CN105538335A - Flavoring and casing detachable multi-functional gripper for laboratories - Google Patents
Flavoring and casing detachable multi-functional gripper for laboratories Download PDFInfo
- Publication number
- CN105538335A CN105538335A CN201610096295.6A CN201610096295A CN105538335A CN 105538335 A CN105538335 A CN 105538335A CN 201610096295 A CN201610096295 A CN 201610096295A CN 105538335 A CN105538335 A CN 105538335A
- Authority
- CN
- China
- Prior art keywords
- fulcrum
- flavoring
- plate
- backplate
- claw
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
Abstract
The invention discloses a flavoring and casing detachable multi-functional gripper which comprises a connection device, a parallel pneumatic gripper, a gripping device, and an atomization device, wherein the connection device comprises a receiving and abutting plate; two ends of the receiving and abutting plate are fixed surfaces; one end of the receiving and abutting plate is connected with a mechanical arm; the parallel pneumatic gripper is connected with the other end of the receiving and abutting plate, and used for gripping or releasing the gripping device; the gripping device comprises cylindrical pins, a first protection plate, a second protection plate, a first claw base plate, a second claw base plate and claws; one end of the first protection plate and that of the second protection plate are respectively fixed on two opening and closing plates of an opening and closing mechanism of the parallel pneumatic gripper; the other ends of the first protection plate and the second protection plate are respectively connected with the first claw base plate and the second claw base plate; the atomization device comprises an atomizer and an atomizer support plate; the atomizer support plate is mounted on the inner side of the second claw base plate; the atomizer is mounted on the atomizer support plate. The flavoring and casing detachable multi-functional gripper integrates the functions of gripping an experimental bottle, a flavor bottle cap and a casing needle head, and atomizing flavors into a whole, so that automatic running efficiency of flavoring and casing in a laboratory is improved, and the atomizing effect and efficiency are improved.
Description
Technical field
The present invention relates to a kind of dismountable mechanical gripper crawl test bottle, spices bottle cap, feeding needle and spices atomizing functions are integrated in one, belong to novel mechanical dedicated classes product.
Background technology
The automatic perfume adding process need that feeds in raw material in laboratory completes and gets spices bottle cap, draws the process such as spices, weighing, batching, dilution, spraying, the automatic operating of everything needs to use manipulator to complete, wherein get spices bottle cap, draw spices, spraying needs to use different structures, if the frame for movement that using function is single certainly will affect flavoring and casing efficiency, even affect the realization of automation.
Summary of the invention
The object of the invention is to design and a kind ofly integrate the laboratory flavoring and casing equipment handgrip capturing the atomization of test bottle, spices bottle cap, feeding needle and spices, comprise and connect dish, parallel air gripper, backplate one, backplate two, claw seat board one, claw one, claw two, claw seat board two, stop block one, fulcrum one, fulcrum two, protect wheel, stop block two, sprayer, sprayer support plate, splicing sleeve, fork, push-and-pull block, cylinder mounting plate, circular cylinder etc.
Feature of the present invention is: use the claw of aluminum material to be fixed on parallel air gripper by backplate, and make parallel air gripper action by PC control magnetic valve thus realize capturing and unclamping, claw can capture spices bottle cap, assay flask or feeding needle; Separately be fixed with fog-spray nozzle in the one side of claw, the tracheae that fog-spray nozzle connects by supporting and fixing plate, support and protect and take turns the structure that forms and fix, the mechanism be made up of circular cylinder, splicing sleeve, fork, push-and-pull block etc. realizes the swing of tracheae at certain angle, packs up, do not affect crawl when not using; Put down during use, stretch into test bottle and atomization can be realized after passing into compressed air.
Effect of the present invention is: crawl test bottle, spices bottle cap, feeding needle and spices atomizing functions are integrated in one, and improves the efficiency of laboratory flavoring and casing automatic operating, and ensures atomizing effect and efficiency.
