Three-axis manipulator for detecting bottled articles

Abstract

The utility model relates to a three-axis manipulator for detecting bottled articles, and aims to solve the problem of liquid spilling caused by shaking and infirm clamping of the bottled articles in the detection process in the prior art. The manipulator comprises a stand column, a horizontal rotating platform, a cross arm, a vertical telescopic platform and a manipulator body, and efficient and stable detection of bottled articles is achieved by improving a clamping mechanism and enhancing stability. The horizontal rotating platform adopts cooperation of a motor and a speed reducer to ensure rotating stability; the vertical telescopic platform controls the manipulator to move up and down through a cylinder; and the manipulator is provided with a clamping hand and an anti-skid rubber pad, so that the grabbing stability is improved. In addition, a horizontal moving platform is further arranged, and the overall horizontal movement of the mechanical arm is achieved. The device has the advantages of compact structure, simplicity and convenience in operation, high detection efficiency and the like, and is suitable for detecting various bottled articles.

Description

Technical Field

[0001] The utility model relates to the field of detection manipulators, in particular to a three-axis manipulator for detecting bottled articles. Background Art

[0002] With the wide application of automated production lines, the detection link of bottled articles has become increasingly important. Especially for bottled articles without lids and filled with liquids, such as pharmaceutical products like injection solutions and oral liquids, the stability and safety during the detection process are particularly crucial.

[0003] Existing detection manipulators for bottled articles usually use fixed jaws or simple pneumatic suction cups for clamping. When facing bottled articles of different specifications and materials, these methods often cannot provide sufficient clamping force, and are prone to falling off especially when the liquid is shaking. At the same time, on high-speed automated production lines, the moving speed of the manipulator is relatively fast, which will cause the bottled articles being clamped to generate large vibrations during movement, increasing the risk of liquid spilling.

[0004] In summary, most of the existing detection manipulators for bottled articles have simple clamping mechanisms and large moving vibrations, seriously affecting the detection accuracy and efficiency. Therefore, there is an urgent need for a new type of grasping manipulator to solve the above problems, improve the reliability and stability of detection movement, and meet the special requirements of the detection field. Summary of the Utility Model

[0005] Based on the problems existing in the above-mentioned prior art, the present invention aims to provide a three-axis manipulator for detecting bottled articles, which solves the problem of liquid spilling caused by shaking and insecure clamping of bottled articles during the detection process by improving the clamping mechanism and enhancing the stability.

[0006] To achieve the above object, the technical solution of the utility model is to design a three-axis manipulator for detecting bottled articles, including a column, a horizontal rotating platform, a cross arm, a vertical telescopic platform and a manipulator. The horizontal rotating platform is arranged at the top of the column. The cross arm is respectively connected to the horizontal rotating platform and the vertical telescopic platform. The manipulator is arranged at the front end of the vertical telescopic platform.

[0007] Further, the horizontal rotating platform includes a rotating seat, a first motor and a speed reducer. The first motor is connected to the speed reducer. The first motor provides driving force. The speed reducer outputs the final power to the rotating seat. The rotating seat is connected to the cross arm.

[0008] Furthermore, the vertical telescopic platform includes a support, a cylinder and a telescopic rod, the support is connected to the cross arm, the cylinder is arranged on the upper part of the support, the lower part of the cylinder is connected to the telescopic rod, the lower part of the telescopic rod is connected to the manipulator, and the telescopic rod controls the up and down movement of the manipulator through the cylinder.

[0009] Furthermore, the manipulator includes a connecting plate and a plurality of grippers, the grippers include four rectangularly arranged clamping plates, the lower portion of the clamping plates is shaped like a quarter of a "cylinder" to better fit the clamped object, and a long strip-shaped fixing pin is also provided in the middle of the bottom of the clamping plate to improve the grasping stability.

[0010] Preferably, a non-slip rubber pad is provided on the clamping side of the clamping plate.

[0011] Furthermore, the three-axis manipulator also includes a horizontal moving platform, and the lower end of the column is arranged on the horizontal moving platform, and the entire column can be moved horizontally through the horizontal moving platform.

