CN103448931B - Filling tracking manipulator - Google Patents

Filling tracking manipulator Download PDF

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Publication number
CN103448931B
CN103448931B CN201310453354.7A CN201310453354A CN103448931B CN 103448931 B CN103448931 B CN 103448931B CN 201310453354 A CN201310453354 A CN 201310453354A CN 103448931 B CN103448931 B CN 103448931B
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China
Prior art keywords
swing arm
link
rod
transmission shaft
filling
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CN201310453354.7A
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Chinese (zh)
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CN103448931A (en
Inventor
陈桂华
陈敬
都斌
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Nanjing Guyan Pharmaceutical Equipment Co Ltd
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Nanjing Guyan Pharmaceutical Equipment Co Ltd
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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 is produced, effectively promote filling efficiency, simplify filling table top and make to produce the filling follow-up machinery hand meeting GMP and require.
Background technology
At present, in sterile preparation is produced, there are the following problems: 1. filling table top is complicated, not easy to clean.2. filling speed cannot improve.3. filling table top cannot realize on-line cleaning sterilization.Therefore, assistant officer need a kind of for on-line cleaning sterilization, simplify table top and improve the filling follow-up machinery hand of filling speed efficiency.
Summary of the invention
The object of the invention is for prior art Problems existing, provide a kind of and can follow the tracks of filling situation in sterile preparation is produced, effectively promote filling efficiency, simplify filling table top and make to produce the filling follow-up machinery hand meeting GMP and require.
The object of the invention is to solve by the following technical programs:
A kind of filling follow-up machinery hand, comprise erection support, it is characterized in that the side of described erection support is fixed with adapter plate, adapter plate is respectively equipped with servomotor and lower servomotor, the output shaft of lower servomotor is connected by Timing Belt one end with the lower swing arm transmission shaft below it, the other end of lower swing arm transmission shaft is connected with the connecting rod base above it by lower swing arm through after erection support, connecting rod base is provided with top link auxiliary rod, the upper end of top link auxiliary rod is connected with the intermediate connecting rod be positioned at outside it, intermediate connecting rod is provided with filling punch block; The output shaft of described upper servomotor is connected by Timing Belt one end with the top link transmission shaft below it, the other end of top link transmission shaft is connected by Timing Belt one end with the tween drive shaft above it through after erection support, the other end of tween drive shaft is connected with the lower end of top link, upper end and the intermediate connecting rod be positioned at inside it of top link are movably connected, and described connecting rod base, top link auxiliary rod, intermediate connecting rod and top link form upper parallelogram linkage; Described erection support is also provided with auxiliary stand, the outside of auxiliary stand is provided with lower swing arm auxiliary rod, the upper end of lower swing arm auxiliary rod is connected with the lower removable of connecting rod base, and described lower swing arm, connecting rod base, lower swing arm auxiliary rod, auxiliary stand form lower parallelogram linkage.
Described top link transmission shaft and lower swing arm transmission shaft coaxially arrange and are provided with bearing between the inwall of 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, and the upper end of tween drive shaft, lower swing arm and connecting rod base coaxially arrange and be provided with bearing between the inwall of the upper end of lower swing arm and connecting rod base and the outer wall of tween drive shaft.
The coupling end of described filling punch block is fixedly linked with the intermediate connecting rod be positioned at inside top link through the upper end of top link, and is provided with bearing between the outer wall of filling punch block coupling end and the inwall of 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 to drive top link transmission shaft and each spinning special angle of lower swing arm transmission shaft by servomotor, the top link made and lower swing arm aggregate motion, in motion process, connecting rod base, top link auxiliary rod, the upper parallelogram linkage that intermediate connecting rod and top link are formed and lower swing arm, connecting rod base, lower swing arm auxiliary rod, auxiliary stand forms lower parallelogram linkage, characteristic due to parallelogram makes filling punch block be in horizontality all the time, realize on-line tracing filling, there is tracking fast and stable, noise is little, volume is little, fast and the feature that production efficiency is high of filling speed, and bottle placer table top is simplified, meet the requirement of GMP.
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.
Detailed description of the invention