For realizing the object of the present invention, be achieved by the following technical solutions:
A kind of flavoring and casing removable multifunctional handgrip, comprising:
Jockey, comprises and connects dish, and this is abutted against dish two ends is stationary plane, and one end is connected with mechanical arm;
Parallel air gripper, this parallel air gripper is connected with the other end connecting dish, for firmly grasping or decontroling grabbing device;
Grabbing device, comprises straight pin, the first backplate and the second backplate, the first claw seat board and the second claw seat board, claw; One end of first backplate and the second backplate is separately fixed on two opening-closing plates of the open-and-close mechanism of parallel air gripper; First backplate is connected with the first claw seat board and the second claw seat board respectively with the other end of the second backplate;
Atomising device, comprises sprayer and sprayer gripper shoe, and wherein sprayer gripper shoe is arranged on the inboard of the second claw seat board, and sprayer is arranged in atomizer gripper shoe.
Described flavoring and casing removable multifunctional handgrip, preferably also comprises:
Bracing or strutting arrangement, comprises first fulcrum and three the second fulcrums, an axis fixing plate,
Wherein: the first fulcrum and the second fulcrum are all arranged on an axis fixing plate; First Fulcrum Length is longer than the second fulcrum, and this first fulcrum is connected with fork with the second claw seat board through an axis fixing plate.
Described flavoring and casing removable multifunctional handgrip, preferably also comprises:
Drive unit, comprises cylinder, cylinder mounting plate, push-and-pull block and fork; Cylinder is arranged on cylinder mounting plate, and cylinder is connected with push-and-pull block, and push-and-pull block and fork are connected to form crank block structure.
Described flavoring and casing removable multifunctional handgrip, preferred:
Described first fulcrum and the second fulcrum also comprise and protect wheel, and the plastic pipe clip that sprayer picks out protects in the middle of wheel at four.
Accompanying drawing explanation
Fig. 1 is the structural front view of laboratory of the present invention flavoring and casing removable multifunctional handgrip;
Fig. 2 is the top view of Fig. 1;
Fig. 3 is the left view of Fig. 1;
Fig. 4 is that left view is cutd open in the A-A cross section of Fig. 3.
Detailed description of the invention
As Fig. 1, 2, 3, shown in 4, removable multifunctional handgrip of the present invention is by connecting dish 1, hexagon socket cap head screw 2, spring washer 3, parallel air gripper 4, straight pin 5, backplate 1, backplate 2 10, claw seat board 1, claw 1, claw 2 14, claw seat board 2 15, stop block 18, fulcrum 1, prop up axis fixing plate 21, fulcrum 2 22, protect wheel 23, stop block 2 24, quick connector 27, sprayer 28, sprayer gripper shoe 29, splicing sleeve 30, fork 31, straight pin 32, push-and-pull block 33, hex nut 34, cylinder mounting plate 35, composition such as circular cylinder 36 grade.
Jockey comprises and connects dish 1, and being abutted against dish 1 has two ends to be stationary plane, and one end is connected with mechanical arm by the screw 2 being of a size of M5; Screw 2 is inserted in the connecting hole connecting dish 1, twists on the robotic arm, screw 2 and connect between dish 1 and be provided with spring washer 3; Connect dish 1 other end and be provided with parallel air gripper 4, this parallel air gripper 4 is for promptly or decontrol grabbing device, and this parallel air gripper 4 is connected with the other end connecting dish 1 by screw, screw and connect between dish 1 and be provided with spring washer.Grabbing device comprises straight pin 5, backplate 1, backplate 2 10, clamp seat board 1, claw 1, claw 2 14, claw seat board 2 15; Backplate 1 one end is fixed on parallel air gripper 4 by the hexagon socket cap head screw 6 of M4 and straight pin 5, the other end is connected with claw seat board 1 by the hexagon socket cap head screw 8 of M3 spring washer 9 of arranging in pairs or groups, and backplate 2 10 corresponding with it is also connected in the same fashion with claw seat board 2 15.Claw 1, claw 2 14 are equally also realize connecting by the hexagon socket cap head screw 12 of M3.Claw 1 is connected on claw seat board, and claw 2 14 is connected on claw 1, is connected by fillister head screw 12.