[0012] Preferably, the horizontal movable platform includes a movable seat, the movable seat is arranged on two slide rails, a lead screw is arranged between the slide rails, a second motor is arranged on one side of the movable seat, the second motor drives the lead screw to rotate, and the lead screw drives the movable seat to move on the slide rails.

[0013] The advantages and beneficial effects of the utility model are as follows: the utility model effectively reduces the shaking that may occur during the rotation process by arranging a reducer on the horizontal rotating device, and realizes smooth and accurate horizontal movement through the screw drive in horizontal movement. This design improves the overall movement stability of the manipulator, enables the manipulator to locate different detection positions more accurately, and improves the detection efficiency. The manipulator can better fit the shape of the clamped object, improves the stability during grasping, and further reduces the risk of liquid spilling. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0015] Figure 1 It is a schematic diagram of the utility model.

[0016] Figure 2 It is a schematic diagram of the robot arm of the utility model.

[0017] Among them, 1 - vertical column, 2 - horizontal rotating platform, 21 - rotating base, 22 - first motor, 23 - speed reducer, 3 - cross arm, 4 - vertical telescopic platform, 41 - support, 42 - cylinder, 43 - telescopic rod, 5 - manipulator, 51 - connecting plate, 52 - gripper, 521 - clamping plate, 522 - fixing pin, 6 - horizontal moving platform, 61 - moving base, 62 - slide rail, 63 - lead screw, 64 - second motor. Detailed implementation manner

[0018] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts belong to the protection scope of the present invention. In addition, it should be understood that the specific implementation manners described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention. In the present invention, unless otherwise stated, the orientation words such as "upper" and "lower" usually refer to the upper and lower in the actual use or working state of the device, specifically the drawing direction in the accompanying drawings; and "inner" and "outer" refer to the outline of the device.

[0019] As Figure 1 、 Figure 2 shown, the present invention mainly includes a vertical column 1, a horizontal rotating platform 2, a cross arm 3, a vertical telescopic platform 4, a manipulator 5 and a horizontal moving platform 6.

[0020] The vertical column 1, as the main support part of the manipulator, is vertically arranged, and its top is used to install the horizontal rotating platform 2.

[0021] The horizontal rotating platform 2 includes a rotating base 21, a first motor 22 and a speed reducer 23. The rotating base 21 is connected to the top of the vertical column 1, responsible for carrying the cross arm 3 and realizing horizontal rotation. The first motor 22 provides the power required for rotation and is connected to the speed reducer 23. The speed reducer 23 is used to reduce the speed of the first motor 22 and increase the torque to ensure the smooth rotation of the rotating base 21.

[0022] One end of the cross arm 3 is connected to the rotating base 21 of the horizontal rotating platform 2, and the other end is connected to the vertical telescopic platform 4, playing a bridging role and transmitting rotational and telescopic movements.

[0023] The vertical telescopic platform 4 includes a support 41, a cylinder 42 and a telescopic rod 43. The support 41 is connected to the cross arm 3, providing support for the cylinder 42 and the telescopic rod 43. The cylinder 42 is arranged on the upper part of the support 41, responsible for providing the power for the telescopic movement. The telescopic rod 43 is connected to the lower part of the cylinder 42, and its lower part is further connected to the manipulator 5, realizing the up and down movement of the manipulator 5 through the telescopic movement of the cylinder 42.

[0024] The manipulator 5 includes a connecting plate 51 and a gripper 52. The connecting plate 51, as the main part of the manipulator 5, connects multiple grippers 52. The gripper 52 is composed of four clamping plates 521 arranged in a rectangle. The lower part of the clamping plate 521 is designed in the shape of a quarter "cylinder" to better fit the item to be clamped. A long strip-shaped fixing pin 522 is also provided in the middle of the bottom of the clamping plate 521 to improve the grasping stability. In this embodiment, an anti-slip rubber pad is arranged on the clamping side of the clamping plate 521 to increase the friction with the item to be clamped and improve the stability during grasping.

[0025] The horizontal moving platform 6 includes a moving seat 61, a slide rail 62, a lead screw 63 and a second motor 64. The moving seat 61 is arranged on two slide rails 62 and can move horizontally along the slide rails 62. The slide rail 62 provides a smooth moving path for the moving seat 61. The lead screw 63 is arranged between the slide rails 62 and is connected to the moving seat 61. The moving seat 61 moves horizontally by rotation. The second motor 64 is connected to the lead screw 63 to provide rotational power, drive the lead screw 63 to rotate, and then drive the moving seat 61 to move on the slide rails 62.

