder pawl comprises main folder arm and main folder head, describedly comprises from jig arm with from chuck from jaw; Described main folder arm and described to be contained between described alternate wall and to be limited with principal arm hole and from arm aperture from clamping arm portion; Described main folder pawl and be describedly respectively equipped with intermeshing main wheel tooth and from the gear teeth from jaw;
The center one that described principal arm axle has two ends and extends between described two ends, this principal arm axle to extend in two corresponding described holes and runs through described principal arm hole, and described main folder arm is dismountable to be fixedly installed on described center one;
The described center two having two ends from arm axle and extend between described two ends, should extend into two corresponding described holes from arm axle and run through described from arm aperture, was describedly fixedly installed in described center two from jig arm is dismountable;
An end of described principal arm axle has the ledge protruding from described wall, and dismountablely on this ledge is installed with fork, and is provided with rolling bearing in the other end of this fork;
Described principal arm hole and be describedly screwed hole from arm aperture; Described center one and described center two are provided with corresponding external screw thread;
This manipulator being convenient to safeguard also comprises for main folder pawl described in pretension and the described preloading spring from jaw.
2. a manipulator, is characterized in that, comprising:
Comprise the base of the carrier head of a pair alternate wall, described wall is respectively limited with at least two holes, and makes each hole aligned with each other;
Coordinate formation split for a pair clip jaw main folder pawl and from jaw, described main folder pawl and described to be contained between described alternate wall and to be limited with principal arm hole and from arm aperture from gripping portions; Described main folder pawl and be describedly respectively equipped with intermeshing main wheel tooth and from the gear teeth from jaw;
Principal arm axle, its center one that there are two ends and extend between described two ends, this principal arm axle to extend in two corresponding described holes and runs through described principal arm hole, and described main folder pawl is dismountable to be fixedly installed on described center one;
From arm axle, its center two having two ends and extend between described two ends, should extend into two corresponding described holes from arm axle and run through described from arm aperture, was describedly installed on described center two from jaw is dismountable;
An end of described principal arm axle has the ledge protruding from described wall, and dismountablely on this ledge is installed with fork, and is provided with roller in the other end of this fork.
3. manipulator according to claim 2, is characterized in that: described manipulator also comprises for main folder pawl described in pretension and the described preloading spring from jaw.
4. manipulator according to claim 2, is characterized in that: described main folder pawl comprises main folder arm and main folder head, describedly comprises from jig arm with from chuck from jaw; Described principal arm hole to be arranged on described main folder arm and to coordinate with described center one, and described being arranged on from arm aperture described coordinates with described center two jig arm.
5. manipulator according to claim 4, it is characterized in that: described main folder arm and be describedly respectively equipped with intermeshing main wheel tooth and from the gear teeth from jig arm, the axle center of described main wheel tooth and the axis coinciding in described principal arm hole, the described axle center from the gear teeth and the described axis coinciding from arm aperture.
6. manipulator according to claim 4, is characterized in that: described main folder arm and be describedly respectively equipped with intermeshing main wheel tooth and from the gear teeth from jig arm, described main wheel tooth with described principal arm axle for rotating shaft, described from the gear teeth with described from arm axle for rotating shaft.
7. manipulator according to claim 3, is characterized in that: described preloading spring is Compress Spring or extension spring, torsionspring.
8. manipulator according to claim 3, is characterized in that: described preloading spring is disk spring or ring spring, flat spring, helical spring, valute spring, torsion-bar spring.
9. the manipulator according to any one of claim 4 to 6, is characterized in that: described main folder arm and/or to be describedly provided with for limiting described main folder pawl and and the detent mechanism of maximum clamping force from jaw from jig arm.
10. manipulator according to claim 9, is characterized in that: described detent mechanism comprises bolt, be arranged on described main folder arm or described from the bolt hole jig arm and the nut for this bolt of pretension.
11. manipulators according to any one of claim 2 to 8, is characterized in that: described principal arm hole is screwed hole one, and described center one is provided with corresponding external screw thread one.
12. manipulators according to any one of claim 2 to 8, is characterized in that: described is screwed hole two from arm aperture, and described center two is provided with corresponding external screw thread two.
13. manipulators according to any one of claim 2 to 8, is characterized in that: described roller is rolling bearing.
14. manipulators according to any one of claim 2 to 8, is characterized in that: be provided with sliding bearing or lining in the hole on described wall.
15. manipulators according to any one of claim 2 to 8, it is characterized in that: described in described Zhi Biyu, the ledge hole be arranged on the same side is provided with flange bearing or flange lining, and the flange end of described flange bearing and described flange lining is positioned at inner side.
16. manipulators according to any one of claim 2 to 8, is characterized in that: described principal arm axle also comprises with described ledge relative to the bulge loop one between the end of side and described center one.
17. manipulators according to claim 16, is characterized in that: be also provided with technology groove one between described bulge loop one and described center one.
18. manipulators according to any one of claim 2 to 8, is characterized in that: one end that described principal arm axle is relative with described ledge is provided with driving hole one.
19. manipulators according to claim 18, is characterized in that: described driving hole one is interior hexagonal or Nei Wujiao, interior corner, Triangle ID.
20. manipulators according to any one of claim 2 to 8, is characterized in that: describedly also comprise bulge loop two between an end and described center two from arm axle.
21. manipulators according to claim 20, is characterized in that: be also provided with technology groove two between described bulge loop two and described center two.
22. manipulators according to claim 20, is characterized in that: the described end being positioned at described bulge loop two side from arm axle is provided with driving hole two.
