CN103448931A - Filling tracking manipulator - Google Patents

Filling tracking manipulator Download PDF

Info

Publication number
CN103448931A
CN103448931A CN2013104533547A CN201310453354A CN103448931A CN 103448931 A CN103448931 A CN 103448931A CN 2013104533547 A CN2013104533547 A CN 2013104533547A CN 201310453354 A CN201310453354 A CN 201310453354A CN 103448931 A CN103448931 A CN 103448931A
Authority
CN
China
Prior art keywords
swing arm
link
rod
transmission shaft
filling
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
Application number
CN2013104533547A
Other languages
Chinese (zh)
Other versions
CN103448931B (en
Inventor
陈桂华
陈敬
都斌
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nanjing Guyan Pharmaceutical Equipment Co Ltd
Original Assignee
Nanjing Guyan Pharmaceutical Equipment Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Nanjing Guyan Pharmaceutical Equipment Co Ltd filed Critical Nanjing Guyan Pharmaceutical Equipment Co Ltd
Priority to CN201310453354.7A priority Critical patent/CN103448931B/en
Publication of CN103448931A publication Critical patent/CN103448931A/en
Application granted granted Critical
Publication of CN103448931B publication Critical patent/CN103448931B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Abstract

The invention discloses a filling tracking manipulator comprising an upper servo motor (3), a lower servo motor (4), a lower swing arm transmission shaft (5), a lower swing arm (6), a link holder (7), an upper swing arm assist rod (8), a middle link (9), a filling needle rack (10), an upper swing arm transmission shaft (11), a middle shaft (12), an upper swing arm (13), an assist support (14), and a lower swing arm assist rod (15). The link holder (7), the upper swing arm assist rod (8), the middle link (9) and the upper swing arm (13) form an upper parallelogram link mechanism. The lower swing arm (6), the link holder (7), the lower swing arm assist rod (15) and the assist support (14) form a lower parallelogram link mechanism. The servo motors drive the upper swing arm transmission shaft and the lower swing arm transmission shaft to rotate at certain angles respectively, so that the filling needle rack is horizontal constantly; tracking is fast and stable and production efficiency is high.