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, adapter plate 2 is fixed with in the side of erection support 1, adapter plate 2 is respectively equipped with servomotor 3 and lower servomotor 4, the output shaft of lower servomotor 4 is connected by Timing Belt one end with the lower swing arm transmission shaft 5 below it, the other end of lower swing arm transmission shaft 5 is connected with the connecting rod base 7 above it by lower swing arm 6 through 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 be positioned at outside it, intermediate connecting rod 9 is provided with filling punch block 10, the output shaft of upper servomotor 3 is connected by Timing Belt one end with the top link transmission shaft 11 below it, the other end of top link transmission shaft 11 is connected by Timing Belt one end with the tween drive shaft 12 above it through after erection support 1, the other end of tween drive shaft 12 is connected with the lower end of top link 13, upper end and the intermediate connecting rod 9 be positioned at inside it of top link 13 are movably connected, under the driving of upper servomotor 3 and lower servomotor 4, connecting rod base 7, top link auxiliary rod 8, intermediate connecting rod 9 and top link 13 is made to form upper parallelogram linkage by said mechanism, auxiliary stand 14 is also provided with in addition on erection support 1, the outside of auxiliary stand 14 is provided with lower swing arm auxiliary rod 15, the upper end of lower swing arm auxiliary rod 15 is connected with the lower removable of connecting rod base 7, 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, top link transmission shaft 11 and lower swing arm transmission shaft 5 coaxially arrange and are provided with bearing between the inwall of top link transmission shaft 11 and the outer wall of lower swing arm transmission shaft 5; The upper end of lower swing arm 6 and connecting rod base 7 are nested with in the outside of tween drive shaft 12, and the upper end of tween drive shaft 12, lower swing arm 6 and connecting rod base 7 coaxially arrange and be provided with bearing between the inwall of the upper end of lower swing arm 6 and connecting rod base 7 and the outer wall of tween drive shaft 12; The coupling end of filling punch block 10 is fixedly linked with the intermediate connecting rod 9 be positioned at inside top link 13 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 end and top link 13 upper end.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; Be the above-mentioned drive disk assembly of protection simultaneously, be provided with guard shield 17 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.
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 and connecting rod base 7 to swing under the driving of lower servomotor 4, connecting rod base 7 swings and drives top link auxiliary rod 8 to swing further, and top link auxiliary rod 8 drives intermediate connecting rod 9 to swing; In another aspect, the output shaft of servomotor 3 drives top link transmission shaft 11 by Timing Belt, top link transmission shaft 11 drives tween drive shaft 12 to swing under the driving of upper servomotor 3, tween drive shaft 12 swings and drives top link 13 to swing further, and top link 13 swings, and drives intermediate connecting rod 9 to 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, the i.e. direction of rotation of top link auxiliary rod 8 and top link 13, makes filling punch block 10 be in horizontality all the time.
The present invention drives Timing Belt to drive top link transmission shaft 11 and each spinning special angle of lower swing arm transmission shaft 5 by servomotor, the top link 13 made and lower swing arm 6 aggregate motion, in motion process, connecting rod base 7, top link auxiliary rod 8, the upper parallelogram linkage that intermediate connecting rod 9 and top link 13 are formed and lower swing arm 6, connecting rod base 7, lower swing arm auxiliary rod 15, the lower parallelogram linkage that auxiliary stand 14 is formed, characteristic due to parallelogram makes filling punch block 10 be in horizontality all the time, realize on-line tracing filling, there is tracking fast and stable, noise is little, volume is little, fast and the feature that production efficiency is high of filling speed, and bottle placer table top is simplified, meet the requirement of GMP.
Above embodiment is only and technological thought of the present invention is described, can not limit protection scope of the present invention with this, every technological thought proposed according to the present invention, and any change that technical scheme basis is done, all falls within scope; The technology that the present invention does not relate to all is realized by prior art.

Claims (7)

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

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

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CN103448931B true CN103448931B (en) 2015-01-28

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Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104045038B (en) * 2014-05-30 2016-04-20 楚天科技股份有限公司 A kind of filling tracking apparatus
DE102017205186A1 (en) * 2017-03-28 2018-10-04 Robert Bosch Gmbh Weighing 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 Koerber & Co Kg 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 Koerber & Co Kg 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

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