CN208557553U - Bottle inspection manipulator - Google Patents

Abstract

The utility model discloses a kind of bottle of inspection manipulators, its tong arm assembly has a rotating block being fixedly mounted in shaft, and tong arm assembly includes the first tong arm and the second tong arm, and provide the clamping device of two tong arm chucking powers, wherein, first tong arm is mounted on rotating block by the first pin shaft, and the second tong arm is mounted on rotating block by the second pin shaft；The first tong arm side opposite with the second tong arm has using the first pin shaft as the first gear part of gear shaft；It is the second gear part of gear shaft that the second tong arm side opposite with the first tong arm, which has one second pin shaft,；It is engaged with second gear part first gear part；Wherein, shaft is that rotating block overturns power intake, and the first tong arm or the second tong arm are that tong arm opens power intake.The embedding folder precision of bottle inspection manipulator according to the utility model is high, and tong arm assembly can integrally be overturn.

Description

Bottle inspection manipulator

Technical field

The utility model relates to a kind of bottle of inspection manipulators.

Background technique

Bottle inspection equipment be widely used in bottling liquid filling process, with detect in liquid with the presence or absence of such as dregs of a decoction, Crystallization or other impurities.These impurity may float on a liquid, but be also possible to be deposited on bottom of bottle, and therefore, bottle examines equipment On often equipped with can be realized overturning bottle inspection manipulator, by this bottle of inspection manipulator bottle from just set state overturning 108 Ten degree, and make its inversion, overturning can make to disperse in the impurity short time in a liquid, and in the state for being easy to discovery.

Chinese patent literature 101358932A discloses a kind of slag-testing machine, and the matched manipulator of the slag-testing machine is driven by turnover mechanism It moves and realizes overturning, the overturning actuation mechanism of turnover mechanism is gear and rack teeth mechanism, and realizes that the movement of manipulator folder bottle can only It is completed before turnover mechanism rotary movement starts, there is no the realization sides of specific open manipulator folder bottle movement for the patent document Formula, its visible manipulator is double tong arm manipulators from its attached drawing, this is the robot manipulator structure being most widely used at present, this kind Structure relative compact, but the structure for manipulator to reset is relative complex, has in patent document referenced below more acurrate Embodiment.

For that need not realize the bottle manipulator of overturning, the realization of folder bottle movement is relatively easy, such as Chinese patent literature CN201214246Y, it discloses a kind of bottle gripper, which includes the fixing clamp being fixed on turntable and passes through pin Axis is mounted on turntable and opposite with fixing clamp activity folder, the tail end of activity folder are equipped with idler wheel, while being additionally provided on turntable convex Wheel plate, activity folder engage to form cam mechanism by idler wheel with lobe plate, the opening pressed from both sides by the cam mechanism realization activity.By In manipulator, only one tong arm (i.e. activity folder) opens, in use, needing to fully consider the clamping between two tong arms to bottle Integrity problem.It is understood that the robot axes and bottle axis of chimerism are very if only one tong arm acts It is difficult coaxial.And being used for the component that activity folder resets is the spring being connected between activity folder and fixing clamp, and with this condition, the spring The design for needing to be arranged that biggish space can be accounted in jaw side and influencing jaw.

In most of application, turnover mechanism is so as to realizing that the mechanism of overturning usually all selects cam mechanism, in energy Enough realize manipulator overturning, while the structure for being conducive to manipulator reset again is found in Chinese patent literature CN202928962U, Only it still uses a tong arm to fix, a movable structure of tong arm, and there are the above problems.In addition, it cannot be real The whole overturning of existing manipulator, but it is provided with the jaw body for pressing from both sides bottle in the end of manipulator, jaw body passes through gear Group is realized with cam mechanism and is overturn, in the lubrication relative difficulty of this structure middle gear group.For providing the bullet of the embedding grip force of manipulator The centripetal end of movable tong arm is arranged in spring, also needs to be arranged a spring base at the centripetal end of movable tong arm, with for spring to The connection at heart end.Since there are more there are the component of relative motion for bottle inspection equipment, this kind of structure needs to fully consider these Component movement interference problem that may be present, the layout difficulty of spring are relatively large.