Description

A kind of filling follow-up machinery hand
Technical field
The present invention relates to pharmacy package packing machine field, specifically a kind ofly can follow the tracks of filling situation in sterile preparation production, effectively promote filling efficiency, simplify filling table top and make to produce and meet the filling follow-up machinery hand that GMP requires.
Background technology
At present, in sterile preparation is produced, there are the following problems: 1. filling table top complexity, and not easy to clean.2. filling speed can't improve.3. filling table top can't be realized the on-line cleaning sterilization.Therefore, the assistant officer need a kind of for the on-line cleaning sterilization, simplify table top and improve the filling follow-up machinery hand of filling speed efficiency.
Summary of the invention
The objective of the invention is the problem existed for prior art, provide a kind of and can follow the tracks of filling situation in sterile preparation production, effectively promote filling efficiency, simplify filling table top and make to produce and meet the filling follow-up machinery hand that GMP requires.
The objective of the invention is to solve by the following technical programs:
A kind of filling follow-up machinery hand, comprise erection support, a side that it is characterized in that described erection support is fixed with adapter plate, be respectively equipped with servomotor and lower servomotor on adapter plate, the output shaft of lower servomotor is connected with an end of the lower swing arm transmission shaft of its below by Timing Belt, the other end of lower swing arm transmission shaft is through being connected with the connecting rod base of its top by lower swing arm after erection support, connecting rod base is provided with the top link auxiliary rod, the upper end of top link auxiliary rod is connected with the intermediate connecting rod that is positioned at its outside, and filling punch block is installed on intermediate connecting rod; The output shaft of described upper servomotor is connected with an end of the top link transmission shaft of its below by Timing Belt, the other end of top link transmission shaft is through being connected with an end of the tween drive shaft of its top by Timing Belt after erection support, the other end of tween drive shaft is connected with the lower end of top link, the upper end of top link be positioned at its inboard intermediate connecting rod and be movably connected, described connecting rod base, top link auxiliary rod, intermediate connecting rod and top link form upper parallelogram linkage; Also be provided with auxiliary stand on described erection support, the outside of auxiliary stand is provided with the lower swing arm auxiliary rod, the upper end of lower swing arm auxiliary rod and the bottom of connecting rod base are movably connected, and described lower swing arm, connecting rod base, lower swing arm auxiliary rod, auxiliary stand form lower parallelogram linkage.
Be provided with bearing between the inwall of the coaxial setting of described top link transmission shaft and lower swing arm transmission shaft and top link transmission shaft and the outer wall of lower swing arm transmission shaft.
The upper end of described lower swing arm and connecting rod base are nested with the outside at tween drive shaft, between the outer wall of the upper end of the coaxial setting of the upper end of tween drive shaft, lower swing arm and connecting rod base and lower swing arm and the inwall of connecting rod base and tween drive shaft, are provided with bearing.
The coupling end of described filling punch block is fixedly linked with the intermediate connecting rod that is positioned at the top link inboard through the upper end of top link, and is provided with bearing between the inwall of the outer wall of filling punch block coupling end and top link upper end.
The top of described auxiliary stand is nested with in the outside of top link transmission shaft and is provided with bearing between the two.
Be provided with tensioning shaft in Timing Belt between described top link transmission shaft and tween drive shaft, described tensioning shaft is fixed on lower swing arm.
The outside of described lower swing arm transmission shaft, top link transmission shaft, lower swing arm, connecting rod base, tween drive shaft, top link auxiliary rod, intermediate connecting rod and top link is provided with guard shield.
The present invention has the following advantages compared to existing technology:
The present invention drives Timing Belt by servomotor and drives top link transmission shaft and each spinning special angle of lower swing arm transmission shaft, the top link made and lower swing arm aggregate motion, in motion process, connecting rod base, the top link auxiliary rod, upper parallelogram linkage and lower swing arm that intermediate connecting rod and top link form, connecting rod base, the lower swing arm auxiliary rod, auxiliary stand forms lower parallelogram linkage, because the characteristic of parallelogram makes filling punch block all the time in horizontality, realize that on-line tracing is filling, there is the tracking fast and stable, noise is little, volume is little, the characteristics that filling speed is fast and production efficiency is high, and the bottle placer table top is simplified, meet the requirement of GMP.
The accompanying drawing explanation
Accompanying drawing 1 is structural representation of the present invention.
Wherein: 1-erection support; 2-adapter plate; 3-upper servomotor; 4-lower servomotor; 5-lower swing arm transmission shaft; 6-lower swing arm; 7-connecting rod base; 8-top link auxiliary rod; 9-intermediate connecting rod; 10-filling punch block; 11-top link transmission shaft; 12-tween drive shaft; 13-top link; 14-auxiliary stand; 15-lower swing arm auxiliary rod; 16-tensioning shaft; 17-guard shield.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment, the present invention is further illustrated.
