WO2010048765A1 - Magnetic attracting manipulator for gripping bottle - Google Patents
Magnetic attracting manipulator for gripping bottle Download PDFInfo
- Publication number
- WO2010048765A1 WO2010048765A1 PCT/CN2008/073842 CN2008073842W WO2010048765A1 WO 2010048765 A1 WO2010048765 A1 WO 2010048765A1 CN 2008073842 W CN2008073842 W CN 2008073842W WO 2010048765 A1 WO2010048765 A1 WO 2010048765A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- gripper
- magnet
- magnetic
- gripping bottle
- manipulator
- 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.)
- Ceased
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/84—Star-shaped wheels or devices having endless travelling belts or chains, the wheels or devices being equipped with article-engaging elements
- B65G47/846—Star-shaped wheels or wheels equipped with article-engaging elements
- B65G47/847—Star-shaped wheels or wheels equipped with article-engaging elements the article-engaging elements being grippers
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0246—Gripping heads and other end effectors servo-actuated actuated by an electromagnet
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
Definitions
- the invention mainly relates to the field of medical packaging machinery, and particularly relates to a magnetic hand-clamping robot.
- a robot or a food packaging machine often uses a robot to hold a bottle or the like, and the clamping force of the robot to the bottle or the like is mainly provided by a spring. Due to the frequent opening and closing of the robot, the spring will also cause fatigue fracture due to too many stretching or compression times. At the same time, if a spring is used to provide the clamping force, the spring requires a space for installation. Sometimes, when the installation space is limited, the structural size of the entire machine has to be increased due to the spring problem, thereby causing an increase in manufacturing cost. Therefore, how to solve the service life of the robot spring and reduce the structural size of the robot become a problem that various packaging machinery manufacturers need to solve.
- the present invention provides a magnetic gripper bottle manipulator which is simple and compact in structure, low in cost, good in stability, and long in service life.
- a magnetic gripping bottle robot which includes a left grip and a right grip, and one ends of the left grip and the right grip are respectively fixed to the left hinge and the right
- the rotating shaft is characterized in that: a magnetic attraction device is arranged between the left and right grippers to generate an attraction force between the two.
- the magnetic attraction device includes left and right magnets of opposite polarities respectively fixed to the left and right grippers.
- the magnetic device includes a magnet made of a ferromagnetic material fixed to a left or right grip.
- One end of the left and right grips near the left and right shafts is connected by a gear pair.
- the present invention has the advantages that: the magnetic gripping bottle robot of the present invention is provided with a left magnet and a right magnet, and a right magnet and a left magnet, respectively, in the left and right grips.
- the forces between them are mutually attracted, so the clamping force of the two grippers is provided by the attractive force of the permanent magnet, so the robot can use no spring, so there is no spring.
- Service life problem Since the magnet is mounted inside the gripper, the robot can be designed to be small enough to reduce the structural size of the robot to meet the design requirements.
- Figure 1 is a schematic view showing the structure of the present invention in a clamped state
- Figure 2 is a schematic view showing the structure of the present invention in an open state.
- a magnetic gripping bottle manipulator includes a left gripper 1 and a right gripper 2, and one ends of the left gripper 1 and the right gripper 2 are respectively fixed to the left revolving shaft. 7 and the right shaft 6 and the other end is used to clamp the holder 3.
- a magnetic attraction device is provided between the left gripper 1 and the right gripper 2 to generate an attraction that brings the two closer together.
- the magnetic attraction device includes a left magnet 5 and a right magnet 4 of opposite polarities respectively fixed to the left and right grips 1 and 2, or the magnetic device includes a fixed or left grip 1 or 2 A magnet made of ferromagnetic material.
- the left magnet 5 and the right magnet 4 of opposite polarities are respectively disposed at the opposite positions on the left and right grips 1 and 2.
- the ends of the left and right grips 1 and 2 on the left and right grips 2 are connected by the gear pair 8.
- the polarities of the right magnet 4 and the left magnet 5 are opposite, and the forces between them are attracted to each other, and a suitable clamping force can be obtained by selecting a magnet of a suitable parameter.