The overturning mode of bottle manipulator disclosed in Chinese patent literature CN203740564U substantially with Chinese patent literature The overturning mode of bottle manipulator is roughly the same in CN202928962U, and only it realizes that the structure of embedding folder movement relies on merely In cam mechanism, cam mechanism realizes that merely the opening of manipulator is relatively easy, and realizes embedding folder relative difficulty, if using convex It takes turns mechanism and realizes embedding folder, embedding grip force is a kind of rigid power, it is desirable that the position that manipulator is engaged with bottleneck is very strict, otherwise can press from both sides It is not tight, or generate manipulator and generate excessive deformation and damage.

Summary of the invention

The purpose of this utility model is to provide a kind of embedding folder bottles with high accuracy to examine manipulator, and the pincers of this bottle of inspection manipulator Arm assembly can integrally be overturn.

According to the embodiments of the present invention, a kind of bottle of inspection manipulator is provided, is pacified including matrix and by horizontal shaft Tong arm assembly on the matrix；

Tong arm assembly has a rotating block being fixedly mounted in shaft, and tong arm assembly includes the first tong arm and the second pincers Arm, and the clamping device of two tong arm chucking powers is provided, wherein the first tong arm is mounted on rotating block by the first pin shaft, the Two tong arms are mounted on rotating block by the second pin shaft；

The first tong arm side opposite with the second tong arm has using the first pin shaft as the first gear part of gear shaft；Second It is the second gear part of gear shaft that the tong arm side opposite with the first tong arm, which has one second pin shaft,；

It is engaged with second gear part first gear part；

Wherein, shaft is that rotating block overturns power intake, and the first tong arm or the second tong arm are that tong arm opens power input End.

Above-mentioned bottle examines manipulator, and optionally, the end of the first tong arm is equipped with folding idler wheel.

Optionally, the clamping device includes

First structure: clamping device is that the main assemblage of spring on the first tong arm is held on top, and main assemblage of spring is mounted on rotating block On；

Second structure: clamping device is to connect the extension spring on the first tong arm and the second tong arm in jaw side；Or

Third structure: clamping device is to pull the spring of the first tong arm and/or the second tong arm in clamp handle side.

Optionally, the main assemblage of spring construction are as follows:

One cylindrical spring guide pillar, the head that there is diameter to be greater than spring guide pillar diameter for one end of the spring guide pillar are provided Portion；

A compressed spring covered on spring guide pillar is provided, one end of the compressed spring is positioned at the head；

It provides and is provided with a mounting hole on the body or rotating block that one is mounted on rotating block, the body inner hole or mounting hole tool There are a large diameter hole and a diameter holes, form step between large diameter hole and diameter holes, the other end of the compressed spring is supported on described On step；Wherein diameter holes guide spring guide pillar, and large diameter hole is for accommodating compressed spring；

Optionally, large diameter hole is also used to guide the head, and head is held for main assemblage of spring and the top of the first tong arm.

Optionally, the first tong arm is equipped with recovery roller by the position that main assemblage of spring top is held, which is sheave；

Correspondingly, the head with convex surface is engaged with the race of sheave.

Optionally, a pair of of shaft seat is installed on matrix, the rotating block is between two shaft seats；

One end of shaft is equipped with gear；

Rack gear and the horizontally-guided structure to rack gear guiding are equipped on matrix, wherein the rack gear is engaged with the gear, And one end of rack gear is to make moved end with drive rod one end of rack gear one.

Optionally, make moved end and overturning idler wheel is installed by overturning roller shaft.

Optionally, the horizontally-guided structure is guide rail；

Correspondingly, the assembly that rack gear, drive rod or both are formed is configured to be directed at the sliding block of the guide rail.

Optionally, the guide rail is T-type guide rail.