As shown in Figure 1: a kind of filling follow-up machinery hand, comprise erection support 1, a side at erection support 1 is fixed with adapter plate 2, be respectively equipped with servomotor 3 and lower servomotor 4 on adapter plate 2, the output shaft of lower servomotor 4 is connected with an end of the lower swing arm transmission shaft 5 of its below by Timing Belt, the other end of lower swing arm transmission shaft 5 is connected with the connecting rod base 7 of its top by lower swing arm 6 through erection support 1 is rear, connecting rod base 7 is provided with top link auxiliary rod 8, the upper end of top link auxiliary rod 8 is connected with the intermediate connecting rod 9 that is positioned at its outside, filling punch block 10 is installed on intermediate connecting rod 9, the output shaft of upper servomotor 3 is connected with an end of the top link transmission shaft 11 of its below by Timing Belt, the other end of top link transmission shaft 11 is through being connected with an end of the tween drive shaft 12 of its top by Timing Belt after erection support 1, the other end of tween drive shaft 12 is connected with the lower end of top link 13, the upper end of top link 13 be positioned at its inboard intermediate connecting rod 9 and be movably connected, under the driving of upper servomotor 3 and lower servomotor 4, by said mechanism, make connecting rod base 7, top link auxiliary rod 8, intermediate connecting rod 9 and top link 13 form upper parallelogram linkage, also be provided with in addition auxiliary stand 14 on erection support 1, the outside of auxiliary stand 14 is provided with lower swing arm auxiliary rod 15, the bottom of the upper end of lower swing arm auxiliary rod 15 and connecting rod base 7 is movably connected, the top of auxiliary stand 14 is nested with in the outside of top link transmission shaft 11 and is provided with bearing between the two for supporting top link transmission shaft 11 and lower swing arm transmission shaft 5, and above-mentioned lower swing arm 6, connecting rod base 7, lower swing arm auxiliary rod 15, auxiliary stand 14 form lower parallelogram linkage.In said structure, between the inwall of top link transmission shaft 11 and the coaxial setting of lower swing arm transmission shaft 5 and top link transmission shaft 11 and the outer wall of lower swing arm transmission shaft 5, be provided with bearing; The upper end of lower swing arm 6 and connecting rod base 7 are nested with in the outside of tween drive shaft 12, between the outer wall of the upper end of the upper end of tween drive shaft 12, lower swing arm 6 and the coaxial setting of connecting rod base 7 and lower swing arm 6 and the inwall of connecting rod base 7 and tween drive shaft 12, are provided with bearing; The coupling end of filling punch block 10 is fixedly linked with the intermediate connecting rod 9 that is positioned at top link 13 inboards through the upper end of top link 13, and is provided with bearing between the inwall of the outer wall of filling punch block 10 coupling ends and top link 13 upper ends.Also be provided with tensioning shaft 16 in Timing Belt between top link transmission shaft 11 and tween drive shaft 12, this tensioning shaft 16 is fixedly installed on lower swing arm 6; For the above-mentioned drive disk assembly of protection, in the outside of lower swing arm transmission shaft 5, top link transmission shaft 11, lower swing arm 6, connecting rod base 7, tween drive shaft 12, top link auxiliary rod 8, intermediate connecting rod 9 and top link 13, be provided with guard shield 17 simultaneously.
When the present invention uses, the output shaft of lower servomotor 4 drives lower swing arm transmission shaft 5 by Timing Belt, lower swing arm transmission shaft 5 drives lower swing arm 6 under the driving of lower servomotor 4 and connecting rod base 7 swings, connecting rod base 7 swings and further drives 8 swings of top link auxiliary rod, and 8 of top link auxiliary rods drive intermediate connecting rods 9 and swing; The output shaft of going up on the other hand servomotor 3 drives top link transmission shaft 11 by Timing Belt, top link transmission shaft 11 drives tween drive shaft 12 and swings under the driving of upper servomotor 3, tween drive shaft 12 swings and further drives top link 13 swings, and top link 13 swings drive intermediate connecting rod 9 and swing; Because connecting rod base 7, top link auxiliary rod 8, intermediate connecting rod 9 and top link 13 form upper parallelogram linkage, and lower swing arm 6, connecting rod base 7, lower swing arm auxiliary rod 15, auxiliary stand 14 form lower parallelogram linkage, and the direction of rotation of lower servomotor 4 and upper servomotor 3, be the direction of rotation of top link auxiliary rod 8 and top link 13, make filling punch block 10 all the time in horizontality.
The present invention drives Timing Belt by servomotor and drives top link transmission shaft 11 and lower swing arm transmission shaft 5 each spinning special angles, the top link 13 made and lower swing arm 6 aggregate motions, in motion process, connecting rod base 7, top link auxiliary rod 8, upper parallelogram linkage and lower swing arm 6 that intermediate connecting rod 9 and top link 13 form, connecting rod base 7, lower swing arm auxiliary rod 15, the lower parallelogram linkage that auxiliary stand 14 forms, because the characteristic of parallelogram makes filling punch block 10 all the time in horizontality, realize that on-line tracing is filling, there is the tracking fast and stable, noise is little, volume is little, the characteristics that filling speed is fast and production efficiency is high, and the bottle placer table top is simplified, meet the requirement of GMP.
Above embodiment only, for explanation technological thought of the present invention, can not limit protection scope of the present invention with this, every technological thought proposed according to the present invention, and any change of doing on the technical scheme basis, within all falling into protection domain of the present invention; The technology that the present invention does not relate to all can be realized by prior art.

