CN218465152U

CN218465152U - Mechanical arm movement mechanism of paper towel stacking machine

Info

Publication number: CN218465152U
Application number: CN202222906456.7U
Authority: CN
Inventors: 郭超毅
Original assignee: Foshan Nanhai Yichuang Equipment Co ltd
Current assignee: Foshan Nanhai Yichuang Equipment Co ltd
Priority date: 2022-11-01
Filing date: 2022-11-01
Publication date: 2023-02-10
Anticipated expiration: 2032-11-01

Abstract

The utility model discloses a paper handkerchief divides and folds quick-witted manipulator motion, including servo motor, fixed beam, walking beam, horizontal guiding mechanism, first connecting rod, second connecting rod, swing mechanism and finger piece, servo motor installs on the fixed beam, the one end and the servo motor fixed connection of first connecting rod, the other end is articulated mutually with the one end of second connecting rod, the other end and the walking beam of second connecting rod are articulated mutually, the walking beam is connected with horizontal guiding mechanism, swing mechanism installs on the walking beam, finger piece is connected with swing mechanism. The utility model discloses in, adopted servo motor to come as the power supply, it is compared in the control degree of difficulty of cylinder low, and the precision is high to the cooperation sets up first connecting rod and second connecting rod and can make things convenient for the extreme position that advances of finger spare and retreat the extreme position and adjust, with the different needs of convenient adaptation, simultaneously, servo motor's response speed and action are fast, can effectively improve machining efficiency.

Description

Mechanical arm movement mechanism of paper towel stacking machine

Technical Field

The utility model belongs to the technical field of mechanical design and specifically relates to a paper handkerchief divides and folds quick-witted manipulator motion.

Background

The tissue is a common daily product, and according to different appearances, the tissue is usually rolled and extracted, wherein the extraction is more convenient to use and is relatively sanitary compared with the rolled paper. At present, the production and processing of common tissues mostly depend on mechanical implementation, and the obtaining of the extraction paper often needs to perform splitting and folding on the tissues so as to fold one tissue to form a tissue stack, so as to facilitate subsequent packaging and transportation.

The existing paper towel stacking is realized by depending on a mechanical arm, and a patent CN202221314487.7 discloses a mechanical arm for paper towel stacking, and particularly discloses a finger piece for stacking and a first power device and a second power device for driving the finger piece to act. And in the patent, the second power device is preferably an air cylinder, and a piston rod of the air cylinder is fixedly connected with the beam seat through a bolt so that the second power device can drive the beam seat to move transversely, thereby realizing the transverse movement of the finger piece.

However, the cylinder driving mode is found that the control difficulty of the linear driving of the cylinder is high, the precision is low, most of the linear driving modes can only directly use two limit positions of the back-and-forth action of the piston rod of the cylinder to correspond to the forward limit position and the backward limit position of the finger piece, the flexibility is poor, and the linear driving mode is difficult to adapt to different paper towel stacking requirements. On the other hand, the response and the action efficiency of the cylinder are lower, and the processing efficiency is reduced.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a paper handkerchief divides and folds quick-witted manipulator motion can solve one or more of above-mentioned problem.

According to the utility model discloses an aspect provides a paper handkerchief divides and folds quick-witted manipulator motion, including servo motor, fixed beam, walking beam, horizontal guiding mechanism, first connecting rod, second connecting rod, swing mechanism and finger, servo motor installs on the fixed beam, the one end and the servo motor fixed connection of first connecting rod, the other end are articulated mutually with the one end of second connecting rod, the other end and the walking beam of second connecting rod are articulated mutually, the walking beam is connected with horizontal guiding mechanism, swing mechanism installs on the walking beam, the finger is connected with swing mechanism.