Optionally, gear is connect by expansion set with the shaft, and forms expansion set connection.

Optionally, expansion set connecting structure are as follows:

Gear with conical tooth wheel bore or have angular wheel bore portion, provide one with conical tooth wheel bore cooperate it is swollen Set, the set inner hole of expansion set are screw via hole；

End where gear in shaft provides a screw, which passes through the screw via hole and expansion set is locked together in shaft On.

It according to the embodiments of the present invention, is engaged between two tong arms of manipulator by gear, when a tong arm turns When dynamic, another tong arm can be generated and be moved synchronously, pairing of the jaw based on two tong arms and relatively reliable centering may be implemented, it is right Middle precision is easy to guarantee, so as to realize the reliable retention of bottle.Two tong arms are integrated on a rotating block, rotating block Drive two tong arms that can integrally overturn.

Detailed description of the invention

Fig. 1 is that bottle examines manipulator overlooking structure diagram (omitting upper backup pad) in an embodiment.

Fig. 2 is the A-A cross-sectional view of Fig. 1.

Fig. 3 is the portion the L enlarged drawing of Fig. 2.

Fig. 4 is the second roller assembling structure schematic diagram in an embodiment.

Fig. 5 is the portion the N enlarged drawing of Fig. 4.

Fig. 6 is the C-C cross-sectional view (amplification) of Fig. 1.

Fig. 7 is in an embodiment be tong arm reset main assemblage of spring schematic cross-sectional view.

Fig. 8 is that bottle examines status diagram before manipulator is overturn.

Fig. 9 is that bottle examines status diagram after manipulator overturning.

In figure: 1. shafts, 2. shaft seats, 3. first tong arms, 4. second tong arms, 5. third tong arms, 6. first tong arm axis, 7. Spring, 8. second tong arm axis, 9. the 4th tong arms, 10. reset wheel shafts, 11. first roller shafts, 12. rack gears, 13. drive rods, 14. Second roller shaft, 15. guide rails, 16. lower supporting plates, 17. gears, 18. spacers, 19. screws, 20. tapered sleeves, 21. screws, on 22. Support plate, 23. easy Gus's sets, 24. bolts, 25. rotating blocks, 26. easy Gus's sets, 27. washers, 28. overturning idler wheels, 29. nuts, 30. recovery roller, 31. folding idler wheels, 32. guide posts, 33. screw holes, 34. bodies, 35. friction sleeves.

Specific embodiment

It is understood that manipulator itself generally comprises running part, but not necessarily needs comprising engine part, Such as the engines such as motor, it may include engine in some embodiments, it can be only comprising transmission in more embodiments Part, or even in some embodiments, running part also can be omitted, such as simple institute is pivotally connected by two tong arms The binding clip of formation, its own had not both included running part or had not included engine part, this is the common sense of this field, herein It repeats no more.

Manipulator is examined about bottle, needs are mounted on such as bottle inspection machine, and mounting means is in the embodiments of the present invention In have it is involved, it is not intended that the mounting means illustrated can only be used.

Bottle inspection manipulator realizes that the principal mode of bottle overturning is that overturning is realized in vertical plane, deposits in few realization In flip horizontal, flip horizontal can generate bigger movement interference, and by less use, in the embodiments of the present invention In, by the way of realizing that bottle is overturn in vertical plane.

Referring to a kind of bottle of inspection manipulator shown in Figure of description 1, it is illustrated as illustrating the top view of bottle inspection manipulator, in figure Upper backup pad 22 is omitted to clearly show that, but, in some embodiments, lower supporting plate 16 can be only set, in some realities It applies in example, upper backup pad 22 and lower supporting plate 16 can be not present.

