CN107414797A - A kind of swabbing robot of linear electric motors driving - Google Patents
A kind of swabbing robot of linear electric motors driving Download PDFInfo
- Publication number
- CN107414797A CN107414797A CN201710710520.5A CN201710710520A CN107414797A CN 107414797 A CN107414797 A CN 107414797A CN 201710710520 A CN201710710520 A CN 201710710520A CN 107414797 A CN107414797 A CN 107414797A
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- Prior art keywords
- electric motors
- linear electric
- robot
- swabbing
- parallel side
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- 238000007789 sealing Methods 0.000 claims description 17
- 244000126211 Hericium coralloides Species 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims 2
- 230000001680 brushing effect Effects 0.000 claims 1
- PEDCQBHIVMGVHV-UHFFFAOYSA-N Glycerine Chemical compound OCC(O)CO PEDCQBHIVMGVHV-UHFFFAOYSA-N 0.000 abstract description 4
- 239000003638 chemical reducing agent Substances 0.000 abstract description 2
- 230000003137 locomotive effect Effects 0.000 abstract description 2
- 238000012423 maintenance Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004519 grease Substances 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
-
- A—HUMAN NECESSITIES
- A21—BAKING; EDIBLE DOUGHS
- A21C—MACHINES OR EQUIPMENT FOR MAKING OR PROCESSING DOUGHS; HANDLING BAKED ARTICLES MADE FROM DOUGH
- A21C15/00—Apparatus for handling baked articles
- A21C15/002—Apparatus for spreading granular material on, or sweeping or coating the surface of baked articles
Abstract
The swabbing robot that the present invention drives for a kind of linear electric motors, including fixed mount, linear electric motors, parallel side chain and moving platform；Fixed mount includes top cover and base, and the both ends of the stator of linear electric motors are connected on the top cover and base of fixed mount, and parallel side chain is connected on the mover seat of linear electric motors, and the other end of parallel side chain is hinged on moving platform；This swabbing robot comprises at least two linear electric motors and at least two parallel side chains；Linear electric motors are longitudinally connected on fixed mount.The present invention it is alternative manually to moon cake, etc. cake class food swabbing, worker is big from labor intensity, and the high environment of bakery temperature frees.Linear electric motors drive parallel robot, and robot is hit, and power is small, and structure is simpler, is easy to protect used in food service industry compared with the mechanism that traditional high-speed electric expreess locomotive connection reducer and ball screw (or timing belt) drive.
Description
Technical field
The present invention relates to parallel robot, and in particular to the parallel robot of linear electric motors driving.
Background technology
Parallel robot at full speed, the pickup of the high-precision miscellaneous goods for completing variously-shaped type and placement action.
It is widely used in the industrial circles such as electronics, medicine, food.Compared with serial configured, parallel architecture has good rigidity, dynamic
Can good (movement inertia is small), and without cumulative errors, precision is high, high speed and the features such as high acceleration, is especially suitable on production line
High speed pick up and put action, be widely used in the works such as the whole, labeling of crawl, row of the industries such as food, medicine, daily use chemicals, electronics
In work.Numerous research institutions and manufacturing enterprise all have an optimistic view of its application prospect in manufacturing field.
Domestic food industry cake class at present, particularly the moon cake class swabbing, entirely manual operation, labor strength
Greatly, bakery environment temperature is high, and the decelerator that is used due to technique and general parallel robot, ball screw cost are higher, and
It is fragile, it is very big to the stability influence of robot, protect to place restrictions on there is also reasons such as certain difficulty and fail to automate always.
The content of the invention
In order to overcome the above-mentioned deficiency of prior art, it is an object of the invention to provide a kind of swabbing of linear electric motors driving
Robot, the swabbing that the swabbing robot can be automatical and efficient, and also it is in light weight, it is easy to maintenance, it is easy to protect.