The utility model has the advantages that: the utility model discloses in, servo motor can rotate through driving first connecting rod to first connecting rod can drive the walking beam through the second connecting rod and remove, and gets off the horizontal migration who realizes the walking beam at horizontal guiding mechanism's spacing and guide effect, realizes the horizontal migration of finger spare with this promptly. The utility model discloses in, adopted servo motor to come as the power supply, it is compared in the control degree of difficulty of cylinder low, and the precision is high to the cooperation sets up first connecting rod and second connecting rod and can make things convenient for the extreme position that advances of finger spare and retreat the extreme position and adjust, with the different needs of convenient adaptation, simultaneously, servo motor's response speed and action are fast, can effectively improve machining efficiency. In addition, the utility model discloses in still be provided with swing mechanism, can conveniently realize the swing of finger spare and in order conveniently to realize the action of inserting on the paper handkerchief or deviate from the action, come to be used for the branch of paper handkerchief to fold promptly.

In some embodiments, the utility model discloses still include the mounting panel, the fixed beam is installed on the mounting panel, horizontal guiding mechanism installs on the mounting panel. The setting of mounting panel can be convenient the utility model discloses install in other structurally.

In some embodiments, the horizontal guiding mechanism comprises a sliding block and a transverse guide rail, the transverse guide rail is mounted on the mounting plate, the sliding block is slidably arranged on the transverse guide rail, and the movable beam is connected with the sliding block. Therefore, the movable beam can drive the sliding block to move together, and the sliding block can be limited and guided by the transverse guide rail, so that the movable beam can move linearly.

In some embodiments, the utility model discloses still include the motor cabinet, servo motor passes through the motor cabinet to be installed on the fixed beam. The setting of motor cabinet can make things convenient for servo motor to effectively install on the fixed beam.

In some embodiments, the utility model discloses still include the free bearing, the second connecting rod is articulated mutually with the walking beam through the free bearing, servo motor is equipped with the motor shaft, the second connecting rod in the center of rotation of free bearing with the center of rotation offset setting of motor shaft. The second connecting rod is arranged in a mode that the rotating center of the hinged support and the rotating center of the motor shaft are offset, so that the movable beam can have different speeds at different moving positions conveniently to match different requirements, for example, the movable beam has a quick return characteristic, and the finger piece can move back quickly in the horizontal direction.

In some embodiments, the swing mechanism includes a power device mounted on the walking beam, a shaft mounted on the walking beam, and a shaft seat on which the shaft is mounted, the finger being connected to the shaft. Therefore, the shaft can rotate along with the driving of the power device so as to realize the swing of the finger piece and realize the insertion action or the separation action of the finger piece on the paper towel.

In some embodiments, the swing mechanism further includes a third connecting rod and a connecting block, one end of the third connecting rod is connected to the power device, the other end of the third connecting rod is connected to the connecting block, and the connecting block is sleeved on the shaft. Therefore, the power device can drive the connecting block to move through the third connecting rod, so that the shaft can rotate to a certain degree.

In some embodiments, the finger member is provided with a sleeve block that is sleeved on the shaft. The arrangement of the sleeve block can increase the contact area between the finger piece and the shaft, thereby improving the connection reliability between the finger piece and the shaft.

Drawings

Fig. 1 is a schematic structural view of a mechanical arm movement mechanism of a paper towel stacking machine according to an embodiment of the present invention.

Fig. 2 is an enlarged view of a portion a of the robot moving mechanism of the paper towel dispenser of fig. 1.

Fig. 3 is an enlarged view of a portion B of the robot moving mechanism of the paper towel dispenser of fig. 1.

In the figure: 1. servo motor, 2, fixed beam, 3, movable beam, 4, horizontal guiding mechanism, 5, first connecting rod, 6, second connecting rod, 7, swinging mechanism, 8, finger piece, 9, motor base, 10, hinged base, 20, mounting plate, 11, motor shaft, 41, slide block, 42, transverse guide rail, 71, power device, 72, shaft, 73, shaft base, 74, third connecting rod, 75, connecting block, 81, and sleeve block.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

Referring to fig. 1, fig. 2 and fig. 3, the utility model discloses a mechanical arm movement mechanism of a paper towel stacking machine, which comprises a servo motor 1, a fixed beam 2, a movable beam 3, a horizontal guide mechanism 4, a first connecting rod 5, a second connecting rod 6, a swing mechanism 7 and a finger piece 8.