- the two magnets are relatively close when the right magnet 4 and the left magnet 5 are clamped, it is particularly suitable for some robots that require a large clamping force when clamping the bottle and a small clamping force when opening.
- the robot can be used without the spring, so there is no problem of the service life of the spring. Since the magnet is mounted inside the gripper, the robot can be designed to be small enough to reduce the structural size of the robot to meet the design requirements.
- the above description is only a preferred embodiment of the present invention, and the scope of the present invention is not limited to the above embodiments, and all the technical solutions under the inventive concept belong to the protection scope of the present invention. It should be noted that many modifications and refinements will occur to those skilled in the art without departing from the principles of the invention, for example, on the left.
- the clamping handle 1 and the right clamping hand 2 are provided with mounting grooves for mounting the left magnet 5 and the right magnet 4, or the left magnet 5 and the right magnet 4 are respectively composed of a plurality of small magnets which are unevenly distributed, etc., and these improvements and retouchings It should also be considered as the scope of protection of the present invention.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
Description
磁吸式夹瓶用机械手 技术领域 Magnetic gripper bottle manipulator
本发明主要涉及到医药包装机械领域， 特指一种磁吸式夹瓶用机械手。 The invention mainly relates to the field of medical packaging machinery, and particularly relates to a magnetic hand-clamping robot.
背景技术 Background technique
医药或食品包装机械中经常使用机械手来夹持瓶或类似物， 该种机械手对瓶或类似 物的夹紧力主要靠弹簧来提供。 因机械手需要频繁的张开与闭合， 弹簧也就会因拉伸或 压缩次数太多而引起疲劳断裂。同时如果采用弹簧提供夹紧力，则弹簧又需要安装空间， 有时在安装空间受到限制的时候， 因弹簧问题而不得不加大整个机器的结构尺寸， 从而 造成制造成本的提高。因此如何解决机械手弹簧的使用寿命和减少机械手的结构尺寸成 为各包装机械制造商需要解决的问题。 A robot or a food packaging machine often uses a robot to hold a bottle or the like, and the clamping force of the robot to the bottle or the like is mainly provided by a spring. Due to the frequent opening and closing of the robot, the spring will also cause fatigue fracture due to too many stretching or compression times. At the same time, if a spring is used to provide the clamping force, the spring requires a space for installation. Sometimes, when the installation space is limited, the structural size of the entire machine has to be increased due to the spring problem, thereby causing an increase in manufacturing cost. Therefore, how to solve the service life of the robot spring and reduce the structural size of the robot become a problem that various packaging machinery manufacturers need to solve.
发明内容 Summary of the invention
本发明要解决的问题就在于： 针对现有技术存在的技术问题， 本发明提供一种结构 简单紧凑、 成本低廉、 稳定性好、 使用寿命长的磁吸式夹瓶用机械手。 The problem to be solved by the present invention is that, in view of the technical problems existing in the prior art, the present invention provides a magnetic gripper bottle manipulator which is simple and compact in structure, low in cost, good in stability, and long in service life.
为解决上述技术问题， 本发明提出的解决方案为： 一种磁吸式夹瓶用机械手， 它包 括左夹手和右夹手，左夹手和右夹手的一端分别固定于左转轴和右转轴上，其特征在于： 所述左夹手和右夹手之间设置可产生令两者相互靠近吸引力的磁吸装置。 In order to solve the above technical problem, the solution proposed by the present invention is: A magnetic gripping bottle robot, which includes a left grip and a right grip, and one ends of the left grip and the right grip are respectively fixed to the left hinge and the right The rotating shaft is characterized in that: a magnetic attraction device is arranged between the left and right grippers to generate an attraction force between the two.
所述磁吸装置包括分别固定于左夹手和右夹手上的极性相反的左磁铁和右磁铁。 所述磁吸装置包括固定于左夹手或右夹手上的由铁磁性材料制作的磁铁。 The magnetic attraction device includes left and right magnets of opposite polarities respectively fixed to the left and right grippers. The magnetic device includes a magnet made of a ferromagnetic material fixed to a left or right grip.