Lower supporting plate 16 constitutes the matrix of tong arm assembly installation in Fig. 1, and specifically in Fig. 1, tong arm assembly is rely rotation Shaft 1 passes through a pair of of shaft seat 2 and is mounted on lower supporting plate 16, and shaft seat 2 can be directly installed in some embodiments Such as on the turntable of bottle inspection machine.It in the embodiments of the present invention, is integrated using matrix, is conducive to that bottle is made to examine manipulator An entirety is constituted, and is conducive to its in-site installation, it is not necessary to adjust the installation condition of such as shaft 1 at the scene.It follows that For matrix, only needing to meet two shaft seats 2 has determining installation relation therefore, can when selecting base structure To be only selected as such as lower supporting plate 16, it is also possible to other kinds of base construction, such as is only configured to for two shaft seats 2 The structural body of installation.

In the embodiment shown in fig. 1, lower supporting plate 16 is also used to the running part for example rotated for shaft 1, such as Rack and pinion drive mechanism is formed by by gear 17 and rack gear 12, lower supporting plate 16 covers biggish face in overlook direction Product.

Lower supporting plate 16 is provided with multiple bolts hole at edge, can be used for lower supporting plate 16 on such as bottle inspection machine turntable Installation.

In addition, also mainly improving the reliability of 2 assembling structure of shaft seat such as the setting of upper backup pad 22 in Fig. 3.Fig. 3 institute Show that rack gear 12 is mounted on upper backup pad 22, in structure shown in Fig. 1, more like being mounted on lower supporting plate 16, actually tooth Item 12 is mounted on the driving not affected in which support plate to gear 17.

In structure shown in Fig. 3, a rotating block 25 is installed in shaft 1, is used to that tong arm be installed on rotating block 25, The collectively referred to as tong arm assembly of institute's installing component in shaft 1.

Shown in Fig. 1, there are four tong arms, i.e. the first tong arm 3, the second tong arm 4, third tong arm 5 and the 4th tong arm 9, wherein First tong arm 3 and third tong arm 5 can be integrally manufactured structure, be also possible to be connected as one after manufacturing respectively.Accordingly Ground, the second tong arm 4 and the 4th tong arm 9 use same structure type.

In Fig. 1, the first tong arm axis 6 determines that the first lever segment, the first tong arm 3 are used to form plier tong arm part, Third tong arm 5 then constitutes power arm section.Similarly, the second tong arm axis 8 also exists the second tong arm 4 and the 4th tong arm 9 same Construction.

Since the first tong arm 3 and third tong arm 5 are integral structures, the first tong arm 3 is used below and represents the first tong arm 3 It is formed by integral structure with third tong arm 5, to facilitate description.Plier is described unless it is desired to the first tong arm 3 is used alone When, hereinafter rest part refers both to the integral structure formed by the first tong arm 3 with third tong arm 5.Similarly, unless referring in particular to Bright, hereinafter, the second tong arm 4 indicates that the second tong arm 4 and the 4th tong arm 9 are formed by integral structure.

In structure shown in Fig. 1, the first tong arm 3 is mounted on rotating block 25 by the first tong arm axis 6, the second tong arm axis 4 It is mounted on rotating block 25 by the second tong arm axis 8, two tong arm between centers should be mainly used for two to set a distance there are set a distance is given The installation of a gear parts, described as small as possible to set a distance under conditions of being driven requirement between meeting two tong arms, Ke Yili It solves, the driving force between two tong arms does not need too greatly, and therefore, required gear major diameter does not need too big.

In structure shown in Fig. 3, what two bolts 24 were adapted to is two tong arm axis, as be located at the left side bolt 24 pair What is answered is the second tong arm axis 8, and tong arm axis corresponding to another bolt 24 is the first tong arm axis 4.In figure, pincers are opened on rotating block 25 Arm axle hole, two aligned in figure up and down have been bolted easy Gus's set 26, and easy Gus's set 26 is a kind of excellent wear-resisting property Wear-resistant sleeve, the anti-wearing liner rotated as the first tong arm axis 4 and the second tong arm axis 8.

It can compare in Fig. 8 and Fig. 9 and be clear that, the first tong arm 3 side opposite with the second tong arm 5 has with first Tong arm axis 6 is the first gear part of gear shaft；Second tong arm 5 side opposite with the first tong arm 3 has one second tong arm axis 8 For the second gear part of gear shaft.