[0026] Specific usage steps:

[0027] When in use, first place the bottled item to be detected in the detection area, and then start the three-axis manipulator through the control system. The second motor 64 of the horizontal moving platform 6 starts to work, drives the lead screw 63 to rotate, drives the moving seat 61 to move on the slide rails 62, and moves the column 1 and the entire manipulator above the bottled item. Then, the cylinder 42 works, controls the telescopic rod 43 to descend, and makes the manipulator 5 approach the bottled item. At this time, the gripper 52 of the manipulator 5 opens, and the four clamping plates 521 stably clamp the bottled item due to their lower parts and the fixing pins 522 at the bottom. After the clamping is completed, the cylinder 42 controls the telescopic rod 43 to rise and lift the bottled item. If it is necessary to rotate the bottled item for detection, the first motor 22 starts to work, outputs power to the rotating seat 21 after being decelerated by the speed reducer 23, drives the cross arm 3, the vertical telescopic platform 4 and the whole manipulator 5 to rotate, and realizes the horizontal rotation of the bottled item. After the detection is completed, the manipulator 5 returns the bottled item to its original position or moves it to the designated position to complete the entire detection process.

[0028] The above has introduced in detail a three-axis manipulator for detecting bottled items provided by the present utility model. Specific examples are used herein to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present utility model. It should be noted that for those of ordinary skill in the art of this technology, without departing from the principle of the present invention, several improvements and modifications can still be made to the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present utility model.

Claims

1. A three-axis manipulator for bottled goods inspection, comprising a column (1), a horizontal rotating platform (2), a cross arm (3), a vertical telescopic platform (4) and a manipulator (5), characterized in that: The horizontal rotating platform (2) is arranged at the top of the column (1); the cross arm (3) is respectively connected to the horizontal rotating platform (2) and the vertical telescopic platform (4); the front end of the vertical telescopic platform (4) is provided with the manipulator (5); the horizontal rotating platform (2) comprises a rotating seat (21), a first motor (22) and a reducer (23); the first motor (22) is connected to the reducer (23); the first motor (22) provides driving force; the reducer (23) outputs final power to the rotating seat (21); and the rotating seat (21) is connected to the cross arm (3).

2. A three-axis manipulator for bottled goods inspection according to claim 1, characterized in that: The vertical telescopic platform (4) comprises a support (41), a cylinder (42) and a telescopic rod (43); the support (41) is connected to the cross arm (3); the cylinder (42) is arranged on the upper part of the support (41); the lower part of the cylinder (42) is connected to the telescopic rod (43); and the lower part of the telescopic rod (43) is connected to the manipulator (5).

3. A three-axis manipulator for bottled goods inspection according to claim 2, characterized in that: The manipulator (5) comprises a connecting plate (51) and a plurality of grippers (52); the grippers (52) comprise four rectangularly arranged grippers (521); the lower portion of the grippers (521) is shaped like a quarter of a "cylinder".

4. A three-axis manipulator for bottled goods inspection according to claim 3, characterized in that: A long strip-shaped fixing pin (522) is arranged in the middle of the bottom of the clamping plate (521).

5. A three-axis manipulator for bottled goods inspection according to claim 4, characterized in that: An anti-slip rubber pad is provided on the clamping side of the clamping plate (521).

6. A three-axis manipulator for bottled goods inspection according to claim 4, characterized in that: The three-axis manipulator further comprises a horizontal moving platform (6), and the lower end of the column (1) is arranged on the horizontal moving platform (6).

7. A three-axis manipulator for bottled goods inspection according to claim 6, characterized in that: The horizontal movable platform (6) comprises a movable seat (61), wherein the movable seat (61) is arranged on two slide rails (62), a lead screw (63) is arranged between the slide rails (62), and a second motor (64) is arranged on one side of the movable seat (61), wherein the second motor (64) drives the lead screw (63) to rotate, and the lead screw (63) drives the movable seat (61) to move on the slide rails (62).

Images