The present invention realizes that the technical scheme of above-mentioned purpose is：
A kind of swabbing robot of linear electric motors driving, including fixed mount, linear electric motors, parallel side chain and moving platform；
The fixed mount includes top cover and base, and the both ends of the stator of the linear electric motors are connected to the top cover and base of fixed mount
On, the parallel side chain is connected on the mover seat of the linear electric motors, the other end of the parallel side chain is hinged on described move and put down
On platform；This swabbing robot comprises at least two linear electric motors and at least two parallel side chains；The linear electric motors longitudinally connect
It is connected on the fixed mount；
The moving platform includes electric rotating machine, support, cylinder and brush, and the electric rotating machine is vertically fixed in the branch
On frame, the motor shaft that circular hole and the electric rotating machine are offered on the support passes through the circular hole, and the cylinder passes through fixture
It is connected on the motor shaft of the electric rotating machine, the brush is hinged on the motor shaft, and the push rod hinge of the cylinder
The middle part of the brush is connected on, the motor shaft, cylinder, fixture and brush form a linkage；On the bracket
It is additionally provided with the sleeve structure for being socketed the parallel side chain；
The parallel side chain includes at least two connectors, at least one strainer and two connecting rods, the connection
The both ends of device are connected in two connecting rods, and two connecting rods are parallel to each other, the both ends point of the strainer
It is not hinged in two connecting rods；Any connector is connected on the mover seat；
This swabbing robot also includes switch board, and the electric rotating machine, the cylinder, the linear electric motors electrically connect institute
State switch board.
The connector includes sleeve, ball head and the ball bowl for being hinged on ball head both ends；The ball head is socketed in institute
State on sleeve, the ball head both sides are threaded with split nut and two split nuts are connected to the two of the sleeve respectively
End, the sleeve are fastened on the mover seat, and simultaneously nut is also threaded with the ball head both sides；The ball bowl includes
Bowl body and oil sealing, the necking of the oil sealing are socketed on the ball head.
The strainer includes pin, shell, block machine, inner guiding post, bolt and spring, distinguishes at the both ends of the strainer
The first engaging lug and the second engaging lug are provided with, the first engaging lug is fixed in the block machine, and the second engaging lug is threaded in
On the inwall of the shell；The spring is socketed on the inner guiding post, and the spring one end is connected to the inner guiding post
Bottom annulus projection on, the other end is connected in the shell；The screw rod of the bolt through the block machine and with it is described interior
Guide pillar is threadedly coupled, and the screw head of the bolt is connected in the block machine；The shell is a cylindrical structure and inside is
Cavity, its left side, which opens up, is provided with the reciprocal cylindrical hole of inner guiding post, and the inner guiding post is cylindrical structure.
Two strainers are connected with two connecting rods.
Three linear electric motors and three parallel side chains are provided with this swabbing robot, three linear electric motors are longitudinally set
Put on the fixed mount.
Preferably, this swabbing robot is overlooked, angle is 120 ° two-by-two between three parallel side chains.
The oil sealing is rubber seal, and formed with comb tooth sealing structure at the necking of the oil sealing.
The brush is hairbrush.
Conveyer belt is provided with the base of the fixed mount.
The support is regular hexagon structure.
The present invention has following beneficial effect compared with prior art：
The present invention it is alternative manually to moon cake, etc. cake class food swabbing, worker is big from labor intensity, bakery temperature height
Environment free.Linear electric motors drive parallel robot and traditional high-speed electric expreess locomotive connection reducer and ball screw (or
Timing belt) driving mechanism compare, robot is hit, and power is small, and structure is simpler, is easy to protect used in food service industry.Save and subtract
Fast device and ball screw not only reduce consumable accessory, and improve robot reliability, reduce cost.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of the present invention；
Fig. 2 is the front view of the present invention；
Fig. 3 is moving platform dimensional structure diagram；
Fig. 4 is the top view that the present invention removes fixed mount；
Fig. 5 is parallel side chain partial structurtes side view；
Fig. 6 is parallel side chain B-B faces half sectional view.