It is understood that the design based on the utility model, two tong arms are moved synchronously, to realize preferable clamp essence Degree.Therefore the transmission ratio between first gear part and second gear part is 1:1.In addition, the jaw that clamp is realized opens journey Degree does not need too greatly, and as shown in FIG. 8 and 9, respectively there are two the teeth for engagement for two gear parts, if opposite using modulus Lesser gear can have more teeth to be engaged.

In turn, first gear part is engaged with second gear part, is formed transmission between the first tong arm 3 and the second tong arm 5 and is closed System.

As can be seen from Fig. 3, wherein shaft 1 is that rotating block 25 overturns power intake, and the first tong arm 3 or the second tong arm 4 are Tong arm opens power intake, and in Fig. 1, the second tong arm 4 is the power intake that tong arm assembly opens, and the second tong arm 4 is in Fig. 1 In composition part, i.e. the tail end of the 4th tong arm 9 is equipped with the first roller shaft 11, is equipped with folding idler wheel on the first roller shaft 11 31, folding idler wheel 31 can be used as the driven member of such as cam mechanism, not exist about how cam mechanism and folding idler wheel cooperate Within the improvement threshold of the utility model, and in bottle manipulator technical field, the opening of manipulator generallys use cam machine Structure, cam mechanism can be set on the vertical shaft of such as slag-testing machine, need to carry out opening drive manipulator is when in a horizontal state It is dynamic.

About the device clamped for realizing jaw, i.e., foregoing clamping device, in some embodiments, such as Fig. 1 Shown, clamping device is that the main assemblage of spring on the first tong arm 3 is held on top, and main assemblage of spring is mounted on rotating block 25, such as Fig. 3 institute In hole on the rotating block 25 shown with concentric circles, the quantity of concentric circles is two, indicates that the hole is stepped hole.

Main assemblage of spring is arranged on rotating block 25, will not be to the design of jaw so that it will not occupy additional installation space Generate interference, it is only necessary to guarantee the loading angle of tong arm assembly power arm side.

About the determination of loading angle, the technical staff of machinery field is based on lever mechanism and is very easy to realize, herein not It repeats again.

In some embodiments, about clamping device, it can be only fitted to jaw side, specifically in the first pincers of jaw side connection Extension spring on arm 3 and the second tong arm 4, specific structure may refer to stretch bullet in Chinese patent literature CN202928962U The mounting structure of spring, this kind of structure are affected to the design of jaw side.

It in some embodiments, can also be using clamp handle side the first tong arm of drawing 3 and/or the second pincers about clamping device The spring of arm 4, this kind of structure use is more universal, such as Chinese patent literature CN202928962U just uses this structure.

In the setting of the three kinds of above clamping devices, be with the first it is preferred, other two kinds be alternative construction.

Further, referring to Figure of description 7, the main assemblage of spring construction are as follows:

One cylindrical spring guide pillar of offer, guide post 32 as shown in Figure 7, one end of the spring guide pillar, as shown in Figure 7 Right end the head that there is diameter to be greater than spring guide pillar diameter, which is used to be used as the first limiting section.

One compressed spring covered on spring guide pillar, spring 7 as shown in Figure 7, one end of the compressed spring are provided It is positioned at the head.

There is provided and be provided with a mounting hole on the body or rotating block 25 that are mounted on rotating block 25, as shown in Figure 3 with Hole represented by concentric circles；The body inner hole or mounting hole have a large diameter hole and a diameter holes, shape between large diameter hole and diameter holes At step, the other end of the compressed spring is supported on the step, which constitutes the second limiting section, thus to spring Both ends form limit.

In addition, diameter holes guide spring guide pillar, therefore, when head is pressurized, guide post 32 moves to left in Fig. 7, bullet Spring 7 generates bounce by compression, and when head pressure is less than bounce, guide post 32 resets, and the reset response of guide post 32 is in phase Tong arm is answered, and clamps bottle.