所述左夹手和右夹手上靠近左转轴和右转轴的一端通过齿轮副相连。 One end of the left and right grips near the left and right shafts is connected by a gear pair.
与现有技术相比， 本发明的优点就在于： 本发明的磁吸式夹瓶用机械手， 在左夹手 和右夹手上分别设置有左磁铁和右磁铁， 右磁铁和左磁铁的极性是相反的， 它们之间的 作用力是相互吸引的， 因此两夹手的夹紧力是靠永磁铁的吸引力来提供， 所以该种机械 手可以不使用弹簧，故而也就不存在弹簧的使用寿命问题。由于磁铁被装设于夹手内部， 所以该机械手可以被设计的足够小， 可以减少机械手的结构尺寸而达到设计要求。 附图说明 Compared with the prior art, the present invention has the advantages that: the magnetic gripping bottle robot of the present invention is provided with a left magnet and a right magnet, and a right magnet and a left magnet, respectively, in the left and right grips. The opposite is true, the forces between them are mutually attracted, so the clamping force of the two grippers is provided by the attractive force of the permanent magnet, so the robot can use no spring, so there is no spring. Service life problem. Since the magnet is mounted inside the gripper, the robot can be designed to be small enough to reduce the structural size of the robot to meet the design requirements. DRAWINGS
图 1是本发明处于夹紧状态时的结构示意图； 图 2是本发明处于打开状态时的结构示意图。 左夹手 右夹手 Figure 1 is a schematic view showing the structure of the present invention in a clamped state; Figure 2 is a schematic view showing the structure of the present invention in an open state. Left hand and right hand
夹持物 右磁铁 Clamping right magnet
左磁铁 右转轴 Left magnet right shaft
左转轴 齿轮副 Left shaft gear pair
具体实施方式 detailed description
以下将结合附图和具体实施例对本发明做进一步详细说明。 The invention will be further described in detail below with reference to the drawings and specific embodiments.
如图 1和图 2所示， 本发明的一种磁吸式夹瓶用机械手， 它包括左夹手 1和右夹手 2， 左夹手 1和右夹手 2的一端分别固定于左转轴 7和右转轴 6上， 另一端则用来夹持 夹持物 3。 该左夹手 1和右夹手 2之间设置可产生令两者相互靠近吸引力的磁吸装置。 磁吸装置包括分别固定于左夹手 1和右夹手 2上的极性相反的左磁铁 5和右磁铁 4， 或 者， 磁吸装置包括固定于左夹手 1或右夹手 2上的由铁磁性材料制作的磁铁。 本实施例 中， 左夹手 1和右夹手 2上的相对位置处分别设置有极性相反的左磁铁 5和右磁铁 4。 在本实施例中，左夹手 1和右夹手 2上靠近左转轴 7和右转轴 6的一端通过齿轮副 8相 连。本发明中，右磁铁 4和左磁铁 5的极性是相反的，它们之间的作用力是相互吸引的， 选择合适参数的磁铁就可以得到合适的夹紧力。 同时由于右磁铁 4和左磁铁 5在夹紧时 两磁铁靠得比较近， 因此对于某些要求在夹紧瓶时需要夹紧力大而张开时需要夹紧力小 的机械手就特别合适。 由于两夹手的夹紧力是靠永磁铁的吸引力来提供的， 所以该种机 械手可以不使用弹簧， 故而也就不存在弹簧的使用寿命问题。 由于磁铁被装设于夹手内 部， 所以该机械手可以被设计的足够小， 可以减少机械手的结构尺寸而达到设计要求。 当右转轴 6或左转轴 7在传动机构的带动下运动时，相对应的右夹手 2或左夹手 1同时 运动， 而通过齿轮副 8的配合， 带动另一个夹手运动完成打开动作。 然后， 在右磁铁 4 和左磁铁 5的吸力作用下， 右夹手 2和左夹手 1完成夹紧动作。 As shown in FIG. 1 and FIG. 2, a magnetic gripping bottle manipulator according to the present invention includes a left gripper 1 and a right gripper 2, and one ends of the left gripper 1 and the right gripper 2 are respectively fixed to the left revolving shaft. 