Claims (7)

1. a filling follow-up machinery hand, comprise erection support (1), a side that it is characterized in that described erection support (1) is fixed with adapter plate (2), be respectively equipped with servomotor (3) and lower servomotor (4) on adapter plate (2), the output shaft of lower servomotor (4) is connected with an end of the lower swing arm transmission shaft (5) of its below by Timing Belt, the other end of lower swing arm transmission shaft (5) is through being connected with the connecting rod base (7) of its top by lower swing arm (6) after erection support (1), connecting rod base (7) is provided with top link auxiliary rod (8), the upper end of top link auxiliary rod (8) is connected with the intermediate connecting rod (9) that is positioned at its outside, filling punch block (10) is installed on intermediate connecting rod (9), the output shaft of described upper servomotor (3) is connected with an end of the top link transmission shaft (11) of its below by Timing Belt, the other end of top link transmission shaft (11) is through being connected with an end of the tween drive shaft (12) of its top by Timing Belt after erection support (1), the other end of tween drive shaft (12) is connected with the lower end of top link (13), the upper end of top link (13) be positioned at its inboard intermediate connecting rod (9) and be movably connected, described connecting rod base (7), top link auxiliary rod (8), parallelogram linkage on intermediate connecting rod (9) and top link (13) formation, also be provided with auxiliary stand (14) on described erection support (1), the outside of auxiliary stand (14) is provided with lower swing arm auxiliary rod (15), the bottom of the upper end of lower swing arm auxiliary rod (15) and connecting rod base (7) is movably connected, and described lower swing arm (6), connecting rod base (7), lower swing arm auxiliary rod (15), auxiliary stand (14) form lower parallelogram linkage.
2. filling follow-up machinery hand according to claim 1, it is characterized in that described top link transmission shaft (11) and lower swing arm transmission shaft (5) coaxially arrange and the outer wall of the inwall of top link transmission shaft (11) and lower swing arm transmission shaft (5) between be provided with bearing.
3. filling follow-up machinery hand according to claim 1, the upper end and the connecting rod base (7) that it is characterized in that described lower swing arm (6) are nested with in the outside of tween drive shaft (12), the upper end of tween drive shaft (12), lower swing arm (6) and connecting rod base (7) coaxially arrange and the outer wall of the inwall of the upper end of lower swing arm (6) and connecting rod base (7) and tween drive shaft (12) between be provided with bearing.
4. filling follow-up machinery hand according to claim 1, through the upper end of top link (13), the intermediate connecting rod (9) inboard with being positioned at top link (13) is fixedly linked the coupling end that it is characterized in that described filling punch block (10), and is provided with bearing between the inwall of the outer wall of filling punch block (10) coupling end and top link (13) upper end.
5. filling follow-up machinery hand according to claim 1, the top that it is characterized in that described auxiliary stand (14) is nested with in the outside of top link transmission shaft (11) and is provided with bearing between the two.
6. filling follow-up machinery hand according to claim 1, is characterized in that being provided with tensioning shaft (16) in the Timing Belt between described top link transmission shaft (11) and tween drive shaft (12), and described tensioning shaft (16) is fixed on lower swing arm (6).
7. filling follow-up machinery hand according to claim 1, is characterized in that the outside of described lower swing arm transmission shaft (5), top link transmission shaft (11), lower swing arm (6), connecting rod base (7), tween drive shaft (12), top link auxiliary rod (8), intermediate connecting rod (9) and top link (13) is provided with guard shield (17).
CN201310453354.7A 2013-09-29 2013-09-29 Filling tracking manipulator Active CN103448931B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201310453354.7A CN103448931B (en) 2013-09-29 2013-09-29 Filling tracking manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201310453354.7A CN103448931B (en) 2013-09-29 2013-09-29 Filling tracking manipulator

Publications (2)

Publication Number Publication Date
CN103448931A true CN103448931A (en) 2013-12-18
CN103448931B CN103448931B (en) 2015-01-28

Family

ID=49731862

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201310453354.7A Active CN103448931B (en) 2013-09-29 2013-09-29 Filling tracking manipulator

Country Status (1)

Country Link
CN (1) CN103448931B (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104045038A (en) * 2014-05-30 2014-09-17 楚天科技股份有限公司 Loading tracking apparatus
CN108688844A (en) * 2017-03-28 2018-10-23 罗伯特·博世有限公司 Weigh filling machine

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2917919A1 (en) * 1978-05-03 1979-11-15 Citroen Sa DEVICE FOR PASTING A MELT IN CASTING MOLDS
DE3336688A1 (en) * 1982-10-27 1984-05-03 Hauni-Werke Körber & Co KG, 2050 Hamburg Conveying apparatus for pallets filled with cigarettes
CN2543838Y (en) * 2002-05-22 2003-04-09 长沙楚天包装机械有限公司 Filling tracking mechanism
CN1431141A (en) * 2003-02-20 2003-07-23 长沙楚天包装机械有限公司 High-speed machine for filling in liquid and adding plugs
CN2745566Y (en) * 2004-09-27 2005-12-14 长沙锐信机械制造有限公司 Tracing filling mechanism of medicine making machinery
CN2816007Y (en) * 2005-07-13 2006-09-13 衡阳鑫山机械设备制造有限公司 Linear-tracing type high speed oral-liquor filling and rolling machine
CN101274732A (en) * 2008-05-19 2008-10-01 长沙楚天科技有限公司 Infusion filling stopper adding machine
CN201264896Y (en) * 2008-08-19 2009-07-01 上海华东制药机械有限公司 Filling mechanism with servo motor
CN201501780U (en) * 2009-09-28 2010-06-09 衡阳鑫山机械设备制造有限公司 Horizontal tracer for filling needle of filling machine
CN102602867A (en) * 2012-03-09 2012-07-25 南京博健科技有限公司 Multi-directional movement tracking system for filling medicine
CN203512074U (en) * 2013-09-29 2014-04-02 南京固延制药设备有限公司 Filling tracking mechanical hand