In Fig. 7, large diameter hole is used for putting spring 7.

In the structure shown in figure 7, large diameter hole is also used to guide the head, and head is used for main assemblage of spring and first It holds on the top of tong arm.

In addition, in the structure shown in figure 7, a friction sleeve 35 is additionally provided between head and spring 7, friction sleeve 35 is guided In large diameter hole, to reduce the friction on head and large diameter hole.

Friction sleeve 35 can use polytetrafluoroethylene (PTFE) set.

In structure shown in Fig. 6, the first tong arm 3 is equipped with recovery roller 30 by the position that main assemblage of spring top is held, in figure As it can be seen that the recovery roller 30 is sheave.

Correspondingly, the head with convex surface is engaged with the race of sheave, and bonding area is big, is worked relatively reliable.

About shaft seat 2, one can be set to, when being set as one, the overload of power of shaft seat 2 is shown in Fig. 3 Structure in, a pair of of shaft seat 2 is installed on matrix, the rotating block 25 is between two shaft seats 2, single shaft seat 2 Load it is relatively small.

In structure shown in Fig. 3, the left end of shaft 1 is equipped with gear 17, the input tooth that gear 17 is acted as shaft 1 Wheel.

In the construction shown in fig. 1, the horizontally-guided knot for being equipped with rack gear 12 on lower supporting plate 16 and rack gear 12 being oriented to Structure, guide rail 15 as shown in Figure 1.Wherein, which engages with the gear 17, and one end of rack gear 12 or with rack gear 12 13 one end of drive rod of one is to make moved end.

In structure shown in Fig. 1, guide rail 15 in figure to be provided at two in support plate 16, it is practical only at one, wherein one Place is reference position.

In Fig. 1, lower supporting plate 16 covers biggish area, but from movement interference for, if influence such as drive rod Then explanation should has been made above about the size of matrix using relatively small lower supporting plate 16 in 13 actuation, Details are not described herein.

In the construction shown in fig. 1, make moved end by overturning roller shaft, the second roller shaft 14 as shown in Figure 1 is equipped with Overturn idler wheel 28.

The horizontally-guided structure is preferably guide rail 15, is that rack gear 12 is bar, guide rail 15 can provide relatively Good guiding.

There is also the drive rod 13 with the one of rack gear 12 in Fig. 1, drive rod 13 can be cylindrical bar, and cylindrical bar can be with It is oriented to using guide hole.

In turn, if be oriented to using guide rail 15, the assembly that rack gear 12, drive rod 13 or both are formed is configured to It is directed at the sliding block of the guide rail 15.

In Fig. 5 as it can be seen that the guide rail 15 be T-type guide rail, can to rod piece or the result with rectangular section carry out Reliable guiding.

Overturning about bottle, it usually needs 180 degree of overturning may be led if overtravel or stroke are insufficient Cause manipulator when bottle is examined by certain additional load；In addition, bottle usually requires to carry out bottle inspection with combined lamps when examining, therefore, The higher the better for the vertical degree that bottle is dug.Under conditions of 12 impulse stroke of rack gear determines relatively, for convenience of the adjustment of gear 17, Gear 17 is connect by expansion set with the shaft 1, and forms expansion set connection.Expansion set connects the one kind for belonging to no key connection, expansion set Connection can arbitrarily adjust angle of assembling of such as gear in shaft 1, facilitate the adjustment of gear 17.

In structure shown in Fig. 3, expansion set connecting structure are as follows:

Gear 17 is with conical tooth wheel bore or has angular wheel bore portion, provides one and the cooperation of conical tooth wheel bore Expansion set, tapered sleeve 20 as shown in Figure 3, the set inner hole of expansion set are screw via hole, can be by gear 17 by screw 19 and tapered sleeve 20 It is locked together in shaft 1.

In structure shown in Fig. 3, also there is a spacer 18, spacer 18 is a circle set, and the gear hole of gear also has There is circular hole portion, spacer is matched with circular hole portion.

