CN203512074U - Filling tracking mechanical hand - Google Patents

Filling tracking mechanical hand Download PDF

Info

Publication number
CN203512074U
CN203512074U CN201320606163.5U CN201320606163U CN203512074U CN 203512074 U CN203512074 U CN 203512074U CN 201320606163 U CN201320606163 U CN 201320606163U CN 203512074 U CN203512074 U CN 203512074U
Authority
CN
China
Prior art keywords
swing arm
rod
link
transmission shaft
filling
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn - After Issue
Application number
CN201320606163.5U
Other languages
Chinese (zh)
Inventor
陈桂华
陈敬
都斌
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nanjing Guyan Pharmaceutical Equipment Co Ltd
Original Assignee
Nanjing Guyan Pharmaceutical Equipment Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nanjing Guyan Pharmaceutical Equipment Co Ltd filed Critical Nanjing Guyan Pharmaceutical Equipment Co Ltd
Priority to CN201320606163.5U priority Critical patent/CN203512074U/en
Application granted granted Critical
Publication of CN203512074U publication Critical patent/CN203512074U/en
Withdrawn - After Issue legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Abstract

The utility model discloses a filling tracking mechanical hand. The filling tracking mechanical hand comprises an upper servo motor (3), a lower servo motor (4), a lower swing arm transmission shaft (5), a lower swing arm (6), a connecting rod base (7), an upper swing arm auxiliary rod (8), a middle connecting rod (9), a filling needle frame (10), an upper swing arm transmission shaft (11), a middle shaft (12), an upper swing arm (13), an auxiliary support (14) and a lower swing arm auxiliary rod (15). In the structure, the connecting rod base (7), the upper swing arm auxiliary rod (8), the middle connecting rod (9) and the upper swing arm (13) form an upper parallelogram connecting rod mechanism, and the lower swing arm (6), the connecting rod base (7), the lower swing arm auxiliary rod (15) and the auxiliary support (14) form a lower parallelogram connecting rod mechanism. The upper swing arm transmission shaft and the lower swing arm transmission shaft are respectively driven by the servo motors to rotate by a specific angle, so that the filling needle frame is always in a horizontal state, tracking is rapid and stable, and production efficiency is high.

Description

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

Claims (7)

1. a filling follow-up machinery hand, comprise erection support (1), a side that it is characterized in that described erection support (1) is fixed with adapter plate (2), on adapter plate (2), be respectively equipped with servomotor (3) and lower servomotor (4), the output shaft of lower servomotor (4) is connected with one end of the lower swing arm transmission shaft (5) of its below by Timing Belt, the other end of lower swing arm transmission shaft (5) is through being connected with the connecting rod base (7) of its top by lower swing arm (6) after erection support (1), connecting rod base (7) is provided with top link auxiliary rod (8), the upper end of top link auxiliary rod (8) is connected with the intermediate connecting rod (9) that is positioned at its outside, filling punch block (10) is installed on intermediate connecting rod (9), the output shaft of described upper servomotor (3) is connected with one end of the top link transmission shaft (11) of its below by Timing Belt, the other end of top link transmission shaft (11) is through being connected with one end of the tween drive shaft (12) of its top by Timing Belt after erection support (1), the other end of tween drive shaft (12) is connected with the lower end of top link (13), the upper end of top link (13) is movably connected with the intermediate connecting rod (9) that is positioned at its inner side, described connecting rod base (7), top link auxiliary rod (8), parallelogram linkage in intermediate connecting rod (9) and top link (13) formation, on described erection support (1), be also provided with auxiliary stand (14), the outside of auxiliary stand (14) is provided with lower swing arm auxiliary rod (15), the bottom of the upper end of lower swing arm auxiliary rod (15) and connecting rod base (7) is movably connected, and described lower swing arm (6), connecting rod base (7), lower swing arm auxiliary rod (15), auxiliary stand (14) form lower parallelogram linkage.
2. filling follow-up machinery hand according to claim 1, it is characterized in that described top link transmission shaft (11) and lower swing arm transmission shaft (5) coaxially arranges and the inwall of top link transmission shaft (11) and the outer wall of lower swing arm transmission shaft (5) between be provided with bearing.
3. filling follow-up machinery hand according to claim 1, the upper end and the connecting rod base (7) that it is characterized in that described lower swing arm (6) are nested with in the outside of tween drive shaft (12), the upper end of tween drive shaft (12), lower swing arm (6) and connecting rod base (7) coaxially arrange and the upper end of lower swing arm (6) and the inwall of connecting rod base (7) and the outer wall of tween drive shaft (12) between be provided with bearing.
4. filling follow-up machinery hand according to claim 1, the coupling end that it is characterized in that described filling punch block (10) is fixedly linked with the intermediate connecting rod (9) that is positioned at top link (13) inner side through the upper end of top link (13), and is provided with bearing between the outer wall of filling punch block (10) coupling end and the inwall of top link (13) upper end.
5. filling follow-up machinery hand according to claim 1, the top that it is characterized in that described auxiliary stand (14) is nested with in the outside of top link transmission shaft (11) and is provided with bearing between the two.
6. filling follow-up machinery hand according to claim 1, is characterized in that being provided with tensioning shaft (16) in the Timing Belt between described top link transmission shaft (11) and tween drive shaft (12), and described tensioning shaft (16) is fixed on lower swing arm (6).
7. filling follow-up machinery hand according to claim 1, is characterized in that the outside of described lower swing arm transmission shaft (5), top link transmission shaft (11), lower swing arm (6), connecting rod base (7), tween drive shaft (12), top link auxiliary rod (8), intermediate connecting rod (9) and top link (13) is provided with guard shield (17).
CN201320606163.5U 2013-09-29 2013-09-29 Filling tracking mechanical hand Withdrawn - After Issue CN203512074U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201320606163.5U CN203512074U (en) 2013-09-29 2013-09-29 Filling tracking mechanical hand

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201320606163.5U CN203512074U (en) 2013-09-29 2013-09-29 Filling tracking mechanical hand

Publications (1)

Publication Number Publication Date
CN203512074U true CN203512074U (en) 2014-04-02

Family

ID=50371047

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201320606163.5U Withdrawn - After Issue CN203512074U (en) 2013-09-29 2013-09-29 Filling tracking mechanical hand

Country Status (1)

Country Link
CN (1) CN203512074U (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103448931A (en) * 2013-09-29 2013-12-18 南京固延制药设备有限公司 Filling tracking manipulator

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103448931A (en) * 2013-09-29 2013-12-18 南京固延制药设备有限公司 Filling tracking manipulator
CN103448931B (en) * 2013-09-29 2015-01-28 南京固延制药设备有限公司 Filling tracking manipulator

Similar Documents

Publication Publication Date Title
CN203697006U (en) Intelligent five-shaft manipulator
CN202952265U (en) Five-axis intelligent manipulator
CN204725041U (en) A kind of gantry swing arm welding machine
CN103448931B (en) Filling tracking manipulator
CN203512074U (en) Filling tracking mechanical hand
CN203332958U (en) Carrying mechanism
CN201501780U (en) Horizontal tracer for filling needle of filling machine
CN202558265U (en) Linking steering mechanism
CN207915497U (en) Manipulator rotary oscillation device
CN202070548U (en) Metal wire calendering device directly driven by servo motors
CN103466135A (en) Box opening guide mechanism for soft bag box loading
CN206467427U (en) A kind of three-dimensional point gum machine
CN107283101A (en) The comprehensive three-dimensional automatic welding machine cantilever shalving of one kind
CN202686883U (en) Servo drive device of paper brick-shaped aseptic filling machine
CN202519012U (en) Drug filling multidimensional motion tracking system
CN204508196U (en) Input and output material swing arm motion system on a kind of transfer robot
CN102602867A (en) Multi-directional movement tracking system for filling medicine
CN203601660U (en) Trimming mechanical arm
CN204125147U (en) For the synchronous lifting device of filling location
CN203528898U (en) Reciprocating moving type carton forming device of carton wrapping machine
CN204036827U (en) A kind of automatically controlled turning mould thermoforming machine
CN203486882U (en) Tracking filling component for filling machine
CN203307029U (en) Filling action mechanism of filling machine
CN105480482B (en) Ampoule cillin bottle packing carton opens mechanism of picking up the ears
CN107666222A (en) A kind of five axle servo horizontal single-surface wire binding machines

Legal Events

Date Code Title Description
GR01 Patent grant
C14 Grant of patent or utility model
AV01 Patent right actively abandoned

Granted publication date: 20140402

Effective date of abandoning: 20150128

RGAV Abandon patent right to avoid regrant