7 and the right shaft 6 and the other end is used to clamp the holder 3. A magnetic attraction device is provided between the left gripper 1 and the right gripper 2 to generate an attraction that brings the two closer together. The magnetic attraction device includes a left magnet 5 and a right magnet 4 of opposite polarities respectively fixed to the left and right grips 1 and 2, or the magnetic device includes a fixed or left grip 1 or 2 A magnet made of ferromagnetic material. In the present embodiment, the left magnet 5 and the right magnet 4 of opposite polarities are respectively disposed at the opposite positions on the left and right grips 1 and 2. In the present embodiment, the ends of the left and right grips 1 and 2 on the left and right grips 2 are connected by the gear pair 8. In the present invention, the polarities of the right magnet 4 and the left magnet 5 are opposite, and the forces between them are attracted to each other, and a suitable clamping force can be obtained by selecting a magnet of a suitable parameter. At the same time, since the two magnets are relatively close when the right magnet 4 and the left magnet 5 are clamped, it is particularly suitable for some robots that require a large clamping force when clamping the bottle and a small clamping force when opening. Since the clamping force of the two grippers is provided by the attractive force of the permanent magnet, the robot can be used without the spring, so there is no problem of the service life of the spring. Since the magnet is mounted inside the gripper, the robot can be designed to be small enough to reduce the structural size of the robot to meet the design requirements. When the right shaft 6 or the left shaft 7 is moved by the transmission mechanism, the corresponding right grip 2 or left grip 1 simultaneously moves, and the engagement of the gear pair 8 drives the other grip movement to complete the opening action. Then, under the suction of the right magnet 4 and the left magnet 5, the right grip 2 and the left grip 1 complete the clamping action.
以上所述仅是本发明的优选实施方式， 本发明的保护范围并不仅局限于上述实施 例， 凡属于本发明思路下的技术方案均属于本发明的保护范围。 应当指出， 对于本技术 领域的普通技术人员来说， 在不脱离本发明原理前提下的若干改进和润饰， 例如， 在左 夹手 1和右夹手 2上开设有用来安装左磁铁 5和右磁铁 4的安装槽、或者左磁铁 5和右 磁铁 4分别由多块不均匀分布的小磁铁组成等等，这些改进和润饰也应视为本发明的保 护范围。 The above description is only a preferred embodiment of the present invention, and the scope of the present invention is not limited to the above embodiments, and all the technical solutions under the inventive concept belong to the protection scope of the present invention. It should be noted that many modifications and refinements will occur to those skilled in the art without departing from the principles of the invention, for example, on the left. The clamping handle 1 and the right clamping hand 2 are provided with mounting grooves for mounting the left magnet 5 and the right magnet 4, or the left magnet 5 and the right magnet 4 are respectively composed of a plurality of small magnets which are unevenly distributed, etc., and these improvements and retouchings It should also be considered as the scope of protection of the present invention.