Embodiment
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment：
Reference picture 1, a kind of swabbing robot of linear electric motors driving, including fixed mount 1, linear electric motors 2, parallel side chain 3
And moving platform 4；The fixed mount 1 includes top cover 12 and base 11, and the both ends of the stator 21 of the linear electric motors 2 connect respectively
On the top cover 12 and base 11 of fixed mount 1, the parallel side chain 3 is connected on the mover seat 22 of the linear electric motors 2, it is described flat
The other end of row side chain 3 is hinged on the moving platform 4；This swabbing robot is including at least two linear electric motors 2 and at least
Two parallel side chains 3；The linear electric motors 2 are longitudinally connected on the fixed mount 1；
Reference picture 2 and Fig. 3, the moving platform 4 include electric rotating machine 41, support 45, cylinder 43 and brush 44, the rotation
Rotating motor 41 is vertically fixed on the support 45, and the motor shaft of circular hole and the electric rotating machine 41 is offered on the support 45
Through the circular hole, the cylinder 43 is connected to by fixture 42 on the motor shaft of the electric rotating machine 41, and the brush 44 is cut with scissors
It is connected on the motor shaft, and the push rod of the cylinder 43 is hinged on the middle part of the brush 44, the motor shaft, cylinder
43rd, fixture 42 and brush 44 form a linkage；The socket parallel side chain 3 is additionally provided with the support 45
Sleeve structure；
Reference picture 4, the parallel side chain 3 include at least two connectors 31, at least one strainer 32 and two companies
Extension bar 33, the both ends of the connector 31 are connected in two connecting rods 33, and two connecting rods 33 are mutually flat
OK, the both ends of the strainer 32 are respectively hinged in two connecting rods 33；Any connector 31 is connected to described
On mover seat 22；
This swabbing robot also includes switch board (not shown), the electric rotating machine 41, the cylinder 43, described straight
Line motor 2 electrically connects the switch board.
Such as Fig. 5 and Fig. 6, the connector 31 includes sleeve 311, ball head 312 and the ball for being hinged on the both ends of ball head 312
Bowl；The ball head 312 is socketed on the sleeve 311, and the both sides of ball head 312 are threaded with split nut 315 and should
Two split nuts 315 are connected to the both ends of the sleeve 311 respectively, and the sleeve 311 is fastened on the mover seat 22, in institute
State the both sides of ball head 312 and be also threaded with simultaneously nut 316；The ball bowl includes bowl body 313 and oil sealing 314, the oil sealing 314
Necking is socketed on the ball head 312.Such as Fig. 6, together with ball bowl is adhesively fixed with connecting rod.The cavity internal memory of bowl body bottom
Oil storage fat, bottom described herein refer to the end that ball head is hinged with ball bowl, and ball bowl forms ball pair with ball head.Oil sealing is rubber
There is groove material, one end of oil sealing with the elasticity and bulb axis connection, the junction of itself, and this groove is used to prevent grease from letting out
Leakage, ball head have metal screens to be fixedly connected with bowl body.
Such as Fig. 6, the strainer 32 includes pin 321, shell 322, block machine 326, inner guiding post 323, bolt 324 and spring
325, the first engaging lug 327 and the second engaging lug 328, the first engaging lug 327 are respectively arranged with the both ends of the strainer 32
It is fixed in the block machine 326, the second engaging lug 328 is threaded on the inwall of the shell 322；325 sets of the spring
It is connected on the inner guiding post 323, and the one end of the spring 325 is connected in the bottom annulus projection of the inner guiding post 323, separately
One end is connected in the shell 322；The screw rod of the bolt 324 through the block machine 326 and with the screw thread of inner guiding post 323
Connection, the screw head of the bolt 324 are connected in the block machine 326；The shell 322 is a cylindrical structure and inside is
Cavity, its left side, which opens up, is provided with the reciprocal cylindrical hole of inner guiding post 323, and the inner guiding post 323 is cylindrical structure.
Such as Fig. 6, strainer can guarantee that parallel side chain when high-speed motion, and connecting rod is not easy to loosen.When parallel side chain
During high-speed mobile, certain unbalance stress can be produced between two connecting rods, it is at this time, past by the axial direction of strainer
Middle tightening force, two connecting rods are firmly connected；Meanwhile two connecting rods are supplied to the first of strainer to connect
Two opposite effect power of ear and the second engaging lug, and cause spring receive certain compression, after spring is compressed can because
Deformation and the axial power to both sides is provided, such as Fig. 6, the power that spring provides drives the first engaging lug 327 to have becoming to the right
Gesture, and the second engaging lug has trend to the left, so as to tense two connecting rods.Strainer itself can be swung during exercise, right
Ball bowl and the secondary application pretightning force of the ball that ball head is formed, form zero clearance contact and wear compensation, improve running precision.
Two strainers 32 are connected with two connecting rods 33.
Such as Fig. 1, it is preferable that be provided with three linear electric motors 2 side chain 3 parallel with three, three institutes in this swabbing robot
Linear electric motors 2 are stated to be disposed longitudinally on the fixed mount 1.Such as Fig. 4, overlook this swabbing robot, three parallel side chains 3 it
Between two-by-two angle be 120 °.
The oil sealing 314 is rubber seal, and formed with comb tooth sealing structure at the necking of the oil sealing 314.
The brush 44 is hairbrush.
Conveyer belt (not shown) is provided with the base 11 of the fixed mount 1.
The support 45 is regular hexagon structure.
The operation principle of the present invention：
Such as Fig. 1, switch board controls the motion of three linear electric motors, can control the mover seat of three linear electric motors same simultaneously
When lift, can also individually control the motion of the mover seat of wherein one or two linear electric motors.Such as Fig. 2 and 3, moving platform itself
Under the control of switch board, the rotation and swing of the hairbrush that can control interest.The rotation of the motor shaft of electric rotating machine, band electric brush around
The axis rotation of motor shaft, generally, the anglec of rotation of motor shaft is 90 °, so can be achieved with 90 ° of rotations of hairbrush, adjusts hair
The direction of brush.In addition, the action of switch board control cylinder, cylinder are promoted the swing of hairbrush by push rod, realize the swing of hairbrush
The action of brush.Therefore, the rider-type brush that on the one hand hairbrush can be swung along a direction, on the other hand can be along different directions
Ground rider-type brush.
In addition, every a collection of moon cake is the multiple lines and multiple rows of parallel arranged, in intersecting parallels or the arrangement mode of rhombus, switch board energy
The height of the mover seat of three linear electric motors of adjust automatically, to realize that adjustment moving platform is in horizontal diverse location.So as to hair
After having brushed a row, by adjusting the height of mover seat, to adjust moving platform to the position of next column, then pass through electric rotating machine
With the cooperation of cylinder, the swabbing operation of another row is completed.
The present invention using linear electric motors driving by the way of, reduce the structure of robot, and because linear electric motors are easy
In maintenance, protection is simple, so not only alleviates the weight of equipment, also cost-effective, and maintenance is convenient.Due to defending for food service industry
Raw to require, also higher for the demand of cleaning, such device for being easy to protection can meet the demand；In addition, in connecting rod
The junction of connector and mover seat use special sealing structure, while the flexibility of ball head activity is met, guarantor
Dust-proof, maintenance convenience is demonstrate,proved.
The implementation of the present invention is not limited to this, according to the above of the present invention, is known using the ordinary skill of this area
Knowledge and customary means, under the premise of the above-mentioned basic fundamental thought of the present invention is not departed from, the present invention can also make other a variety of shapes
Modification, replacement or the change of formula, all fall within rights protection scope of the present invention.
Claims (10)
- A kind of 1. swabbing robot of linear electric motors driving, it is characterised in that：Including fixed mount (1), linear electric motors (2), parallel Side chain (3) and moving platform (4)；The fixed mount (1) includes top cover (12) and base (11), linear electric motors (2) are determined The both ends of sub (21) are connected on the top cover (12) and base (11) of fixed mount (1), the mover seat of the linear electric motors (2) (22) the parallel side chain (3) is connected on, the other end of the parallel side chain (3) is hinged on the moving platform (4)；This swabbing Robot comprises at least two linear electric motors (2) and at least two parallel side chains (3)；The linear electric motors (2) are longitudinally connected On the fixed mount (1)；The moving platform (4) includes electric rotating machine (41), support (45), cylinder (43) and brush (44), the electric rotating machine (41) it is vertically fixed on the support (45), the motor of circular hole and the electric rotating machine (41) is offered on the support (45) Axle passes through the circular hole, and the cylinder (43) is connected on the motor shaft of the electric rotating machine (41) by fixture (42), described Brush (44) is hinged on the motor shaft, and the push rod of the cylinder (43) is hinged on the middle part of the brush (44), institute State motor shaft, cylinder (43), fixture (42) and brush (44) and form a linkage；Also set up on the support (45) There is the sleeve structure for being socketed the parallel side chain (3)；The parallel side chain (3) includes at least two connectors (31), at least one strainer (32) and two connecting rods (33), the both ends of the connector (31) are connected on two connecting rods (33), two connecting rod (33) phases Mutually parallel, the both ends of the strainer (32) are respectively hinged on two connecting rods (33)；Any connector (31) It is connected on the mover seat (22)；This swabbing robot also includes switch board, and the electric rotating machine (41), the cylinder (43), the linear electric motors (2) are equal Electrically connect the switch board.
