CN205852821U - A kind of end effector of robot picking up multiple medicated bag - Google Patents
A kind of end effector of robot picking up multiple medicated bag Download PDFInfo
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- CN205852821U CN205852821U CN201620880151.5U CN201620880151U CN205852821U CN 205852821 U CN205852821 U CN 205852821U CN 201620880151 U CN201620880151 U CN 201620880151U CN 205852821 U CN205852821 U CN 205852821U
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- medicated bag
- adjustable clamp
- end effector
- pincers
- cam mechanism
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Abstract
This utility model relates to a kind of end effector of robot picking up multiple medicated bag, including the hinged fixation clamps in middle part and adjustable clamp, the top of adjustable clamp bends to fixation clamps, the top of fixation clamps is connected by spring, jointed shaft is provided with cylinder, piston rod part is provided with cam mechanism, and when cam mechanism slides at the bending section of adjustable clamp, the lower end of adjustable clamp realizes open and close movement.This utility model is prevented from damaging medicated bag；Once grip multiple medicated bag, substantially increase mounted box speed；It is greatly reduced the volume of end effector, makes medicated bag enter box reliable.
Description
Technical field
The invention belongs to Chinese herbal medicine solid preparation production field, be specifically related to multiple medicated bag dissolves box and industrial machine automatically
Device people applies.
Background technology
In Chinese herbal medicine solid preparation produces, the shape of manner of packing many employings composite plastic film three side sealing of solid preparation
Formula, if during then dry bag marshalling loads carton.The mode of current this mounted box is by being accomplished manually.The most real
The most automatically dissolve box and have a following difficult point:
(1) composite plastic film surface is more smooth, and coefficient of friction each other is low, unstable when some bags stack,
Push away wrap into box during easily flow, traditional horizontal packing machine has been difficult to into box；
(2) medicated bag arranges closely in box, and traditional clamping class end effector of robot size is relatively big, after clamping medicated bag
Executor's overall dimensions is more than the size of carton, it is difficult to stretch into carton；
(3) although traditional sucker class end effector can pick up medicated bag and send in box, but once can only draw
One medicated bag, inefficient, it is impossible to meet productive temp requirement.
Summary of the invention
In view of this, the invention discloses a kind of pickup many medicated bags end effector of robot, once pick up for robot
Take multiple medicated bag and send in carton.
It is an object of the invention to be realized by following device:
Including the hinged fixation clamps in middle part and adjustable clamp, the top of adjustable clamp bends to fixation clamps, is connected solid by spring
The top of fixed pincers, jointed shaft is provided with cylinder, and piston rod part is provided with cam mechanism, when cam mechanism is in the bending of adjustable clamp
Time slip in portion, the lower end of adjustable clamp realizes open and close movement.
Preferably scheme, the lower end of fixation clamps and adjustable clamp is respectively provided with two pincers and refers to, pincers refer to be a slender cylinder, cylinder
End diameter increases.
Preferably scheme, cam mechanism includes a plate and four rolling bearings, and rolling bearing is arranged on connecting plate
Four angles, connecting plate is fixing on the piston rod.
Preferably scheme, adjustable clamp 1 bending section arranges positioning element.
Present invention have the advantage that
(1) elongated pincers refer to the air in medicated bag to be extruded onto side when gripping, and " falling into " enters in medicated bag to make pincers refer to, contracting
After little clamping medicated bag, the overall dimensions of executor, makes medicated bag send into smoothly in box；
(2) pincers refer to that the enlargement of end can protect medicated bag, prevent from damaging medicated bag；
(3) can once grip multiple medicated bag, substantially increase mounted box speed；
(4) by supporting to minitype cylinder and cam, it is greatly reduced the volume of end effector, makes into box reliable.
Accompanying drawing explanation
Fig. 1 is schematic perspective view of the present invention；
Fig. 2 is cam top view of the present invention；
Fig. 3 is the Chinese medicine bag of the present invention arrangement schematic diagram in carton.
Detailed description of the invention
Referring to the drawings, therein being labeled as: 1-fixation clamps, 2-spring, 3-cam, 4-minitype cylinder, 5-axle, 6-is movable
Pincers, 7-pincers refer to, 8-medicated bag, 9-carton, 10-bearing, 11-connecting plate, 12-reinforcement.