Claw 1 has size two grooves, little groove is used for gripping syringe needle, and large groove is used for gripping dilution bottle, carries out gripping action by controlling parallel air gripper 4.Claw 2 14 is trapezoidal protrusion, for the special form fit with it of gripping bottle cap, in liquid feeding process, manipulator utilizes the first gripping bottle cap of claw 2 14 to remove, then in bottle, draws spices with claw 1 gripping syringe needle, and adds in dilution bottle.
Atomization implement device comprises stop block 1, fulcrum 1, axis fixing plate 21, fulcrum 2 22, protects wheel 23, stop block 2 24, quick connector 27, sprayer 28, sprayer gripper shoe 29, splicing sleeve 30, fork 31, straight pin 32, push-and-pull block 33, hex nut 34, cylinder mounting plate 35, circular cylinder 36.Wherein atomizer gripper shoe 29 uses the hexagon socket cap head screw 16 of M3 to be arranged on the inboard of claw seat board two, and sprayer 28 is arranged in atomizer gripper shoe 29, and fulcrum 1 and three fulcrums 2 22 are arranged on an axis fixing plate 21, and is furnished with and protects wheel 23.Wherein fulcrum 1 is longer, be connected with fork 31 with claw seat board 2 15 through an axis fixing plate 21, and it is fastening with the hexagon socket cap head screw 12 of M3, circular cylinder 36 nut is fixed on cylinder mounting plate 35, and be connected with push-and-pull block 33, push-and-pull block 33 and fork 31 form slider-crank mechanism, fork 31 is driven to rotate around fulcrum 1 by the knee-action of circular cylinder 36, thus realize whole supporting structure (also namely by fulcrum 1, prop up axis fixing plate 21, the structure of composition such as fulcrum 2 22 grade, this structure and back shaft compact siro spinning technology, therefore drive fulcrum 1 when the motion of outside slider-crank mechanism, thus realize the change in location of tracheae of fixing) can move with fork 31 and move, stop block 1 and stop block 2 24 are respectively two extreme positions of restriction said structure.The plastic pipe clip that sprayer picks out protects in the middle of wheel at four, because this supporting arrangement can rotate around fulcrum 1 under fork 31 acts on, thus makes plastic tube move to parallel and vertical two positions by controlling circular cylinder 36.Making it to be in parallel position when not needing to use tracheae, needing the used time to be placed in upright position, and by the motion of manipulator, plastic tube is put into bottle.Quick connector 27 is connected on sprayer, connects tracheae and uses.
Automated condtrol magnetic valve, circular cylinder 36 produces downward action, and the slide block mechanism of fork 31, straight pin 32, push-and-pull block 33 composition drives fulcrum and protects the mechanism that wheel 23 forms and rotates around fulcrum 1, thus makes to be fixed on and protect tracheae between wheel straight down; Moved by mechanical arm subsequently and tracheae is put into test bottle, and claw is moved to the suitable position of experiment bottleneck, Automated condtrol magnetic valve, parallel air gripper 4 clamps and drives claw 1 execution pinching action to be clamped by test bottle, namely be movable to subsequently in tobacco leaf container, solenoid control compressed air spray injection head, in test bottle, spices is sprayed in tobacco leaf by fog-spray nozzle suction formation atomized liquid, and spray action completes; When handgrip has needed other actions, make circular cylinder upwards to magnetic valve signal, tracheae has moved to horizontal level, can not interfere grasping movement; Manipulator moves to spices bottle cap or syringe needle place, controls parallel air gripper, and namely execution grasping movement realizes the crawl to spices bottle cap and syringe needle.
Following effect can be realized by the present invention:
1. the present invention coordinates the gripping that can realize multiple different article from manipulator, can substitute artificial multiple actions, make automation become possibility;
2. traditional flavoring and casing experiment uses artificial atomization, and atomizing effect is general, and the present invention uses atomizer to pass into compressed air and is atomized spices, and atomizing particle is thinner, and the absorption of tobacco to spices is better;
3. crawl bottle cap, syringe needle, dilution bottle function and spices atomising device are integrated in one by the present invention, have gone the trouble changing fixture less, have simplified the process of flavoring and casing, improve efficiency.