Claims
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2008101434498A CN101380738A (en) | 2008-10-30 | 2008-10-30 | Magnetic attraction type mechanical arm for clamping bottle |
| CN200810143449.8 | 2008-10-30 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2010048765A1 true WO2010048765A1 (en) | 2010-05-06 |
Family
ID=40460882
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CN2008/073842 Ceased WO2010048765A1 (en) | 2008-10-30 | 2008-12-30 | Magnetic attracting manipulator for gripping bottle |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN101380738A (en) |
| WO (1) | WO2010048765A1 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016015953A1 (en) * | 2014-08-01 | 2016-02-04 | Eto Magnetic Gmbh | Gripper device, and use of a gripper device |
| CN107214686A (en) * | 2017-06-22 | 2017-09-29 | 上海交通大学 | Hand exoskeleton system based on electromagnetic drive |
| EP2949608B1 (en) * | 2014-05-28 | 2018-06-13 | Tyrolon-Schulnig GmbH | Gripping arm for container, gripping device and transportation device |
| WO2018108248A1 (en) * | 2016-12-13 | 2018-06-21 | Tyrolon-Schulnig Gmbh | Gripping apparatus and transporting device for transporting containers |
| CN114007964A (en) * | 2019-06-26 | 2022-02-01 | 株式会社日立高新技术 | Specimen transport device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101875197B (en) * | 2010-04-19 | 2012-06-27 | 楚天科技股份有限公司 | Multi-adaptability bottle-holding turning manipulator |
| CN102632504B (en) * | 2011-02-12 | 2014-12-24 | 刘仁志 | Electromagnetic hand of robot |
| CN105196301A (en) * | 2015-09-16 | 2015-12-30 | 山东华宝隆轻工机械有限公司 | Mechanical gripper for bottle blowing machine and filling machine |
| FR3045584B1 (en) * | 2015-12-16 | 2018-01-12 | Sidel Participations | PREVENTION FORCE OF HOLLOW BODY SUCH AS PREFORM OF CONTAINER OR CONTAINER |
| CN105710891A (en) * | 2016-04-12 | 2016-06-29 | 深圳市华星光电技术有限公司 | Refuse wood clamping device and method |
| CN106586535B (en) * | 2016-12-20 | 2018-09-21 | 重庆天和玻璃有限公司 | Vial clamping device |
| CN106863340A (en) * | 2017-04-10 | 2017-06-20 | 辽宁科技大学 | A kind of magnetic assisted electric clamping jaw |
| CN111244012A (en) * | 2018-11-29 | 2020-06-05 | 昆山工研院新型平板显示技术中心有限公司 | Transfer device and transfer method of micro-components |
| CN110216608A (en) * | 2019-07-11 | 2019-09-10 | 迅得自动化(珠海)有限公司 | Novel circuit board clamping fixture |
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| CN111689244A (en) * | 2020-05-09 | 2020-09-22 | 江阴市双平机械有限公司 | Stacker head |
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- 2008-10-30 CN CNA2008101434498A patent/CN101380738A/en active Pending
- 2008-12-30 WO PCT/CN2008/073842 patent/WO2010048765A1/en not_active Ceased
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| US6386609B1 (en) * | 1999-06-12 | 2002-05-14 | Applied Materials, Inc. | Gripper design to reduce backlash |
| EP1375395A1 (en) * | 2002-06-24 | 2004-01-02 | Mapco | Clamp for retaining an object such as a bottle or a similar container |
| CN2804017Y (en) * | 2005-05-31 | 2006-08-09 | 长沙锐信机械制造有限公司 | Manipulator bottle gripper for pharmaceutic machinery |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2949608B1 (en) * | 2014-05-28 | 2018-06-13 | Tyrolon-Schulnig GmbH | Gripping arm for container, gripping device and transportation device |
| WO2016015953A1 (en) * | 2014-08-01 | 2016-02-04 | Eto Magnetic Gmbh | Gripper device, and use of a gripper device |
| US10695914B2 (en) | 2014-08-01 | 2020-06-30 | Eto Magnetic Gmbh | Gripper device, and use of a gripper device |
| WO2018108248A1 (en) * | 2016-12-13 | 2018-06-21 | Tyrolon-Schulnig Gmbh | Gripping apparatus and transporting device for transporting containers |
| EP3433189A1 (en) * | 2016-12-13 | 2019-01-30 | Tyrolon-Schulnig GmbH | Gripping apparatus and transporting device for transporting containers |
| US10800614B2 (en) | 2016-12-13 | 2020-10-13 | Tyrolon-Schulnig Gmbh | Gripping apparatus and transporting device for transporting containers |
| CN107214686A (en) * | 2017-06-22 | 2017-09-29 | 上海交通大学 | Hand exoskeleton system based on electromagnetic drive |
| CN114007964A (en) * | 2019-06-26 | 2022-02-01 | 株式会社日立高新技术 | Specimen transport device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101380738A (en) | 2009-03-11 |
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