23. manipulators according to claim 22, is characterized in that: described driving hole two is interior hexagonal or Nei Wujiao, interior corner, Triangle ID.
24. manipulators according to any one of claim 2 to 8, is characterized in that: described also comprising from arm axle is dismountablely fixedly arranged on its one end, for preventing this from arm axle towards the locking mechanism of other end movement.
25. manipulators according to claim 24, is characterized in that: describedly also comprise bulge loop two between an end and described center two from arm axle, and described locking mechanism is positioned at described relative with described bulge loop two from arm axle the other end.
26. manipulators according to claim 24, is characterized in that: described locking mechanism is positioned at the side identical with described ledge.
27. manipulators according to claim 24, is characterized in that: described locking mechanism is bolt and packing ring or back-up ring.
28. manipulators according to any one of claim 2 to 8, is characterized in that: the week of the one end in described principal arm hole is along being boss structure one, or the week of two ends in described principal arm hole is along being boss structure one.
29. manipulators according to any one of claim 2 to 8, is characterized in that: the week of described one end from arm aperture is along being boss structure two, or the week of described two ends from arm aperture is along being boss structure two.
30. manipulators according to any one of claim 4 to 6, it is characterized in that: described main folder arm is also provided with the set screw hole one of leading to described principal arm hole, and be provided with the relative position of holding screw one for main folder arm described in auxiliary tightening and described principal arm axle.
31. manipulators according to any one of claim 4 to 6, it is characterized in that: described being also provided with jig arm leads to the described set screw hole two from arm aperture, and be provided with holding screw two for described in auxiliary tightening from jig arm and the described relative position from arm axle.
32. manipulators according to claim 16, is characterized in that: one end that described principal arm hole is positioned at described bulge loop one is provided with the stepped hole one coordinated with described bulge loop one.
33. manipulators according to claim 20, is characterized in that: described one end being positioned at described bulge loop two from arm aperture is provided with the stepped hole two coordinated with described bulge loop two.
34. manipulators according to claim 16, is characterized in that: the cross section at the outer top of described bulge loop one is trapezoidal.
35. manipulators according to claim 20, is characterized in that: the cross section at the outer top of described bulge loop two is trapezoidal.
36. manipulators according to any one of claim 2 to 8, it is characterized in that: described manipulator also comprises splits fairlead corresponding to workpiece that clip jaw clamps and the guide plate for installing this fairlead with described, this guide plate is arranged on the wall with described ledge or the relative side of described fork.
37. manipulators according to any one of claim 2 to 8, is characterized in that: described manipulator comprises multipairly splits clip jaw, this multipair opposite opened jaw linearly or circular arc be arranged on described base of the carrier head.
38. 1 kinds of robots, is characterized in that: comprise and be convenient to the manipulator of maintenance or the manipulator according to any one of claim 2 to 37 as claimed in claim 1.
39. 1 kinds of bottle washing machines, is characterized in that: comprise and be convenient to the manipulator of maintenance or the manipulator according to any one of claim 2 to 37 as claimed in claim 1.
40. 1 kinds of packaging facilities, is characterized in that: comprise and be convenient to the manipulator of maintenance or the manipulator according to any one of claim 2 to 37 as claimed in claim 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520586046.6U CN205085983U (en) | 2015-08-06 | 2015-08-06 | Manipulator that equipment for packing , bottle cleaning machine, robot and being convenient for maintained |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520586046.6U CN205085983U (en) | 2015-08-06 | 2015-08-06 | Manipulator that equipment for packing , bottle cleaning machine, robot and being convenient for maintained |
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| Publication Number | Publication Date |
|---|---|
| CN205085983U true CN205085983U (en) | 2016-03-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201520586046.6U Active CN205085983U (en) | 2015-08-06 | 2015-08-06 | Manipulator that equipment for packing , bottle cleaning machine, robot and being convenient for maintained |
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| CN (1) | CN205085983U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105690399A (en) * | 2015-08-06 | 2016-06-22 | 长沙今朝科技股份有限公司 | Packaging equipment, bottle washing machine, robot and manipulator convenient to maintain of packaging equipment, bottle washing machine and robot |
-
2015
- 2015-08-06 CN CN201520586046.6U patent/CN205085983U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105690399A (en) * | 2015-08-06 | 2016-06-22 | 长沙今朝科技股份有限公司 | Packaging equipment, bottle washing machine, robot and manipulator convenient to maintain of packaging equipment, bottle washing machine and robot |
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Address after: 410323 No. 8 Pingtou North Road, Liuyang High-tech Industrial Development Zone, Changsha City, Hunan Province Patentee after: Changsha Science and Technology Co., Ltd.'s today Address before: 410323 Manufacturing Industry Base of Liuyang City, Changsha City, Hunan Province (Factory Building of Hunan Zhongtie Wuxin Heavy Industry Co., Ltd.) Patentee before: Changsha Science and Technology Co., Ltd.'s today |
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Effective date of registration: 20220105 Address after: 410300 No. 8, Pingtou North Road, Liuyang high tech Industrial Development Zone, Liuyang City, Changsha City, Hunan Province Patentee after: Hunan huaertjinchao Technology Co.,Ltd. Address before: 410323 No. 8 Pingtou North Road, Liuyang High-tech Industrial Development Zone, Changsha City, Hunan Province Patentee before: CHANGSHA JINZHAO SCIENCE & TECHNOLOGY CO.,LTD. |