The utility model discloses still include motor cabinet 9, servo motor 1's fuselage passes through bolt fixed mounting on motor cabinet 9, and servo motor 1 is equipped with motor shaft 11, and motor shaft 11 then passes through the bearing and installs on motor cabinet 9 for motor shaft 11 can rotate on motor cabinet 9, and motor cabinet 9 passes through bolt fixed mounting on fixed beam 2, and servo motor 1 installs on fixed beam 2 through motor cabinet 9 promptly.

The utility model discloses still include mounting panel 20, mounting panel 20 is preferred two, and the bolt is passed through respectively fixed mounting on two mounting panels 20 at the both ends of fixed beam 2.

One end of the first connecting rod 5 is fixedly sleeved on the motor shaft 11 of the servo motor 1, so that the first connecting rod 5 can rotate along with the rotation of the motor shaft 11 of the servo motor 1, and the other end of the first connecting rod 5 is hinged with one end of the second connecting rod 6 through a pin shaft.

The utility model discloses still include free bearing 10, the other end of second connecting rod 6 is connected through the round pin axle with free bearing 10, and free bearing 10 passes through bolt fixed mounting on walking beam 3, and second connecting rod 6 is articulated mutually with walking beam 3 through free bearing 10 promptly.

The second link 6 is located at a different height from, i.e., offset between, the rotational center of the hinge base 10 and the rotational center of the motor shaft 11. In this way, even if the rotation speed of the motor shaft 11 is constant, the movable beam 3 can have different movement speeds at different moving positions to match different use requirements, for example, the movable beam 3 has a quick return characteristic to realize the rapid backward movement of the finger 8 in the horizontal direction.

The horizontal guide mechanism 4 is preferably two, and the horizontal guide mechanism 4 includes a slider 41 and a lateral guide rail 42. The transverse guide rails 42 on the two horizontal guide mechanisms 4 are all arranged in parallel to the horizontal plane, the two transverse guide rails 42 are respectively and fixedly installed on the two installation plates 20 through bolts, the two sliding blocks 41 are respectively sleeved on the two transverse guide rails 42 and can respectively slide along the two transverse guide rails 42, and two ends of the movable beam 3 are respectively and fixedly connected with the two sliding blocks 41 through bolts.

The swing mechanism 7 includes a power unit 71, a shaft 72, and a shaft seat 73. The power device 71 is preferably another servo motor, the body of the power device 71 is fixedly mounted on the movable beam 3 through another motor base, the number of the shaft bases 73 is preferably two, the two shaft bases 73 are fixedly mounted on the movable beam 3 through bolts, a bearing is arranged in each shaft base 73, one end of the shaft 72 is sleeved with the bearing in one shaft base 73, the other end of the shaft 72 is sleeved with the bearing in the other shaft base 73, and therefore the shaft bases 73 play a certain limiting role in the shaft 72 and cannot influence the rotation of the shaft 72.

The swing mechanism 7 further includes a third link 74 and a link block 75. One end of the third connecting rod 74 is eccentrically connected with the output shaft of the power device 71, the other end of the third connecting rod 74 is hinged with the connecting block 75 through a pin shaft, and the connecting block 75 is fixedly sleeved on the shaft 72, so that the rotation of the output shaft of the power device 71 can drive the connecting block 75 to swing to a certain extent through the third connecting rod 74, and the swing of the connecting block 75 can realize the rotation of the shaft 72.

The number of the finger parts 8 is multiple, all the finger parts 8 are provided with the sleeve blocks 81, and the sleeve blocks 81 are fixedly sleeved on the shaft 72, so that all the finger parts 8 are fixedly arranged on the shaft 72, and the finger parts 81 can swing along with the rotation of the shaft 72. In addition, the finger member 8 is provided with an insertion portion, and the end of the insertion portion is provided with a bevel 821, which can further reduce the probability of damage to the towel when the towel is inserted into the finger member 1.

The utility model discloses a paper handkerchief divides and folds quick-witted manipulator motion can be arranged in the paper handkerchief divides and folds the machine, carry out the branch of paper handkerchief at needs finger spare 8 and fold the during operation, can start servo motor 1, servo motor 1's motor shaft 11 rotates, and motor shaft 11's rotation can drive first connecting rod 5 and rotate, and the rotation of first connecting rod 5 can drive walking beam 3 through second connecting rod 6 and remove, and walking beam 3 is owing to be connected with slider 41, then slider 41 can be along with walking beam 3 removes, nevertheless the removal of slider 41 can receive transverse guide 42's spacing and direction simultaneously, make slider 41 only can do transverse movement, also only do transverse movement promptly for walking beam 3, thereby realize transverse movement through swing mechanism 7 finger spare 8 that sets up on walking beam 3, come the convenient paper handkerchief that is close to needs branch and folds.

When the finger member 8 reaches the position where the paper towels can be folded, the power device 71 is started, the power device 71 can drive the connecting block 75 to rotate through the third connecting rod 74, the rotating of the connecting block 75 can drive the shaft 72 to rotate, and the finger member 8 mounted on the shaft 72 can swing along with the rotation of the shaft 72, so that the insertion action is realized to fold the paper towels.

After the folding is finished, the finger piece 8 can be reversely swung by the power device 71 to return to the position before the insertion, and then the movable beam 3 is retreated along the transverse guide rail 42 by the servo motor 1 to return to the original position to realize the resetting.

The utility model discloses in, servo motor 1 has been adopted and has come as the power supply, it is compared in the control degree of difficulty of cylinder low, high accuracy, and the cooperation sets up first connecting rod 5 and the use of second connecting rod 6, and the change of first connecting rod 5 and second connecting rod 6 is convenient, can make things convenient for the extreme position that gos forward of finger 8 and retreat the extreme position through setting up first connecting rod 5 and the second connecting rod 6 of different length to adjust, in order to conveniently adapt to different needs, and simultaneously, servo motor 1's response speed and action speed are fast, machining efficiency can be effectively improved.

What has been described above is merely some embodiments of the present invention. For those skilled in the art, without departing from the inventive concept, several modifications and improvements can be made, which are within the scope of the invention.

Claims

1. Paper handkerchief divides and folds quick-witted manipulator motion, its characterized in that includes servo motor, fixed beam, walking beam, horizontal guide mechanism, first connecting rod, second connecting rod, swing mechanism and finger spare, servo motor installs on the fixed beam, the one end and the servo motor fixed connection of first connecting rod, the other end is articulated mutually with the one end of second connecting rod, the other end and the walking beam of second connecting rod are articulated mutually, the walking beam is connected with horizontal guide mechanism, swing mechanism installs on the walking beam, the finger spare is connected with swing mechanism.

2. The towel dispenser robot movement mechanism of claim 1, comprising a mounting plate, wherein the fixed beam is mounted to the mounting plate, and wherein the horizontal guide mechanism is mounted to the mounting plate.

3. The mechanical arm movement mechanism of a paper towel stacking machine according to claim 2, wherein the horizontal guide mechanism comprises a sliding block and a transverse guide rail, the transverse guide rail is mounted on the mounting plate, the sliding block is slidably arranged on the transverse guide rail, and the movable beam is connected with the sliding block.

4. The mechanical arm movement mechanism of a paper towel stacking machine according to claim 1, comprising a motor base, wherein the servo motor is mounted on the fixed beam through the motor base.

5. The mechanical arm movement mechanism of the paper towel folding machine according to claim 4, comprising a hinged support, wherein the second connecting rod is hinged with the movable beam through the hinged support, the servo motor is provided with a motor shaft, and the second connecting rod is arranged in a manner that the rotation center of the hinged support is offset from the rotation center of the motor shaft.

6. The manipulator motion mechanism of claim 1, wherein the swing mechanism comprises a power device, a shaft, and a shaft seat, the power device is mounted on the walking beam, the shaft seat is mounted on the walking beam, the shaft is mounted on the shaft seat, and the finger element is connected to the shaft.

7. The mechanical arm movement mechanism of a paper towel stacking machine according to claim 6, wherein the swing mechanism comprises a third connecting rod and a connecting block, one end of the third connecting rod is connected with the power device, the other end of the third connecting rod is connected with the connecting block, and the connecting block is sleeved on the shaft.

8. The manipulator movement mechanism of claim 6, wherein the finger member has a sleeve, and the sleeve is disposed on the shaft.