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2917919A1 (en) * 1978-05-03 1979-11-15 Citroen Sa DEVICE FOR PASTING A MELT IN CASTING MOLDS
DE3336688A1 (en) * 1982-10-27 1984-05-03 Hauni-Werke Körber & Co KG, 2050 Hamburg Conveying apparatus for pallets filled with cigarettes
CN2543838Y (en) * 2002-05-22 2003-04-09 长沙楚天包装机械有限公司 Filling tracking mechanism
CN1431141A (en) * 2003-02-20 2003-07-23 长沙楚天包装机械有限公司 High-speed machine for filling in liquid and adding plugs
CN2745566Y (en) * 2004-09-27 2005-12-14 长沙锐信机械制造有限公司 Tracing filling mechanism of medicine making machinery
CN2816007Y (en) * 2005-07-13 2006-09-13 衡阳鑫山机械设备制造有限公司 Linear-tracing type high speed oral-liquor filling and rolling machine
CN101274732A (en) * 2008-05-19 2008-10-01 长沙楚天科技有限公司 Infusion filling stopper adding machine
CN201264896Y (en) * 2008-08-19 2009-07-01 上海华东制药机械有限公司 Filling mechanism with servo motor
CN201501780U (en) * 2009-09-28 2010-06-09 衡阳鑫山机械设备制造有限公司 Horizontal tracer for filling needle of filling machine
CN102602867A (en) * 2012-03-09 2012-07-25 南京博健科技有限公司 Multi-directional movement tracking system for filling medicine
CN203512074U (en) * 2013-09-29 2014-04-02 南京固延制药设备有限公司 Filling tracking mechanical hand

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104045038A (en) * 2014-05-30 2014-09-17 楚天科技股份有限公司 Loading tracking apparatus
CN104045038B (en) * 2014-05-30 2016-04-20 楚天科技股份有限公司 A kind of filling tracking apparatus
CN108688844A (en) * 2017-03-28 2018-10-23 罗伯特·博世有限公司 Weigh filling machine

Also Published As

Publication number Publication date
CN103448931B (en) 2015-01-28

Similar Documents

Publication Publication Date Title
CN103010764B (en) One parallel bar stacking machine robot
CN204725041U (en) A kind of gantry swing arm welding machine
CN203610863U (en) Welding robot
CN203119040U (en) Plate-taking mechanism of storage battery packaging machine
CN201807851U (en) Displacement-free infinite continuous rotary mechanism of full circle swinging groove cutting machine
CN103448931B (en) Filling tracking manipulator
CN203332958U (en) Carrying mechanism
CN203512074U (en) Filling tracking mechanical hand
CN202075293U (en) Test stand for testing high speed driving and protection of numerical control machine
CN203486548U (en) Wafer raw material disc transversely-moving driving structure
CN105729463A (en) Six-axis mechanical arm
CN203633867U (en) Rotary show stand
CN203095171U (en) Stacker robot with parallel bars
CN103274344B (en) Filling action mechanism of filling machine
CN202400811U (en) Filling machine
CN202519012U (en) Drug filling multidimensional motion tracking system
CN206467427U (en) A kind of three-dimensional point gum machine
CN102602867A (en) Multi-directional movement tracking system for filling medicine
CN202070548U (en) Metal wire calendering device directly driven by servo motors
CN103466135A (en) Box opening guide mechanism for soft bag box loading
CN204508205U (en) A kind of two-way transfer robot of two bars based on parallel principle
CN203528898U (en) Reciprocating moving type carton forming device of carton wrapping machine
CN103318462B (en) A kind of bag taking link gear
CN203601660U (en) Trimming mechanical arm
CN207234633U (en) A kind of tier of five axis servo horizontal single-surface wire binding machine

Legal Events

Date Code Title Description
PB01 Publication
C06 Publication
SE01 Entry into force of request for substantive examination
C10 Entry into substantive examination
GR01 Patent grant
C14 Grant of patent or utility model