Claims (4)
1. a flavoring and casing removable multifunctional handgrip, is characterized in that comprising:
Jockey, comprises and connects dish, and this connects dish two ends is stationary plane, and one end is connected with mechanical arm;
Parallel air gripper, this parallel air gripper is connected with the other end connecting dish, for firmly grasping or decontroling grabbing device;
Grabbing device, comprises straight pin, the first backplate, the second backplate, the first claw seat board, the second claw seat board, claw; One end of first backplate and the second backplate is separately fixed on two opening-closing plates of the open-and-close mechanism of parallel air gripper; First backplate is connected with the first claw seat board and the second claw seat board respectively with the other end of the second backplate;
Atomising device, comprises sprayer and sprayer gripper shoe, and wherein sprayer gripper shoe is arranged on the inboard of the second claw seat board, and sprayer is arranged in atomizer gripper shoe.
2. flavoring and casing removable multifunctional handgrip according to claim 1, characterized by further comprising:
Bracing or strutting arrangement, comprises first fulcrum and three the second fulcrums, an axis fixing plate, wherein: the first fulcrum and the second fulcrum are all arranged on an axis fixing plate; First Fulcrum Length is longer than the second fulcrum, and this first fulcrum is connected with fork with the second claw seat board through an axis fixing plate.
3. flavoring and casing removable multifunctional handgrip according to claim 1, characterized by further comprising:
Drive unit, comprises cylinder, cylinder mounting plate, push-and-pull block and fork; Cylinder is arranged on cylinder mounting plate, and cylinder is connected with push-and-pull block, and push-and-pull block and fork are connected to form crank block structure.
4. flavoring and casing removable multifunctional handgrip according to claim 2, is characterized in that:
Described first fulcrum and the second fulcrum also comprise and protect wheel, and the plastic pipe clip that sprayer picks out protects in the middle of wheel at four.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610096295.6A CN105538335B (en) | 2016-02-22 | 2016-02-22 | Laboratory flavoring and casing removable multifunctional handgrip |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610096295.6A CN105538335B (en) | 2016-02-22 | 2016-02-22 | Laboratory flavoring and casing removable multifunctional handgrip |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105538335A true CN105538335A (en) | 2016-05-04 |
| CN105538335B CN105538335B (en) | 2017-08-25 |
Family
ID=55818125
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610096295.6A Expired - Fee Related CN105538335B (en) | 2016-02-22 | 2016-02-22 | Laboratory flavoring and casing removable multifunctional handgrip |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105538335B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107036691A (en) * | 2016-11-02 | 2017-08-11 | 芜湖光荣网络科技有限公司 | A kind of automatic weighing device for being used to produce in batches |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN200970770Y (en) * | 2006-11-22 | 2007-11-07 | 于复生 | Pneumatic manipulator claw |
| JP2010082748A (en) * | 2008-09-30 | 2010-04-15 | Fanuc Ltd | Workpiece gripping device |
| CN102357892A (en) * | 2011-09-30 | 2012-02-22 | 姜晓利 | Pneumatic mechanical paw |
| CN103112009A (en) * | 2012-12-27 | 2013-05-22 | 宁波大正工业机器人技术有限公司 | Dedicated detection device and detection method of finger cylinder of automatic feeder |
| CN103522280A (en) * | 2013-09-30 | 2014-01-22 | 宁波伊泽机器人有限公司 | Multifunctional double-arm robot |
| CN203409771U (en) * | 2013-06-19 | 2014-01-29 | 东莞市松庆自动化设备有限公司 | Mechanical arm mechanism of spraying extracting machine |