As one embodiment of the invention, referring to the drawings 1, including the hinged fixation clamps 1 in middle part and adjustable clamp 6, adjustable clamp 6
Top bend to fixation clamps 1, connected the top of fixation clamps 1 by spring 2, jointed shaft 5 is provided with cylinder 4, piston rod part
Being provided with cam mechanism, when cam mechanism slides at the bending section of adjustable clamp 6, the lower end of adjustable clamp 6 realizes open and close movement.
The lower end of fixation clamps 1 and adjustable clamp 6 is respectively provided with two pincers and refers to 7, and pincers refer to that 7 is a slender cylinder, and end slightly expands.
The curved portions of adjustable clamp 6 has two reinforcements 12, and reinforcement 12 welds with arc part, strengthens the firm of arc part
Degree, it is to avoid the deformation when clamping medicated bag.The side of adjustable clamp 6 has elongated hole, the convenient trachea installing minitype cylinder 4.Adjustable clamp 1
Bending section be provided with positioning element, for limiting the stroke of minitype cylinder 4 such that it is able to regulation pincers refer to 7 sizes opened.
Referring to the drawings 2, cam mechanism is made up of four rolling bearings 10 and a connecting plate 11.Bearing 10 is by bolt etc.
Mode is connected with described connecting plate 11, and bearing 10 can reduce friction when contacting with fixation clamps 1 and adjustable clamp 6.Connecting plate 11
Center drilling, connects for the cylinder rod end with minitype cylinder 4.
The schematic diagram that medicated bag 8 when accompanying drawing 3 works for the present invention arranges in carton.Can be seen that medicated bag 8 close-packed arrays
In carton 9.
The implementation process of the present invention is: minitype cylinder 4 is inflated, and drives cam mechanism to move up, and cam mechanism is fixing
Slide between pincers 1 and adjustable clamp 6, force both top distance to increase, make two groups of pincers refer to that 7 distances reduce, it is achieved pinching action；When
When minitype cylinder 4 is reversely inflated, cam mechanism moves down, and due to the effect of spring 2, adjustable clamp 6 resets, and drives two groups of pincers to refer to
7 distances increase, it is achieved unclamp action.
Claims (4)
1. pick up an end effector of robot for multiple medicated bags, it is characterized in that: include the hinged fixation clamps in middle part and activity
Pincers, the top of described adjustable clamp bends to described fixation clamps, is connected the top of described fixation clamps by spring, and jointed shaft is provided with
Cylinder, described cylinder piston rod top is provided with cam mechanism, when described cam mechanism slides at the bending section of described adjustable clamp
Time, the lower end of described adjustable clamp realizes open and close movement.
A kind of end effector of robot picking up multiple medicated bag the most according to claim 1, is characterized in that: described fixing
The lower end of pincers and adjustable clamp is respectively provided with two pincers and refers to, described pincers refer to be a slender cylinder, and described cylinder end diameter increases.
A kind of end effector of robot picking up multiple medicated bag the most according to claim 1, is characterized in that: described cam
Mechanism includes a plate and four rolling bearings, and described rolling bearing is arranged on four angles of described connecting plate, described connection
Plate is fixed on described piston rod.
A kind of end effector of robot picking up multiple medicated bag the most according to claim 1, is characterized in that: described activity
Pincers bending section arranges positioning element.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620880151.5U CN205852821U (en) | 2016-08-15 | 2016-08-15 | A kind of end effector of robot picking up multiple medicated bag |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620880151.5U CN205852821U (en) | 2016-08-15 | 2016-08-15 | A kind of end effector of robot picking up multiple medicated bag |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205852821U true CN205852821U (en) | 2017-01-04 |
Family
ID=57594152
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620880151.5U Active CN205852821U (en) | 2016-08-15 | 2016-08-15 | A kind of end effector of robot picking up multiple medicated bag |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205852821U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106078776A (en) * | 2016-08-15 | 2016-11-09 | 山东省智能机器人应用技术研究院 | A kind of end effector of robot picking up multiple medicated bag |
-
2016
- 2016-08-15 CN CN201620880151.5U patent/CN205852821U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106078776A (en) * | 2016-08-15 | 2016-11-09 | 山东省智能机器人应用技术研究院 | A kind of end effector of robot picking up multiple medicated bag |
| CN106078776B (en) * | 2016-08-15 | 2018-07-24 | 山东省智能机器人应用技术研究院 | A kind of end effector of robot of the multiple medicine bags of pickup |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |