CN107414814A - A kind of driving auxiliary equipment of passive closed type variable topological packaging robot - Google Patents
A kind of driving auxiliary equipment of passive closed type variable topological packaging robot Download PDFInfo
- Publication number
- CN107414814A CN107414814A CN201710221697.9A CN201710221697A CN107414814A CN 107414814 A CN107414814 A CN 107414814A CN 201710221697 A CN201710221697 A CN 201710221697A CN 107414814 A CN107414814 A CN 107414814A
- Authority
- CN
- China
- Prior art keywords
- expansion link
- connecting rod
- bar
- sliding block
- chute
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B65/00—Details peculiar to packaging machines and not otherwise provided for; Arrangements of such details
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Supplying Of Containers To The Packaging Station (AREA)
- Container Filling Or Packaging Operations (AREA)
Abstract
A kind of driving auxiliary equipment of passive closed type variable topological packaging robot, the rotating disk installation of the device is on center shaft, can be around central axis, first expansion link assembly is by third connecting rod, first thick expansion link, first thin expansion link and the first sliding block composition, first thick expansion link one end is welded on third connecting rod, the other end is connected with the first thin expansion link in a manner of cylindrical pair, first thin expansion link bottom is connected with the secondary connected mode of ball with the first sliding block, third connecting rod is connected with the secondary connected mode of ball with sliding bar, first sliding block is arranged on triangle and become in the chute on born of the same parents' bar, first sliding block can move along chute.The apparatus structure is simple, driving is flexible, is easy to control and will not interfere with other rod members during motion, can cleverly complete the opening and closing at the top of variable topological packaging robot.
Description
Technical field
The present invention relates to a kind of mechanical design field, particularly a kind of driving of passive closed type variable topological packaging robot
Auxiliary equipment.
Background technology
In recent years, with the continuous development of society, robot has progressed into all trades and professions, and produces product often
Packaging is be unable to do without, therefore, packaging robot has been increasingly becoming the focus of people's research, Chinese patent ZL
201210218278.7 disclose a kind of variable topological packaging machine robot mechanism, the packaging machine robot mechanism can variable topological, once
Package handling task is completed, simple in construction, stable molding is reliable, greatly reduces multiple-workstation, multimode package packing machine operation
Program, while package handling efficiency is improved, meet the needs of people are changeable to packaging for foodstuff form, but the packaging machine
Robot mechanism is a mechanism, not yet designs top closure driving auxiliary equipment, thus can not make to close at the top of mechanism, therefore
It is necessary that design is a kind of simple in construction, controls the attached dress of top driven for opening and closing that will not be interfered flexibly and in itself with mechanism
Put.
Had not yet to see it is a kind of it is simple in construction, controlled with drawstring, passively closed, be easy to safeguard and the packing machine can be adapted to
The innovation design of the top driven for opening and closing auxiliary equipment of device robot mechanism.
The content of the invention
It is an object of the invention to provide a kind of driving auxiliary equipment of passive closed type variable topological packaging robot, lamps structure
Simply, the advantages of control is flexible and is easy to safeguard, can complete the opening and closing at the top of a kind of variable topological packaging robot.
The present invention is achieved through the following technical solutions above-mentioned purpose：A kind of drive of passive closed type variable topological packaging robot
Dynamic auxiliary equipment, including triangle become born of the same parents' bar, straight become born of the same parents' bar, second connecting rod, the second expansion link assembly, the first expansion link assembly, the
Three connecting rods, rotating assembly, leaf spring, drawstring, side lever, rotating disk, first bevel gear, second bevel gear, motor, screw, first connecting rod,
Flap, sliding bar, the second sliding block, the second thin expansion link, the second thick expansion link, the first sliding block, the first thin expansion link, first slightly stretch
Contracting bar, the first supporting plate, the second supporting plate, connecting plate, bearing pin, central shaft, movable plate, the first cylinder, mould, variable topological packaging
Robot mechanism, the second cylinder, slide bar, the second screw, frame, grume, the first connecting plate, the second connecting plate, shaft coupling, silk
Bar, the second motor and movable plate chute, concrete structure and annexation are：
The motor is arranged on movable plate by screw, and second bevel gear is arranged on motor, second bevel gear and the
One bevel gear is engaged, and first bevel gear is welded on rotating disk, and rotating disk is installed on center shaft, and rotating disk can be drawn around central axis
Rope one end is connected with rotating disk, and the other end is connected with leaf spring, and leaf spring one end is connected with first connecting rod, and the other end is connected with side lever, draws
It is made up of among rope through the grooving in the first supporting plate and the second supporting plate, rotating assembly first connecting rod, sliding bar and flap,
First connecting rod one end is welded with flap, and the other end is connected by bearing pin with connecting plate, and first connecting rod can rotate around bearing pin, sliding bar
It is installed in the elongated slot on flap, sliding bar can move along elongated slot, and the second expansion link assembly is slightly flexible by second connecting rod, second
Bar, the second thin expansion link and the second sliding block composition, second thick expansion link one end are welded on second connecting rod, and the other end is thin with second
Expansion link is connected in a manner of cylindrical pair, and the second thin expansion link bottom is connected with the secondary connected mode of ball with the second sliding block, and second
Connecting rod is connected with the secondary connected mode of ball with sliding bar, and the second sliding block is arranged in the chute on straight change born of the same parents' bar, and the second sliding block can
Being moved along chute, the first expansion link assembly is made up of third connecting rod, the first thick expansion link, the first thin expansion link and the first sliding block,
First thick expansion link one end is welded on third connecting rod, and the other end is connected with the first thin expansion link in a manner of cylindrical pair, and first
Thin expansion link bottom is connected with the secondary connected mode of ball with the first sliding block, and third connecting rod is with ball secondary connected mode and sliding bar phase
Even, the first sliding block is arranged on triangle and become in the chute on born of the same parents' bar, and the first sliding block can be moved along chute, and slide bar is welded in frame,
Movable plate is arranged on slide bar by movable plate chute, and movable plate bottom is connected by screw thread with screw mandrel, and second motor one end leads to
Cross the second screw with frame to be connected, the other end is connected by shaft coupling with screw mandrel, and the first connecting plate and the second connecting plate are welded in
In frame, the first cylinder is installed on the first connecting plate, and the second cylinder is installed on the second connecting plate, and mould installion is in the first gas
On cylinder, grume is installed on the second cylinder, and variable topological packaging machine robot mechanism is installed on movable plate.
The first bevel gear is welded on rotating disk, is easy to motor control.
When the leaf spring opens at the top of mechanism in the raw, nonelastic potential energy.
The present invention's has the prominent advantages that：
1st, driven for opening and closing is simple in construction, is easy to control, and need to only use motor driven rotary turnplate can by packaging robot
The top of mechanism is synchronously drawn and closed, and is to make top is synchronous to open with the elastic force of leaf spring during opening, has energy-conservation to a certain extent
Effect, its auxiliary equipment also have stronger controllability.
2nd, driven for opening and closing structure transmits power using the drawstring of flexibility, and drawstring is flexible in itself, therefore prevents and wrap
Machine robot mechanism interferes in itself, has stronger reliability.
Brief description of the drawings
Fig. 1 is driving auxiliary equipment of the present invention when variable topological packaging machine robot mechanism is in semi-closure conjunction state
Front view.
Fig. 2 is driving auxiliary equipment of the present invention when variable topological packaging machine robot mechanism is in fully closed condition
Front view.
Fig. 3 is driving auxiliary equipment of the present invention when variable topological packaging machine robot mechanism is in semi-closure conjunction state
Schematic diagram.
Fig. 4 is the rotating assembly schematic diagram of driving auxiliary equipment of the present invention.
Fig. 5 is the first expansion link assembly diagram of driving auxiliary equipment of the present invention.
Fig. 6 is the second expansion link assembly diagram of driving auxiliary equipment of the present invention.
Fig. 7 is the first supporting plate, the second supporting plate and the connecting plate of driving auxiliary equipment of the present invention in original packing
Scheme of installation on robot side lever.
Fig. 8 is that triangle of the present invention becomes born of the same parents' bar schematic diagram.
Fig. 9 is straight change born of the same parents' bar schematic diagram of the present invention.
Figure 10 is the movable plate schematic diagram of driving auxiliary equipment of the present invention.
In figure mark for：1. triangle becomes born of the same parents' bar；2. directly become born of the same parents' bar；3. second connecting rod；4. the second expansion link assembly；5. first
Expansion link assembly；6. third connecting rod；7. rotating assembly；8. leaf spring；9. drawstring；10. side lever；11. rotating disk；12. first bevel gear；
13. second bevel gear；14. motor；15. screw；16. first connecting rod；17. flap；18. sliding bar；19. the second sliding block；20. the
Two thin expansion links；21. the second thick expansion link；22. the first sliding block；23. the first thin expansion link；24. the first thick expansion link；25. the
One supporting plate；26. the second supporting plate；27. connecting plate；28. bearing pin；29. central shaft；30. movable plate；31. wrapping paper；32. the
One cylinder；33. mould；34. variable topological packaging machine robot mechanism；35. the second cylinder；36. slide bar；37. the second screw；38. machine
Frame；39. grume；40. the first connecting plate；41. the second connecting plate；42. shaft coupling；43. screw mandrel；44. the second motor；45. movement
Plate chute.
Embodiment：
Technical scheme is further described with reference to the accompanying drawings and examples.
As shown in Figure 1, Figure 2, shown in Fig. 4, Fig. 5, Fig. 6 and Fig. 7, passive closed type variable topological packaging robot of the present invention
Driving auxiliary equipment, including triangle becomes born of the same parents bar 1, straight becomes born of the same parents' bar 2, second connecting rod 3, the second expansion link assembly 4, the first expansion link
Assembly 5, third connecting rod 6, rotating assembly 7, leaf spring 8, drawstring 9, side lever 10, rotating disk 11, first bevel gear 12, second bevel gear
13rd, motor 14, screw 15, first connecting rod 16, flap 17, sliding bar 18, the second sliding block 19, the second thin expansion link 20, second are thick
Expansion link 21, the first sliding block 22, the first thin expansion link 23, the first thick expansion link 24, the first supporting plate 25, the second supporting plate 26,
Connecting plate 27, bearing pin 28, central shaft 29, movable plate 30, the first cylinder 32, mould 33, variable topological packaging machine robot mechanism 34,
Two cylinders 35, slide bar 36, the second screw 37, frame 38, grume 39, the first connecting plate 40, the second connecting plate 41, shaft coupling 42,
Screw mandrel 43, the second motor 44 and movable plate chute 45, concrete structure and annexation are：
The motor 14 is arranged on movable plate 30 by screw 15, and second bevel gear 13 is arranged on motor 14, and second
Bevel gear 13 is engaged with first bevel gear 12, and first bevel gear 12 is welded on rotating disk 11, and rotating disk 11 is arranged on central shaft 29,
It can be rotated around central shaft 29, the one end of drawstring 9 is connected with rotating disk 11, and the other end is connected with leaf spring 8, the one end of leaf spring 8 and first connecting rod
16 are connected, and the other end is connected with side lever 10, through the grooving in the first supporting plate 25 and the second supporting plate 26 among drawstring 9, turn
Dynamic assembly 7 is made up of first connecting rod 16, sliding bar 18 and flap 17, and the one end of first connecting rod 16 is welded with flap 17, and the other end leads to
Cross bearing pin 28 with connecting plate 27 to be connected, and can be rotated around bearing pin 28, sliding bar 18 is installed in the elongated slot on flap 17, sliding bar
18 can move along elongated slot, and the second expansion link assembly 4 is by second connecting rod 3, the second thick expansion link 21, the second thin expansion link 20 and
Two sliding blocks 19 are formed, and second thick one end of expansion link 21 is welded on second connecting rod 3, and the other end and the second thin expansion link 20 are with cylinder
Secondary mode is connected, and the second thin bottom of expansion link 20 is connected with the secondary connected mode of ball with the second sliding block 19, and second connecting rod 3 is with ball
Secondary connected mode is connected with sliding bar 18, and the second sliding block 19 is arranged in the chute on straight change born of the same parents bar 2, and the second sliding block 19 can edge
Chute moves, and the first expansion link assembly 5 is by third connecting rod 6, the first thick expansion link 24, the first thin sliding block 22 of expansion link 23 and first
Composition, first thick one end of expansion link 24 are welded on third connecting rod 6, and the other end and the first thin expansion link 23 are in a manner of cylindrical pair
It is connected, the first thin bottom of expansion link 23 is connected with the secondary connected mode of ball with the first sliding block 22, and third connecting rod 6 is with the secondary connection of ball
Mode is connected with sliding bar 18, and the first sliding block 22 is arranged on triangle and become in the chute on born of the same parents' bar 1, and the first sliding block 22 can move along chute
Dynamic, slide bar 36 is welded in frame 38, and movable plate 30 is arranged on slide bar 36 by movable plate chute 45, and the bottom of movable plate 30 leads to
Cross screw thread to be connected with screw mandrel 43, the one end of the second motor 44 is connected by the second screw 37 with frame 38, and the other end passes through shaft coupling
42 are connected with screw mandrel 43, and the first connecting plate 40 and the second connecting plate 41 are welded in frame 38, and the first cylinder 32 is installed on first
On connecting plate 40, the second cylinder 35 is installed on the second connecting plate 41, and mould 33 is installed on the first cylinder 32, and grume 39 is installed
In on the second cylinder 35, variable topological packaging machine robot mechanism 34 is installed on movable plate 30.
The present invention operation principle be：
When variable topological packaging machine robot mechanism is in semi-closure conjunction state, as shown in figure 1, now leaf spring 8 is in nature shape
State, elastic potential energy 0, to make to close at the top of packaging machine robot mechanism, reach Fig. 2 state, rotating motor 14 positive first, motor
14 drive second bevel gears 13 rotate, and second bevel gear 13 drives first bevel gear 12 to rotate, and first bevel gear 12 drives rotating disk
11 rotations, drawstring 9 pulls leaf spring 8 to rotate counterclockwise, so as to drive first connecting rod 16 to be rotated counterclockwise around bearing pin 28, first connecting rod
16 drive flaps 17 rotate, and flap 17 drives the first expansion link assembly 5 and the second expansion link assembly 4 to rotate, and straight change is closed so as to push away
Born of the same parents' bar 2 and triangle become born of the same parents' bar 1, are finally reached the fully closed condition shown in Fig. 2；When being closed at the top of variable topological packaging robot,
Elastic potential energy of the spring is maximum, when variable topological packaging machine robot mechanism needs to be transformed into Fig. 1 states from Fig. 2 states, only needs to invert
Motor 14, motor 14 drive second bevel gear 13 to rotate, and second bevel gear 13 drives first bevel gear 12 to rotate, first bevel gear
12 drive rotating disks 11 rotate, and rotating disk 11 pulls drawstring 9 to rotate, and first connecting rod 16 is under the elastic force effect of leaf spring 8 around bearing pin 28
Turn clockwise, so as to drive flap 17 to turn clockwise, flap 17 drives the first expansion link assembly 5 and the second expansion link assembly
6 turn clockwise, and are pulled open so as to which straight change born of the same parents bar 21 and triangle are become into born of the same parents' bar 1, are finally reached state shown in Fig. 1；When variable topological bag
When machine robot mechanism 34 needs to move left and right, the second motor 44 is rotated, the second motor 44 passes through shaft coupling 42 and screw mandrel 43
Connection function drives screw mandrel 43 to rotate, and screw mandrel 43 with the threaded connection relation of movable plate 30 by driving movable plate 30 or so to move
Dynamic, movable plate 30 drives variable topological packaging machine robot mechanism 34 to move left and right, and the first cylinder 32 can promote mould 33 to move up and down,
The effect of mould 33 is to aid in wrapping paper 31 to be molded during packaging, and the second cylinder 35 can promote grume 39 to move up and down,
The effect of grume 39 is to glue the top of packaged wrapping paper 31 to stick.
Claims (1)
1. a kind of driving auxiliary equipment of passive closed type variable topological packaging robot, including triangle becomes born of the same parents' bar, straight becomes born of the same parents' bar, the
Two connecting rods, the second expansion link assembly, the first expansion link assembly, third connecting rod, rotating assembly, leaf spring, drawstring, side lever, rotating disk,
One bevel gear, second bevel gear, motor, screw, first connecting rod, flap, sliding bar, the second sliding block, the second thin expansion link, second
Thick expansion link, the first sliding block, the first thin expansion link, the first thick expansion link, the first supporting plate, the second supporting plate, connecting plate, pin
Axle, central shaft, movable plate, the first cylinder, mould, variable topological packaging machine robot mechanism, the second cylinder, slide bar, the second screw, machine
Frame, grume, the first connecting plate, the second connecting plate, shaft coupling, screw mandrel, the second motor and movable plate chute, it is characterised in that tool
Body structure and annexation are：
The motor is arranged on movable plate by screw, and second bevel gear is arranged on motor, second bevel gear and the first cone
Gear is engaged, and first bevel gear is welded on rotating disk, and rotating disk is installed on center shaft, and rotating disk can be around central axis, drawstring one
End is connected with rotating disk, and the other end is connected with leaf spring, and leaf spring one end is connected with first connecting rod, and the other end is connected with side lever, in drawstring
Between be made up of through the grooving in the first supporting plate and the second supporting plate, rotating assembly first connecting rod, sliding bar and flap, first
Connecting rod one end is welded with flap, and the other end is connected by bearing pin with connecting plate, and first connecting rod can rotate around bearing pin, sliding bar installation
In in the elongated slot on flap, sliding bar can move along elongated slot, the second expansion link assembly by second connecting rod, the second thick expansion link,
Second thin expansion link and the second sliding block composition, second thick expansion link one end are welded on second connecting rod, and the other end is carefully stretched with second
Contracting bar is connected in a manner of cylindrical pair, and the second thin expansion link bottom is connected with the secondary connected mode of ball with the second sliding block, and second connects
Bar is connected with the secondary connected mode of ball with sliding bar, and the second sliding block is arranged in the chute on straight change born of the same parents' bar, and the second sliding block can edge
Chute is moved, and the first expansion link assembly is made up of third connecting rod, the first thick expansion link, the first thin expansion link and the first sliding block, the
One thick expansion link one end is welded on third connecting rod, and the other end is connected with the first thin expansion link in a manner of cylindrical pair, and first is thin
Expansion link bottom is connected with the secondary connected mode of ball with the first sliding block, and third connecting rod is with ball secondary connected mode and sliding bar phase
Even, the first sliding block is arranged on triangle and become in the chute on born of the same parents' bar, and the first sliding block can be moved along chute, and slide bar is welded in frame,
Movable plate is arranged on slide bar by movable plate chute, and movable plate bottom is connected by screw thread with screw mandrel, and second motor one end leads to
Cross the second screw with frame to be connected, the other end is connected by shaft coupling with screw mandrel, and the first connecting plate and the second connecting plate are welded in
In frame, the first cylinder is installed on the first connecting plate, and the second cylinder is installed on the second connecting plate, and mould installion is in the first gas
On cylinder, grume is installed on the second cylinder, and variable topological packaging machine robot mechanism is installed on movable plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710221697.9A CN107414814A (en) | 2017-04-06 | 2017-04-06 | A kind of driving auxiliary equipment of passive closed type variable topological packaging robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710221697.9A CN107414814A (en) | 2017-04-06 | 2017-04-06 | A kind of driving auxiliary equipment of passive closed type variable topological packaging robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107414814A true CN107414814A (en) | 2017-12-01 |
Family
ID=60423497
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710221697.9A Pending CN107414814A (en) | 2017-04-06 | 2017-04-06 | A kind of driving auxiliary equipment of passive closed type variable topological packaging robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107414814A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108971839A (en) * | 2018-09-03 | 2018-12-11 | 柳州铁道职业技术学院 | A kind of welding robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3594981A (en) * | 1968-09-23 | 1971-07-27 | Robert W Pitts | Packaging apparatus |
| CN2513834Y (en) * | 2001-12-25 | 2002-10-02 | 赵永胜 | Covering for cargo car body |
| CN102601796A (en) * | 2012-04-06 | 2012-07-25 | 广西大学 | Multifunctional metamorphic mechanism and implementation method thereof |
| CN102672716A (en) * | 2012-05-22 | 2012-09-19 | 广西大学 | Reconfigurable metamorphic polyhedron robot mechanism |
| CN202609140U (en) * | 2012-06-28 | 2012-12-19 | 广西大学 | Packaging robot mechanism capable of changing topology |
-
2017
- 2017-04-06 CN CN201710221697.9A patent/CN107414814A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3594981A (en) * | 1968-09-23 | 1971-07-27 | Robert W Pitts | Packaging apparatus |
| CN2513834Y (en) * | 2001-12-25 | 2002-10-02 | 赵永胜 | Covering for cargo car body |
| CN102601796A (en) * | 2012-04-06 | 2012-07-25 | 广西大学 | Multifunctional metamorphic mechanism and implementation method thereof |
| CN102672716A (en) * | 2012-05-22 | 2012-09-19 | 广西大学 | Reconfigurable metamorphic polyhedron robot mechanism |
| CN202609140U (en) * | 2012-06-28 | 2012-12-19 | 广西大学 | Packaging robot mechanism capable of changing topology |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108971839A (en) * | 2018-09-03 | 2018-12-11 | 柳州铁道职业技术学院 | A kind of welding robot |
| CN108971839B (en) * | 2018-09-03 | 2023-06-23 | 柳州铁道职业技术学院 | Welding robot |
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| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20171201 |
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| WD01 | Invention patent application deemed withdrawn after publication |