| CN104354057A (en) * | 2014-11-03 | 2015-02-18 | 安庆安帝技益精机有限公司 | Automatic piston ring fetching and handling device |
| CN104842350A (en) * | 2015-05-22 | 2015-08-19 | 芜湖陀曼精机科技有限公司 | Workpiece griping manipulator for high-temperature operation |
| CN204763379U (en) * | 2015-05-27 | 2015-11-18 | 河南中烟工业有限责任公司 | Portable pneumatic perfuming feeding device |
-
2016
- 2016-02-22 CN CN201610096295.6A patent/CN105538335B/en not_active Expired - Fee Related
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN200970770Y (en) * | 2006-11-22 | 2007-11-07 | 于复生 | Pneumatic manipulator claw |
| JP2010082748A (en) * | 2008-09-30 | 2010-04-15 | Fanuc Ltd | Workpiece gripping device |
| CN102357892A (en) * | 2011-09-30 | 2012-02-22 | 姜晓利 | Pneumatic mechanical paw |
| CN103112009A (en) * | 2012-12-27 | 2013-05-22 | 宁波大正工业机器人技术有限公司 | Dedicated detection device and detection method of finger cylinder of automatic feeder |
| CN203409771U (en) * | 2013-06-19 | 2014-01-29 | 东莞市松庆自动化设备有限公司 | Mechanical arm mechanism of spraying extracting machine |
| CN103522280A (en) * | 2013-09-30 | 2014-01-22 | 宁波伊泽机器人有限公司 | Multifunctional double-arm robot |
| CN104354057A (en) * | 2014-11-03 | 2015-02-18 | 安庆安帝技益精机有限公司 | Automatic piston ring fetching and handling device |
| CN104842350A (en) * | 2015-05-22 | 2015-08-19 | 芜湖陀曼精机科技有限公司 | Workpiece griping manipulator for high-temperature operation |
| CN204763379U (en) * | 2015-05-27 | 2015-11-18 | 河南中烟工业有限责任公司 | Portable pneumatic perfuming feeding device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107036691A (en) * | 2016-11-02 | 2017-08-11 | 芜湖光荣网络科技有限公司 | A kind of automatic weighing device for being used to produce in batches |
| CN107036691B (en) * | 2016-11-02 | 2019-05-17 | 芜湖光荣网络科技有限公司 | A kind of automatic weighing device for batch production |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105538335B (en) | 2017-08-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112198324B (en) | Full-automatic QuECHERS experimental device and experimental method | |
| CN102463573B (en) | Nozzle installation component, nozzle device and lens module assembly equipment | |
| US20180056460A1 (en) | Spring separating and feeding device and method thereof | |
| CN104924318A (en) | Vacuum chuck manipulator paw | |
| CN105538335A (en) | Flavoring and casing detachable multi-functional gripper for laboratories | |
| CN105964637A (en) | Cleaner | |
| CN208196822U (en) | A kind of Pneumatic paw with adsorption function | |
| CN108673506A (en) | A kind of reconfigurable flexible manipulator | |
| CN107175215B (en) | A kind of pulling-on piece sorting feed device | |
| CN209124220U (en) | A kind of machining auto spray painting device | |
| CN207196074U (en) | Full-automatic gas inflating machine | |
| CN204413552U (en) | Torsion spring assembling mechanism | |
| CN109368253A (en) | Mechanical arm holder for rod shaped materials clamping | |
| KR102073152B1 (en) | Folding jigs for wet tissue caps | |
| CN107900640B (en) | Automatic assembling machine for commutator assembly | |
| CN209319781U (en) | A kind of two shaft vertical servo manipulators | |
| CN208303083U (en) | A kind of spraying equipment with limit function | |
| CN105363603A (en) | Water spraying type dedusting spraying robot | |
| CN207800421U (en) | A kind of switch wraping plate assembling device | |
| CN203843461U (en) | Plastic sleeve assembling structure used on automatic fuse assembling machine | |
| JP2002159928A (en) | Bottle gripper | |
| EP3207998A1 (en) | Painting plant and method | |
| CN113579705A (en) | Full-automatic assembly equipment of robot sweeps floor | |
| CN204772573U (en) | Vacuum chuck mechanical gripper | |
| CN109011498B (en) | Rotary casting device and multi-angle casting method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170825 Termination date: 20200222 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |