CN103979175B - A kind of conveying of liquid detergent and boxing apparatus - Google Patents
A kind of conveying of liquid detergent and boxing apparatus Download PDFInfo
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- CN103979175B CN103979175B CN201410228758.0A CN201410228758A CN103979175B CN 103979175 B CN103979175 B CN 103979175B CN 201410228758 A CN201410228758 A CN 201410228758A CN 103979175 B CN103979175 B CN 103979175B
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Abstract
The present invention discloses a kind of conveying and boxing apparatus of liquid detergent, belongs to Industrial Robot Technology field.This device comprises shunting conveying line device, master-slave branch chain separate type two translation parallel machine people and carton conveying device; Shunting conveying line device is arranged on the front of carton conveying device, and master-slave branch chain separate type two translation parallel machine people is arranged on directly over carton conveying device; Shunting conveying line device is made up of travel line of keeping straight on, shunting travel line, apparatus for shaping, craspedodrome travel line, shunting travel line, apparatus for shaping align successively and are linked in sequence, craspedodrome travel line aligns with described shunting travel line and is close to placement, and require that pin aligns with shunting guide plate, after apparatus for shaping alignment is close to and is arranged on shunting travel line.Many rows that the present invention can realize liquid detergent collect, and servomotor realizes motion by the number of certain liquid detergent, and application of the present invention can improve degree of automation, production efficiency and the technical merit that liquid detergent is produced.
Description
Technical field:
The invention belongs to Industrial Robot Technology field, be specifically related to a kind of conveying and boxing apparatus of liquid detergent.
Background technology:
Along with the development of science and technology, robot automation's technology extend to various industrial circle gradually, particularly daily necessities and medicine trade, in recent years, robot, is collected for the sorting of daily necessities as liquid detergent by a large amount of, packaging, in the middle of vanning production operation, become the strong weapon of commodity.
Through exploration for many years and progress, robot has started slowly to move to maturity in the application of packaging industry, its reliability, work efficiency and operability are improving constantly, particularly under the prerequisite that current cost of labor is very large, enterprise more should courageously introduce robot automation's technology, alleviate the pressure of recruitment famine, utilize science and technology to improve enterprise competitiveness further.
In this context, on research and development manufacturing line liquid detergent collection with equip and technology, the raising degree of automation of manufacturing line, production efficiency, production technology level are significant.
Summary of the invention:
The present invention is directed to existing liquid detergent and produce the technical matters existed in conveying, provide that a kind of production efficiency is high, degree of automation is high, can realize the conveying of full automaticity conveying and the liquid detergent of grasping manipulation and boxing apparatus.
The conveying of a kind of liquid detergent provided by the present invention and boxing apparatus comprise shunting conveying line device 1, master-slave branch chain separate type two translation parallel machine people 2 and carton conveying device 3; Described shunting conveying line device 1 is arranged on the front of carton conveying device 3, and described master-slave branch chain separate type two translation parallel machine people 2 is arranged on directly over described carton conveying device 3; Described shunting conveying line device 1 is made up of craspedodrome travel line 4, shunting travel line 5, apparatus for shaping 6, described craspedodrome travel line 4, shunting travel line 5, apparatus for shaping 6 align successively and are linked in sequence, described craspedodrome travel line 4 aligns with described shunting travel line 5 and is close to placement, and the pin 9 described in requiring aligns with described shunting guide plate 36; After the alignment of described apparatus for shaping 6 is close to and is arranged on described shunting travel line 4.
Described craspedodrome travel line 4 comprises the first column 7A, the first base 8A, pin 9, lever support 10, keep straight on conveying side plate 11, craspedodrome motor 12, craspedodrome motor driving gear 13, craspedodrome motor driven gear 14, craspedodrome motor tension wheel 15, craspedodrome load-transfer device stay bearing plate 16, craspedodrome motor flower wheel 17, craspedodrome motor driving wheel 18 and craspedodrome load-transfer device 19; Described pin 9 is connected on described craspedodrome conveying side plate 11 by described pin support 10; Described craspedodrome motor flower wheel 17 is arranged in described craspedodrome conveying side plate 11, described craspedodrome motor driving wheel 18 is arranged in described craspedodrome conveying side plate 11, described craspedodrome motor tension wheel 15 is arranged in described craspedodrome conveying side plate 11, and described craspedodrome load-transfer device stay bearing plate 16 is arranged in described craspedodrome conveying side plate 11; Described craspedodrome load-transfer device 19 is arranged on described craspedodrome motor driving wheel 18, described craspedodrome motor flower wheel 17 and described craspedodrome motor tension wheel 15; Described craspedodrome load-transfer device stay bearing plate 16 supports described craspedodrome load-transfer device 19; Described craspedodrome motor 12 is fixed in described craspedodrome conveying side plate 11 by holding screw; Described craspedodrome motor driving gear 13 is connected with described craspedodrome motor 12 by key; Described craspedodrome motor driven gear 14 is connected with described craspedodrome motor driving wheel 18 by key; Described craspedodrome motor driving gear 13 and described craspedodrome motor driven gear 14 are by chain transferring power; Described first column 7A and described first base 8A is connected, and described first column 7A described craspedodromes by stent support and carries side plate 11, and as the frame of whole craspedodrome travel line.
Described shunting travel line 5 comprises the second column 7B, second base 8B, conveying side plate 20, shunting adapter plate 21, guiding crossbeam 22, guiding overarm brace 23, conveying motor 24, conveying motor driving gear 25, conveying motor driving wheel 26, conveying motor driven gear 27, conveying motor tension wheel 28, load-transfer device stay bearing plate 29, guide piece support 30, orienting lug adapter plate 31, guide plate mounting blocks 32, guide plate 33, shunting guide rails assembling plate 34, shunting support 35, shunting guide plate 36, load-transfer device 37, conveying motor flower wheel 38, transverse bracket 39, shunting slider support plate 40, servomotor 41, shunting slide block 42, shunting guide rail 43, shunting driving pulley 44, shunting belt 45, shunting driven pulley 46 and shunting motor mounting plate 47, described conveying motor flower wheel 38 is arranged in described conveying side plate 20, and described conveying motor driving wheel 26 is arranged in described conveying side plate 20, and described conveying motor tension wheel 28 is arranged in described conveying side plate 20, described load-transfer device stay bearing plate 29 is arranged in described conveying side plate 20, described load-transfer device 37 is arranged on described conveying motor driving wheel 26, conveying motor flower wheel 38 and conveying motor tension wheel 28, described load-transfer device stay bearing plate 29 supports described load-transfer device 37, described conveying motor 24 is fixed in described conveying side plate 20 by holding screw, described conveying motor driving gear 25 is connected with described conveying motor 24 by key, described conveying motor driven gear 27 is connected with described conveying motor driving wheel 26 by key, described conveying motor driving gear 25 and described conveying motor driven gear 27 are by chain transferring power, described guiding overarm brace 23 is connected with described conveying side plate 20, and one end of described guiding crossbeam 22 is arranged on described guiding overarm brace 23 by revolute pair, and the other end of described guiding crossbeam 22 is connected on described shunting slider support plate 40, described shunting adapter plate 21 is arranged on described guiding crossbeam 22, and can slide along guiding crossbeam 22, described shunting guide plate 36 and described shunting adapter plate 21 are connected, described shunting support 35 is connected on described conveying side plate 20, described shunting guide rails assembling plate 34 is connected on described shunting support 35, described shunting guide rail 43 and described shunting guide rails assembling plate 31 lower surface are connected, and described shunting slide block 42 matches with described shunting guide rail 43 and realizes sliding, described shunting slide block 42 is connected on described shunting slider support plate 40 by holding screw, described servomotor 41 is arranged on described shunting motor mounting plate 47, described shunting driving pulley 44 is connected by the retarder of key with described servomotor 41, described shunting driven pulley 46 is connected on described shunting motor mounting plate 47, and described shunting belt 45 matches with described shunting driving pulley 44 and described shunting driven pulley 46, described shunting support 35 is connected on described conveying side plate 20, described guide plate 33 is connected with described guide plate mounting blocks 32 by screw, described guide plate mounting blocks 32 is connected by screw and described orienting lug adapter plate 31, described orienting lug adapter plate 31 is connected on described guide piece support 30, and described guide piece support 30 is connected on described shunting support 35, described conveying side plate 20 is connected on described second column 7B, connected by described transverse bracket 39 between described second column 7B, described second column 7B and described second base 8B is connected, and as the frame of whole shunting travel line.
Described apparatus for shaping 6 comprises the 3rd column 7C, the 3rd base 8C, cylinder mount pad 48, first guide rod flange 49, cylinder 50, air cylinder guide rod 51, first air cylinder guide rod 52, push pedal 53, box loading plate 54 and baffle plate 55; Described apparatus for shaping is fixed on described column 7C by described box loading plate 54; Described baffle plate 55 is fixed on described box loading plate 54 by holding screw, forms an operational zone; Described cylinder mount pad 48 is connected on described box loading plate 54 by holding screw; Described cylinder 50 is arranged on described cylinder mount pad 48; Described first guide rod flange 49 is arranged in described cylinder mount pad 48; Described guide rod 51 is sleeved in described guide rod flange 49; One end and the described push pedal 53 of described guide rod 51 are connected; One end of described first air cylinder guide rod 52 connects with described cylinder 50, and the other end of described first air cylinder guide rod 52 connects with described push pedal 53.
Described master-slave branch chain separate type two translation parallel machine people 2 is made up of frame 56, motor mounting rack 72, active branched chain 57, driven side chain 58, moving platform 59, handgrip 73; Described motor mounting rack 72 is connected in described frame 56; Described active branched chain 57 connects described motor mounting rack 72 and moving platform 59, and described driven side chain 58 connects described motor mounting rack 72 and moving platform 59; Described active branched chain 57 is made up of the first master arm 63, second master arm 61, coupled arm 62 and slave arm 65, and described driven side chain 58 is made up of the first follower link 70, second follower link 71, the 3rd follower link 67, the 4th follower link 68 and connecting rod rest 69; Described connecting rod rest 69 comprise lining frame, rotary middle spindle, described lining frame and rotary middle spindle hinged; Described connecting rod rest 69 connects described the first follower link 70, second follower link 71, the 3rd follower link 67, the 4th follower link 68; Described follower link is connected with described connecting rod rest 69 by plane rotation pair, and the described follower link other end is connected with described motor mounting rack 72 by hinge; Described motor mounting rack 72, first follower link 70, second follower link 71, connecting rod rest 69 are connected to form parallelogram sturcutre by kinematic pair; Described connecting rod rest 69, the 3rd follower link 67, the 4th follower link 68 and moving platform 59 are connected to form parallelogram sturcutre by kinematic pair; Described motor mounting rack 72 is provided with the first actuating device 60, second actuating device 64, and the first master arm 63, second master arm 61 of described active branched chain drives rotation by described first actuating device 60, second actuating device 64 respectively.
Described carton conveying device 3 comprises frame 56, power input device 75, feedway and gear case apparatus 74; Described frame 56 comprises stand 77, lower margin 78, and described frame 56 passes through thread connection by described stand 77 with described lower margin 78; Described power input device 75 comprises motor 84, motor mounting rack 83, and described motor 84 is connected by holding screw with described motor mounting rack 83, and described motor mounting rack 83 is connected in described stand 77; Described feedway comprises cylinder adapter plate 76, baffle plate 82, cylinder 80, cylinder strut 79 and sprocket wheel 81, described cylinder adapter plate 76 is connected in described stand 77, described baffle plate 82 is connected on described cylinder adapter plate 76, described cylinder 80 is sleeved on described cylinder strut 79, and described cylinder strut 79 is fixed by screws on described cylinder adapter plate 76; Described sprocket wheel 81 is connected on described cylinder 80, and described sprocket wheel 81 and described motor 84 are by described chain transferring power; Described gear case apparatus 74 comprises gear case cylinder 89, cylinder mount frame 86, gear boxboard 85, second air cylinder guide rod 88, second guide rod flange 87; Described gear case cylinder 89 passes through Bolt Connection with described cylinder mount frame 86, described cylinder mount frame 86 is connected on described cylinder adapter plate 76 by holding screw, described gear boxboard 85 passes through screw attachment with described gear case cylinder 89, described gear boxboard 85 and the second described air cylinder guide rod 88 are by screw attachment, and described second air cylinder guide rod 88 is arranged in described cylinder mount frame 86 by described second guide rod flange 87.
The actuating device of described craspedodrome travel line 4 and described shunting travel line 5 adopts AC servo drive system.Described apparatus for shaping 6 adopts air cylinder driven.The actuating device of described master-slave branch chain separate type two translation parallel machine people adopts servomotor-reducer structure.
The present invention has following technical characterstic:
1, be provided with shunting guide plate and guide plate, the many rows realizing liquid detergent collect.
2, the crossbeam that leads realizes rotating in the drive of servomotor, and the rotation of guiding crossbeam can make the swing of shunting guide plate and guide plate, thus the many rows realizing liquid detergent collect, and servomotor realizes motion by the number of certain liquid detergent.
3, drive employing Fu, action is accurate, flexible operation.The two-freedom translation of the end-effector of master-slave branch chain separate type two translation parallel machine people of the present invention is by different driven by servomotor.
4, two propulsions source are transported on actr by a transmission branch chain by master-slave branch chain separate type two translation parallel machine people of the present invention; The end-effector of parallel robot drives by driving side chain, and driven side chain coordinates the path of motion driving side chain restriction actr; Ensure that end-effector has clear and definite path of motion and positional precision, and make that structure of the present invention is simple, inertia is little.
5, drive employing Fu, action is accurate, flexible operation.
The invention has the beneficial effects as follows: the guiding crossbeam of shunting conveying line device realizes rotating in the drive of servomotor, the rotation of guiding crossbeam can realize the swing of shunting guide plate and guide plate, thus the many rows realizing liquid detergent collect; Servomotor realizes motion by the number of certain liquid detergent; Master-slave branch chain separate type two translation parallel machine people improves the alerting ability of mechanism effectively, simplifies parallel robot mechanism, and the inertia simultaneously maintaining mechanism is preferably little, high-speed high acceleration, the feature of high position precision and repetitive positioning accuracy; The present invention can improve degree of automation, production efficiency and the technical merit that liquid detergent is produced.
Accompanying drawing illustrates:
Fig. 1 is the integral structure schematic diagram of conveying of the present invention and boxing apparatus;
Fig. 2 is the shunting conveying line device structural representation in conveying of the present invention and boxing apparatus;
Fig. 3 is the craspedodrome travel line structural representation in the present invention;
Fig. 4 is the craspedodrome travel line part-structure schematic diagram in the present invention;
Fig. 5 is the shunting travel line structural representation in the present invention;
Fig. 6 is the shunting travel line part-structure schematic diagram in the present invention;
Fig. 7 is one of servomotor scheme of installation in the shunting conveying line device in the present invention;
Fig. 8 is the servomotor scheme of installation two in the shunting conveying line device in the present invention;
Fig. 9 is the apparatus for shaping structural representation in the present invention;
Figure 10 is one of the structural representation of master-slave branch chain separate type two translation parallel machine people in the present invention;
Figure 11 is the structural representation two of the master-slave branch chain separate type two translation parallel machine people in the present invention;
Figure 12 is the gripping structure schematic diagram in the master-slave branch chain separate type two translation parallel machine people in the present invention;
Figure 13 is the structural representation of the carton conveying device in the present invention;
Figure 14 is the power input device structural representation in the carton conveying device in the present invention;
Figure 15 is the gear case apparatus structural representation in the carton conveying device in the present invention.
In figure: 1: the conveying line device of shunting, 2: master-slave branch chain separate type two translation parallel machine people, 3: carton conveying device, 4: craspedodrome travel line, 5: shunting travel line, 6: apparatus for shaping, 7A: the first column, 7B: the second column, 7C: the three column, 8A: the first base, 8B: the second base, 8C: the three base, 9: pin, 10: lever support, 11: conveying side plate of keeping straight on, 12: craspedodrome motor, 13: craspedodrome motor driving gear, 14: craspedodrome motor driven gear, 15: craspedodrome motor tension wheel, 16: craspedodrome load-transfer device stay bearing plate, 17: craspedodrome motor flower wheel, 18: craspedodrome motor driving wheel, 19: craspedodrome load-transfer device, 20: conveying side plate, 21: shunting adapter plate, 22: guiding crossbeam, 23: guiding overarm brace, 24: conveying motor, 25: conveying motor driving gear, 26: conveying motor driving wheel, 27: conveying motor driven gear, 28: conveying motor tension wheel, 29: load-transfer device stay bearing plate, 30: guide piece support, 31: orienting lug adapter plate, 32: guide plate mounting blocks, 33: guide plate, 34: shunting guide rails assembling plate, 35: shunting support, 36: shunting guide plate, 37: load-transfer device, 38: conveying motor flower wheel, 39: transverse bracket, 40: shunting slider support plate, 41: servomotor, 42: shunting slide block, 43: shunting guide rail, 44: shunting driving pulley, 45: shunting belt, 46: shunting driven pulley, 47: shunting motor mounting plate, 48: cylinder mount pad, 49: the first guide rod flanges, 50: cylinder, 51: guide rod, 52: the first air cylinder guide rod, 53: push pedal, 54: box loading plate, 55: baffle plate, 56: frame, 57: active branched chain, 58: driven side chain, 59: moving platform, 60: the first actuating devices, 61: the second master arms, 62: coupled arm, 63: the first master arms, 64: the second actuating devices, 65: slave arm, 66: moving platform, 67: the three follower link, 68: the four follower link, 69: connecting rod rest, 70: the first follower link, 71: the second follower link, 72: motor mounting rack, 73: handgrip, 74: gear case apparatus, 75: the power input device of carton conveying device, 76: cylinder adapter plate, 77: stand, 78: lower margin, 79: cylinder strut, 80: cylinder, 81: sprocket wheel, 82: baffle plate, 83: motor mounting rack, 84: motor, 85: gear boxboard, 86: cylinder mount frame, 87: the second guide rod flanges, 88: the second air cylinder guide rod, 89: gear case cylinder.
Detailed description of the invention:
Below in conjunction with accompanying drawing, the invention will be further described:
As shown in Figure 1, a kind of conveying of liquid detergent and boxing apparatus comprise shunting conveying line device Fig. 2, master-slave branch chain separate type two translation parallel machine people Figure 10, carton conveying device Figure 13; Wherein conveying line device Fig. 2 in shunting is in the front of carton conveying device Figure 13, and master-slave branch chain separate type two translation parallel machine people Figure 10 is contained in directly between shunting conveying line device Fig. 2 and carton conveying device Figure 12.
The shunting conveying line device of liquid detergent as shown in Figure 2, comprises craspedodrome travel line Fig. 3 shunting travel line Fig. 5, apparatus for shaping Fig. 9; As shown in Figure 3, Figure 4, described craspedodrome travel line is made up of the first column 7A, the first base 8A, pin 9, lever support 10, conveying side plate 11 of keeping straight on, craspedodrome motor 12, craspedodrome motor driving gear 13, craspedodrome motor driven gear 14, craspedodrome motor tension wheel 15, craspedodrome load-transfer device stay bearing plate 16, craspedodrome motor flower wheel 17, craspedodrome motor driving wheel 18, craspedodrome load-transfer device 19; The structure of described craspedodrome travel line is: described pin 9 is connected on described craspedodrome conveying side plate 11 by described pin support 10; Two described craspedodrome motor flower wheels 18 are contained in two described craspedodrome conveying side plates 11; Described craspedodrome motor driving wheel 18 is arranged in described craspedodrome conveying side plate 11, and same described craspedodrome motor tension wheel 15 is arranged in described craspedodrome conveying side plate 11; Described craspedodrome load-transfer device stay bearing plate 16 is also arranged in described craspedodrome conveying side plate 11; Described craspedodrome load-transfer device 19 is arranged on described craspedodrome motor driving wheel 18, described craspedodrome motor flower wheel 17 and described craspedodrome motor tension wheel 15; Described craspedodrome load-transfer device stay bearing plate 16 supports described craspedodrome load-transfer device 19; Described craspedodrome motor 12 is fixed in described craspedodrome conveying side plate 11 by holding screw; Described craspedodrome motor driving gear 13 is connected with described craspedodrome motor 12 by key; Described craspedodrome motor driven gear 14 is connected with described craspedodrome motor driving wheel 18 by key; Described craspedodrome motor driving gear 13 and described craspedodrome motor driven gear 14 are by chain transferring power; Described first column 7A and described first base 8A is connected, and described first column 7A described craspedodrome conveying side plate 11 by stent support, and as the frame of whole craspedodrome travel line; Described craspedodrome motor 12 drives described craspedodrome motor driving gear 13 to rotate, described craspedodrome motor driving gear 13 is by the craspedodrome motor driven gear 14 described in chain-driving, described craspedodrome motor driven gear 14 drives described craspedodrome motor driving wheel 18 to rotate, described craspedodrome motor driving wheel 18 rotates the craspedodrome load-transfer device 17 described in driving and moves, described craspedodrome load-transfer device 17 drives the liquid detergent on it to be fed forward, and described lever 9 blocks liquid detergent and prevents it from turning on one's side.
As Fig. 5, Fig. 6, Fig. 7, shown in Fig. 8, described shunting travel line is by the second column 7B, second base 8B, conveying side plate 20, shunting adapter plate 21, guiding crossbeam 22, guiding overarm brace 23, conveying motor 24, conveying motor driving gear 25, conveying motor driving wheel 26, conveying motor driven gear 27, conveying motor tension wheel 28, load-transfer device stay bearing plate 29, guide piece support 30, orienting lug adapter plate 31, guide plate mounting blocks 32, guide plate 33, shunting guide rails assembling plate 34, shunting support 35, shunting guide plate 36, load-transfer device 37, conveying motor flower wheel 38, transverse bracket 39, shunting slider support plate 40, servomotor 41, shunting slide block 42, shunting guide rail 43, shunting driving pulley 44, shunting belt 45, shunting driven pulley 46, shunting motor mounting plate 47 forms, the structure of described shunting travel line is: described conveying motor flower wheel 38 is contained in two described conveying side plates 20, described conveying motor driving wheel 26 is contained in described conveying side plate 20, and same described conveying motor tension wheel 28 is contained in described conveying side plate 20, described load-transfer device stay bearing plate 29 is also arranged in described conveying side plate 20, described load-transfer device 37 is arranged on described conveying motor driving wheel 26, described conveying motor flower wheel 38 and described conveying motor tension wheel 28, described load-transfer device stay bearing plate 29 supports described load-transfer device 37, described conveying motor 24 is fixed in described conveying side plate 20 by holding screw, described conveying motor driving gear 25 is connected with described conveying motor 24 by key, described conveying motor driven gear 27 is connected with described conveying motor driving wheel 26 by key, described conveying motor driving gear 25 and described conveying motor driven gear 27 are by chain transferring power, on the conveying side plate 20 that described guiding overarm brace 23 secures the above, one end of described guiding crossbeam 22 is arranged on described guiding overarm brace 23 by revolute pair, described shunting adapter plate 21 is contained on described guiding crossbeam 22, and can realize along the slip on guiding crossbeam 22, described shunting guide plate 35 is connected with described shunting adapter plate 21, described shunting support 32 is connected on described conveying side plate 20, described shunting guide rails assembling plate 34 is connected on described shunting support 35, described shunting guide rail 43 is connected on described shunting guide rails assembling plate 31 lower surface, and described shunting slide block 42 matches with described shunting guide rail 43 and realizes sliding motion, described shunting slide block 42 is connected on described shunting slider support plate 40 by holding screw, described guiding crossbeam 22 other end is connected on described shunting slider support plate 40.Described servomotor 41 is arranged on retarder and is together contained on described shunting motor mounting plate 47; Described shunting driving pulley 44 is connected with retarder by key, and described shunting driven pulley 46 is connected on described shunting motor mounting plate 47, and described shunting belt 45 matches with described shunting driving pulley 44 and described shunting driven pulley 47; Described shunting support 32 is connected on described conveying side plate 20; Described guide plate 33 is connected with described guide plate mounting blocks 32 by screw, described guide plate mounting blocks 32 is connected by screw and described orienting lug adapter plate 31, described orienting lug adapter plate 31 is connected on described guide piece support 30, and described guide piece support 30 is connected on described shunting support 35; Described conveying side plate 20 is connected on the second described column 7B, and is reinforced by floor; Connected by described transverse bracket 39 between described second column 7B; Described second column 7B and described second base 8B is connected, and as the frame of whole shunting travel line.
As shown in Figure 9, described apparatus for shaping is made up of the 3rd column 7C, the 3rd base 8C, cylinder mount pad 48, first guide rod flange 49, cylinder 50, guide rod 51, first air cylinder guide rod 52, push pedal 53, box loading plate 54, baffle plate 55; Described apparatus for shaping is fixed on the 3rd described column 7C by described box loading plate 54; Described baffle plate 55 is fixed on described box loading plate 54 by holding screw, forms an operational zone; Described cylinder mount pad 48 is connected on described box loading plate 54 by holding screw; Described cylinder 50 is arranged on described described cylinder mount pad 48; The first described guide rod flange 49 is arranged in described cylinder mount pad 48; Described guide rod 51 is enclosed within the first described guide rod flange 49, and one end and the described push pedal 53 of described guide rod 51 are connected; One end of described first air cylinder guide rod 52 connects with described cylinder 50, and the other end connects with described push pedal 53.Under the effect of cylinder 50, realize push pedal 53 liquid detergent is pushed away put neat object.
As shown in Figure 10, Figure 11, Figure 12, described master-slave branch chain separate type two translation parallel machine people is made up of frame 56, motor mounting rack 72, active branched chain 57, driven side chain 58, moving platform 59, handgrip 73; Described motor mounting rack 72 is connected in described frame 56; Described active branched chain 57 connects described motor mounting rack 72 and moving platform 59, and described driven side chain 58 connects described motor mounting rack 72 and moving platform 59; Described active branched chain 57 is made up of the first master arm 63, second master arm 61, coupled arm 62 and slave arm 65, and described driven side chain 58 is made up of the first follower link 70, second follower link 71, the 3rd follower link 67, the 4th follower link 68 and connecting rod rest 69; Described connecting rod rest 69 comprise lining frame, rotary middle spindle, described lining frame and rotary middle spindle hinged; Described connecting rod rest 69 connects described the first follower link 70, second follower link 71, the 3rd follower link 67, the 4th follower link 68; Described follower link is connected with described connecting rod rest 69 by plane rotation pair, and the described follower link other end is connected with described motor mounting rack 72 by hinge; Described motor mounting rack 72, first follower link 70, second follower link 71, connecting rod rest 69 are connected to form parallelogram sturcutre by kinematic pair; Described connecting rod rest 69, the 3rd follower link 67, the 4th follower link 68 and moving platform 59 are connected to form parallelogram sturcutre by kinematic pair; Described motor mounting rack 72 is provided with the first actuating device 60, second actuating device 64, and the first master arm 63, second master arm 61 of described active branched chain drives rotation by described first actuating device 60, second actuating device 64 respectively; Described master-slave branch chain separate type two translation parallel machine people, is characterized in that: described actuating device adopts servomotor-reducer structure.
As shown in Figure 13, Figure 14, Figure 15, described carton conveying device is made up of frame 56, power input device 75, feedway, gear case apparatus 74; Described frame 56 is characterized in that: comprise stand 77, lower margin 78; Described frame 56 passes through thread connection by described stand 77 with described lower margin 78; Described power input device 75 is characterized in that: comprise motor 84, motor mounting rack 83; Described power input device 75 is connected by holding screw with described motor mounting rack 83 by described motor 84, and described motor mounting rack 83 is connected in the stand 77 of described frame 56; Described feedway is characterized in that: comprise cylinder adapter plate 76, baffle plate 82, cylinder 80, cylinder strut 79, sprocket wheel 81; Described feedway is connected in the stand 77 in described frame 56 by described cylinder adapter plate 76, described baffle plate 82 is connected on described cylinder adapter plate 76, described cylinder 80 is enclosed within described cylinder strut 79, described cylinder strut 79 is screwed on described cylinder adapter plate 76, described sprocket wheel 81 is connected on described cylinder 80, and described sprocket wheel 81 and described motor 84 are by described chain transferring power; Described gear case apparatus 74 is characterized in that: comprise gear case cylinder 89, cylinder mount frame 86, gear boxboard 85, air cylinder guide rod 88, guide rod flange 87; Described gear case apparatus 74 passes through Bolt Connection by described gear case cylinder 89 with described cylinder mount frame 86, described cylinder mount frame 86 is connected on described cylinder adapter plate 76 by holding screw, described gear boxboard 85 passes through screw attachment with described gear case cylinder 89, described gear boxboard 85 and described air cylinder guide rod 88 are by screw attachment, and described air cylinder guide rod 88 is contained in described cylinder mount frame 86 by described guide rod flange 87.
As shown in Figure 1, described craspedodrome travel line 4 and described shunting travel line 5 mutually lean on into, and the collection baffle plate 9 described in requiring aligns with described shunting guide plate 36, and liquid detergent can be made like this to be sent on shunting travel line 5 by travel line 4 of keeping straight on; After described apparatus for shaping 6 is distributed in described shunting travel line 5, realizing liquid detergent has shunting travel line to be transported on described box loading plate.
The conveying of a kind of liquid detergent disclosed by the invention and boxing apparatus device, its working process is that liquid detergent enters (shown in Fig. 1, Fig. 2) on craspedodrome travel line, to be rotated with straight belt by linear electric motors and liquid detergent is transported to (as shown in Figure 1, Figure 3) on the travel line of shunting, liquid detergent is divided into by shunting travel line and is displaced into apparatus for shaping (as shown in Fig. 1, Fig. 7, Fig. 8) more and above pushes away and put neatly; There is carton conveying device (as shown in figure 13) that carton conveying is come again, finally have master-slave branch chain separate type two translation parallel machine people (as shown in Figure 10) to be captured by liquid detergent and put into carton and transfer out.
Schematically above be described the present invention and embodiment thereof, this description does not have restricted, and also just one of the embodiments of the present invention shown in accompanying drawing, actual structure is not limited thereto.So, if those of ordinary skill in the art enlightens by it, when not departing from the invention aim, designing the frame mode similar to this technical scheme and embodiment without creationary, all should protection scope of the present invention be belonged to.
Claims (3)
1. the conveying of liquid detergent and a boxing apparatus, is characterized in that the conveying of this liquid detergent and boxing apparatus comprise shunting conveying line device (1), master-slave branch chain separate type two translation parallel machine people (2) and carton conveying device (3), described shunting conveying line device (1) is arranged on the front of described carton conveying device (3), and described master-slave branch chain separate type two translation parallel machine people (2) is arranged on directly over described carton conveying device (3), described shunting conveying line device (1) is made up of craspedodrome travel line (4), shunting travel line (5), apparatus for shaping (6), and described craspedodrome travel line (4), shunting travel line (5), apparatus for shaping (6) align successively and be linked in sequence, described craspedodrome travel line 4 comprises the first column (7A), the first base (8A), pin (9), lever support (10), keep straight on conveying side plate (11), craspedodrome motor (12), craspedodrome motor driving gear (13), craspedodrome motor driven gear (14), craspedodrome motor tension wheel (15), craspedodrome load-transfer device stay bearing plate (16), craspedodrome motor flower wheel (17), craspedodrome motor driving wheel (18) and craspedodrome load-transfer device (19), described pin (9) is connected in described craspedodrome conveying side plate (11) by described pin support (10), described craspedodrome motor flower wheel (17) is arranged in described craspedodrome conveying side plate (11), described craspedodrome motor driving wheel (18) is arranged in described craspedodrome conveying side plate (11), described craspedodrome motor tension wheel (15) is arranged in described craspedodrome conveying side plate (11), and described craspedodrome load-transfer device stay bearing plate (16) is arranged in described craspedodrome conveying side plate (11), described craspedodrome load-transfer device (19) is arranged on described craspedodrome motor driving wheel (18), described craspedodrome motor flower wheel (17) and described craspedodrome motor tension wheel (15), described craspedodrome load-transfer device stay bearing plate (16) supports described craspedodrome load-transfer device (19), described craspedodrome motor (12) is fixed in described craspedodrome conveying side plate (11) by holding screw, described craspedodrome motor driving gear (13) is connected with described craspedodrome motor (12) by key, and described craspedodrome motor driven gear (14) is connected with described craspedodrome motor driving wheel (18) by key, described craspedodrome motor driving gear (13) and described craspedodrome motor driven gear (14) are by chain transferring power, described first column (7A) and described first base (8A) are connected, and described first column (7A) described craspedodromes by stent support and carried side plate (11), and as the frame of whole craspedodrome travel line, described shunting travel line (5) comprises the second column (7B), second base (8B), conveying side plate (20), shunting adapter plate (21), guiding crossbeam (22), guiding overarm brace (23), conveying motor (24), conveying motor driving gear (25), conveying motor driving wheel (26), conveying motor driven gear (27), conveying motor tension wheel (28), load-transfer device stay bearing plate (29), guide piece support (30), orienting lug adapter plate (31), guide plate mounting blocks (32), guide plate (33), shunting guide rails assembling plate (34), shunting support (35), shunting guide plate (36), load-transfer device (37), conveying motor flower wheel (38), transverse bracket (39), shunting slider support plate (40), servomotor (41), shunting slide block (42), shunting guide rail (43), shunting driving pulley (44), shunting belt (45), shunting driven pulley (46) and shunting motor mounting plate (47), described conveying motor flower wheel (38) is arranged in described conveying side plate (20), described conveying motor driving wheel (26) is arranged in described conveying side plate (20), and described conveying motor tension wheel (28) is arranged in described conveying side plate (20), described load-transfer device stay bearing plate (29) is arranged in described conveying side plate (20), described load-transfer device (37) is arranged in described conveying motor driving wheel (26), conveying motor flower wheel (38) and conveying motor tension wheel (28), described load-transfer device stay bearing plate (29) supports described load-transfer device (37), described conveying motor (24) is fixed in described conveying side plate (20) by holding screw, described conveying motor driving gear (25) is connected with described conveying motor (24) by key, described conveying motor driven gear (27) is connected with described conveying motor driving wheel (26) by key, described conveying motor driving gear (25) and described conveying motor driven gear (27) are by chain transferring power, described guiding overarm brace (23) and described conveying side plate (20) are connected, one end of described guiding crossbeam (22) is arranged on described guiding overarm brace (23) by revolute pair, and the other end of described guiding crossbeam (22) is connected on described shunting slider support plate (40), described shunting adapter plate (21) is arranged on described guiding crossbeam (22), can slide along guiding crossbeam (22) in described shunting adapter plate (21), described shunting guide plate (36) and described shunting adapter plate 21 are connected, described shunting support (35) is connected on described conveying side plate (20), described shunting guide rails assembling plate (34) is connected on described shunting support (35), described shunting guide rail (43) is connected with the lower surface of described shunting guide rails assembling plate (31), matches with described shunting guide rail (43) and realize sliding in described shunting slide block (42), described shunting slide block (42) is connected on described shunting slider support plate (40) by holding screw, described servomotor (41) is arranged on described shunting motor mounting plate (47), described shunting driving pulley (44) is connected by the retarder of key with described servomotor (41), described shunting driven pulley (46) is connected on described shunting motor mounting plate (47), matches with described shunting driving pulley (44) and described shunting driven pulley (46) in described shunting belt (45), described shunting support (35) is connected on described conveying side plate (20), described guide plate (33) is connected with described guide plate mounting blocks (32) by screw, described guide plate mounting blocks (32) is connected by screw and described orienting lug adapter plate (31), described orienting lug adapter plate (31) is connected on described guide piece support (30), and described guide piece support (30) is connected on described shunting support (35), described conveying side plate (20) is connected on described second column (7B), connected by described transverse bracket (39) between described second column (7B), described second column (7B) and described second base (8B) are connected, and as the frame of whole shunting travel line.