Claims (12)

1. a kind of bottle of inspection manipulator, which is characterized in that be mounted on the tong arm on the matrix including matrix and by horizontal shaft Assembly；

Tong arm assembly has a rotating block being fixedly mounted in shaft, and tong arm assembly includes the first tong arm and the second tong arm, And provide the clamping device of two tong arm chucking powers, wherein the first tong arm is mounted on rotating block by the first pin shaft, the second pincers Arm is mounted on rotating block by the second pin shaft；

The first tong arm side opposite with the second tong arm has using the first pin shaft as the first gear part of gear shaft；Second tong arm It is the second gear part of gear shaft that the side opposite with the first tong arm, which has one second pin shaft,；

It is engaged with second gear part first gear part；

Wherein, shaft is that rotating block overturns power intake, and the first tong arm or the second tong arm are that tong arm opens power intake.

2. bottle according to claim 1 examines manipulator, which is characterized in that the end of the first tong arm is equipped with folding idler wheel.

3. bottle according to claim 1 or 2 examines manipulator, which is characterized in that the clamping device includes

First structure: clamping device is that the main assemblage of spring on the first tong arm is held on top, and main assemblage of spring is mounted on rotating block；

Second structure: clamping device is to connect the extension spring on the first tong arm and the second tong arm in jaw side；Or

Third structure: clamping device is to pull the spring of the first tong arm and/or the second tong arm in clamp handle side.

4. bottle according to claim 3 examines manipulator, which is characterized in that the main assemblage of spring construction are as follows:

One cylindrical spring guide pillar, the head that there is diameter to be greater than spring guide pillar diameter for one end of the spring guide pillar are provided；

A compressed spring covered on spring guide pillar is provided, one end of the compressed spring is positioned at the head；

It provides and is provided with a mounting hole on the body or rotating block that one is mounted on rotating block, the body inner hole or mounting hole have one Large diameter hole and a diameter holes, form step between large diameter hole and diameter holes, the other end of the compressed spring is supported on the step On；Wherein diameter holes guide spring guide pillar, and large diameter hole is for accommodating compressed spring.

5. bottle according to claim 4 examines manipulator, which is characterized in that large diameter hole is also used to guide the head, and It is held for main assemblage of spring and the top of the first tong arm on head.

6. bottle according to claim 5 examines manipulator, which is characterized in that pacify at the position that the first tong arm is held by main assemblage of spring top Equipped with recovery roller, which is sheave；

Correspondingly, the head with convex surface is engaged with the race of sheave.

7. bottle according to claim 1 examines manipulator, which is characterized in that a pair of of shaft seat is installed on matrix, it is described Rotating block is between two shaft seats；

One end of shaft is equipped with gear；

Rack gear and the horizontally-guided structure to rack gear guiding are equipped on matrix, wherein the rack gear is engaged with the gear, and One end of rack gear is to make moved end with drive rod one end of rack gear one.

8. bottle according to claim 7 examines manipulator, which is characterized in that make moved end by overturning roller shaft and be equipped with overturning Idler wheel.

9. bottle according to claim 7 or 8 examines manipulator, which is characterized in that the horizontally-guided structure is guide rail；

Correspondingly, the assembly that rack gear, drive rod or both are formed is configured to be directed at the sliding block of the guide rail.

10. bottle according to claim 9 examines manipulator, which is characterized in that the guide rail is T-type guide rail.

11. bottle according to claim 7 examines manipulator, which is characterized in that gear is connect by expansion set with the shaft, and Form expansion set connection.

12. bottle according to claim 11 examines manipulator, which is characterized in that expansion set connecting structure are as follows:

Gear is with conical tooth wheel bore or has angular wheel bore portion, provides the expansion set of one with the cooperation of conical tooth wheel bore, The set inner hole of expansion set is screw via hole；

End where gear in shaft provides a screw, which passes through the screw via hole and expansion set is locked together in shaft.