- A kind of 2. swabbing robot of linear electric motors driving according to claim 1, it is characterised in that：The connector (31) sleeve (311), ball head (312) and the ball bowl for being hinged on ball head (312) both ends are included；Ball head (312) set It is connected on the sleeve (311), ball head (312) both sides are threaded with split nut (315) and two split nuts (315) both ends of the sleeve (311) are connected to respectively, and the sleeve (311) is fastened on the mover seat (22), described Ball head (312) both sides are also threaded with and nut (316)；The ball bowl includes bowl body (313) and oil sealing (314), the oil The necking of envelope (314) is socketed on the ball head (312).
- A kind of 3. swabbing robot of linear electric motors driving according to claim 2, it is characterised in that：The strainer (32) pin (321), shell (322), block machine (326), inner guiding post (323), bolt (324) and spring (325) are included, described The both ends of strainer (32) are respectively arranged with the first engaging lug (327) and the second engaging lug (328), and the first engaging lug (327) is solid It is scheduled in the block machine (326), the second engaging lug (328) is threaded on the inwall of the shell (322)；The spring (325) it is socketed on the inner guiding post (323), and the spring (325) one end is connected to the bottom of the inner guiding post (323) In annulus projection, the other end is connected in the shell (322)；The screw rod of the bolt (324) runs through the block machine (326) simultaneously It is threadedly coupled with the inner guiding post (323), the screw head of the bolt (324) is connected in the block machine (326)；The shell (322) it is cavity for a cylindrical structure and inside, its left side, which opens up, to be provided with the reciprocal cylinder of inner guiding post (323) and lead to Hole, the inner guiding post (323) are cylindrical structure.
- A kind of 4. swabbing robot of linear electric motors driving according to claim 3, it is characterised in that：In two companies Two strainers (32) are connected with extension bar (33).
- A kind of 5. swabbing robot of linear electric motors driving according to claim 3, it is characterised in that：This swabbing robot On be provided with three linear electric motors (2) side chain (3) parallel with three, three linear electric motors (2) are disposed longitudinally on described solid Determine on frame (1).
- A kind of 6. swabbing robot of linear electric motors driving according to claim 5, it is characterised in that：Overlook this brushing machine Device people, angle is 120 ° two-by-two between three parallel side chains (3).
- A kind of 7. swabbing robot of linear electric motors driving according to claim 2, it is characterised in that：The oil sealing (314) it is rubber seal, and formed with comb tooth sealing structure at the necking of the oil sealing (314).
- A kind of 8. swabbing robot of linear electric motors driving according to claim 1, it is characterised in that：The brush (44) For hairbrush.
- A kind of 9. swabbing robot of linear electric motors driving according to claim 1, it is characterised in that：The fixed mount (1) conveyer belt is provided with the base (11).
- A kind of 10. swabbing robot of linear electric motors driving according to claim 1, it is characterised in that：The support (45) it is regular hexagon structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710710520.5A CN107414797A (en) | 2017-08-18 | 2017-08-18 | A kind of swabbing robot of linear electric motors driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710710520.5A CN107414797A (en) | 2017-08-18 | 2017-08-18 | A kind of swabbing robot of linear electric motors driving |
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| Publication Number | Publication Date |
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| CN107414797A true CN107414797A (en) | 2017-12-01 |
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| CN201710710520.5A Pending CN107414797A (en) | 2017-08-18 | 2017-08-18 | A kind of swabbing robot of linear electric motors driving |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108403640A (en) * | 2018-04-27 | 2018-08-17 | 重庆医药高等专科学校 | The film forming rapid drying device of polyene taxol liposome |
| CN108500962A (en) * | 2018-06-07 | 2018-09-07 | 天津科技大学 | A kind of four-degree-of-freedom high speed parallel robot and its control method |
| CN108967460A (en) * | 2018-09-18 | 2018-12-11 | 广州酒家集团利口福食品有限公司 | A kind of moon cake swabbing intelligent robot |
| CN110802576A (en) * | 2019-11-15 | 2020-02-18 | 广州大学 | Three-axis delta machine platform based on linear motor |
| GB2581848A (en) * | 2019-03-01 | 2020-09-02 | Millitec Food Systems Ltd | End effector carriage for delta robot |
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| GB2581848A (en) * | 2019-03-01 | 2020-09-02 | Millitec Food Systems Ltd | End effector carriage for delta robot |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171201 |
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| RJ01 | Rejection of invention patent application after publication |