2. carry according to claim 1 and boxing apparatus, it is characterized in that described apparatus for shaping (6) comprises the 3rd column (7C), the 3rd base (8C), cylinder mount pad (48), the first guide rod flange (49), cylinder (50), air cylinder guide rod (51), the first air cylinder guide rod (52), push pedal (53), box loading plate (54) and baffle plate (55); Described apparatus for shaping is fixed on described 3rd column (7C) by described box loading plate (54); Described baffle plate (55) is fixed on described box loading plate (54) by holding screw, forms an operational zone; Described cylinder mount pad (48) is connected on described box loading plate (54) by holding screw; Described cylinder (50) is arranged on described cylinder mount pad (48); Described first guide rod flange (49) is arranged in described cylinder mount pad (48); Described guide rod (51) is sleeved in described guide rod flange (49), and one end and the described push pedal (53) of described guide rod (51) are connected; One end of described first air cylinder guide rod (52) connects with described cylinder (50), and the other end of described first air cylinder guide rod (52) connects with described push pedal (53).
3. conveying according to claim 1 and boxing apparatus, is characterized in that described carton conveying device (3) comprises frame (56), power input device (75), feedway and gear case apparatus (74); Described frame (56) comprises stand (77), lower margin (78), and described frame (56) passes through thread connection by described stand (77) and described lower margin (78); Described power input device (75) comprises motor (84), motor mounting rack (83), described motor (84) and described motor mounting rack (83) are connected by holding screw, and described motor mounting rack (83) is connected in described stand (77); Described feedway comprises cylinder adapter plate (76), baffle plate (82), cylinder (80), cylinder strut (79) and sprocket wheel (81), described cylinder adapter plate (76) is connected in described stand (77), described baffle plate (82) is connected on described cylinder adapter plate (76), described cylinder (80) is sleeved on described cylinder strut (79), and described cylinder strut (79) is fixed by screws on described cylinder adapter plate (76); Described sprocket wheel (81) is connected on described cylinder (80), and described sprocket wheel (81) and described motor (84) are by described chain transferring power; Described gear case apparatus (74) comprises gear case cylinder (89), cylinder mount frame (86), gear boxboard (85), the second air cylinder guide rod (88), the second guide rod flange (87); Described gear case cylinder (89) and described cylinder mount frame (86) pass through Bolt Connection, described cylinder mount frame (86) is connected on described cylinder adapter plate (76) by holding screw, described gear boxboard (85) and described gear case cylinder (89) pass through screw attachment, described gear boxboard (85) and described second air cylinder guide rod (88) are by screw attachment, and described second air cylinder guide rod (88) is arranged in described cylinder mount frame (86) by described second guide rod flange (87).
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| CN201410228758.0A CN103979175B (en) | 2014-05-27 | 2014-05-27 | A kind of conveying of liquid detergent and boxing apparatus |
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| CN201410228758.0A CN103979175B (en) | 2014-05-27 | 2014-05-27 | A kind of conveying of liquid detergent and boxing apparatus |
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| CN103979175A CN103979175A (en) | 2014-08-13 |
| CN103979175B true CN103979175B (en) | 2015-11-11 |
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| CN201410228758.0A Active CN103979175B (en) | 2014-05-27 | 2014-05-27 | A kind of conveying of liquid detergent and boxing apparatus |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109264067A (en) * | 2018-09-27 | 2019-01-25 | 深圳市陀罗尼教育科技有限公司 | A kind of harness plastics clamping group automatic assembly equipment |
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| CN105438570A (en) * | 2015-12-31 | 2016-03-30 | 东莞市金富实业有限公司 | Centralized type automatic packaging method |
| CN105752385B (en) * | 2016-04-21 | 2017-11-28 | 安徽工业大学 | A kind of bottle packing and positive conveying device |
| CN105691695B (en) * | 2016-04-21 | 2017-11-28 | 安徽工业大学 | A kind of bottle shunting conveying and automatic packing apparatus |
| CN107719798B (en) * | 2017-10-25 | 2024-02-09 | 安徽海思达机器人有限公司 | Automatic medicine bottle boxing device |
| CN110203484A (en) * | 2019-06-26 | 2019-09-06 | 扬州市职业大学(扬州市广播电视大学) | A kind of automation medicine box transport baling equipment |
| CN110435973B (en) * | 2019-08-06 | 2021-06-18 | 成都松川雷博机械设备有限公司 | Lane vanning production facility |
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| CN103979175A (en) | 2014-08-13 |
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