WO2017190685A1 - 一种包装机用的五连杆推料机构 - Google Patents

一种包装机用的五连杆推料机构 Download PDF

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Publication number
WO2017190685A1
WO2017190685A1 PCT/CN2017/083224 CN2017083224W WO2017190685A1 WO 2017190685 A1 WO2017190685 A1 WO 2017190685A1 CN 2017083224 W CN2017083224 W CN 2017083224W WO 2017190685 A1 WO2017190685 A1 WO 2017190685A1
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WIPO (PCT)
Prior art keywords
link
packaging machine
connection point
pushing mechanism
connecting rod
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PCT/CN2017/083224
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English (en)
French (fr)
Inventor
林颖宗
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广州市兴世机械制造有限公司
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Publication of WO2017190685A1 publication Critical patent/WO2017190685A1/zh

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    • 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
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/10—Feeding, e.g. conveying, single articles
    • B65B35/20—Feeding, e.g. conveying, single articles by reciprocating or oscillatory pushers
    • 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
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/30—Arranging and feeding articles in groups
    • B65B35/40—Arranging and feeding articles in groups by reciprocating or oscillatory pushers

Definitions

  • the invention relates to the field of sanitary article manufacturing equipment, in particular to a five-bar pushing mechanism for a packaging machine.
  • the moving distance of the product is about 2.4 meters, and the switching between the products in each station is as shown in FIG. 1 , which is realized by pushing the product by the pushing unit 21, wherein 19 is a sealing unit, 20
  • the working principle of the push unit 21 is as shown in FIG. 2, and the timing belt 21-5 is driven by the moving drive motor 21-4 to perform forward rotation or reverse rotation, and the frame 21-3 and the swing arm 21-2 are moved.
  • the moving part composed of the swing arm motor 21-1 is clamped on the timing belt.
  • the timing belt rotates, the moving part moves back and forth along the beam guide 21-6 to complete the function of pushing the material from the M position to the N position.
  • the moving member returns, the swing arm 21-2 is rotated from the X state to the Y state by the swing arm motor 21-1, so as to avoid hitting other parts during the return stroke, and ensuring safety.
  • the pusher unit can satisfy the use of the existing equipment, there is still a significant deficiency in the actual production process: the swing arm motor of the pusher unit and the associated reducer need to follow the swing arm movement, resulting in excessive weight of the moving parts. , the exercise inertia is too large, can not adapt to high-speed operation, limiting the packaging machine package The increase in loading speed is not conducive to the improvement of production efficiency, so it is necessary to develop a new pusher mechanism to improve this situation.
  • the object of the present invention is to overcome the deficiencies of the prior art and to provide a five-link pushing mechanism for a packaging machine which is simple and light in structure and can be adapted to high-speed operation of equipment.
  • the technical scheme of the invention is: a five-link pushing mechanism for a packaging machine, comprising a five-link unit, a pusher member and a mounting bracket, the mounting bracket is arranged in the middle of the material moving route, and the five-link unit is arranged on the mounting bracket Upper, the execution output of the five-link unit is fixedly connected to the pusher.
  • the five-link unit includes a first link, a second link, a third link, a fourth link and a fifth link which are sequentially connected to form a circulation structure, the first link is a fixed rod, and the second link is The third connecting rod, the fourth connecting rod and the fifth connecting rod are all movable rods, and one end of the second connecting rod connected to the first connecting rod is provided with a first driving motor, and the fifth connecting rod is connected with the first connecting rod A second drive motor is provided at one end.
  • connection point of the third link and the fourth link is an execution output end of the five-link unit, and the connection point of the third link and the fourth link is fixedly connected with the pusher member; the first link and the first drive Both the motor and the second drive motor are fixed to the mounting bracket.
  • the second link rotates around a connection point of the second link and the first link
  • the fifth link rotates around a connection point of the fifth link and the first link
  • the third link rotates around the third link
  • the connection point of the second link rotates
  • the fourth link rotates around the connection point of the fourth link and the fifth link.
  • the five-link unit further includes a sixth link, a seventh link, an eighth link, a ninth link, and a tenth link, and a sixth
  • the connecting rod is a horizontal extension of the first link (ie, one end of the sixth link is connected to the seventh link, and the other end of the sixth link is connected to the connection point of the first link and the second link),
  • the seven links are parallel to the second link, the ninth link is parallel to the third link, one end of the eighth link is connected to the connection point of the seventh link and the ninth link, and the other end of the eighth link is connected a connection point between the second link and the third link, one end of the tenth link is connected to the end of the ninth link, and the other end of the tenth link is connected to the connection point of the third link and the fourth link;
  • a connection point of the connecting rod and the sixth link and a connection point of the second link and the first link are connected by a timing belt or a synchronous gear set.
  • the tenth link is an execution output end of the five-link unit, and the tenth link is fixedly connected with the pusher member; the first link, the sixth link, the first drive motor and the second drive motor are all fixed to the mounting bracket on.
  • the seventh link rotates around a connection point of the seventh link and the sixth link
  • the ninth link rotates around a connection point of the ninth link and the seventh link
  • the eighth link and the second link are cyclically connected to form a parallelogram structure
  • the eighth link, the ninth link, the tenth link and the third link are cyclically connected to form another parallelogram structure, thereby ensuring
  • the tenth link of the working platform is always parallel to the sixth link and is controlled by the motion of the two drive motors.
  • the first drive motor and the second drive motor are both servo drive motors.
  • the first drive motor and the second drive motor adopt two independent servo drive motors, and the independent movement of the second link and the fifth link is controlled, so that the five-link unit can output any required value within its limit range. Movement and trajectory.
  • the first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod and the fifth connecting rod are all carbon fiber connecting rod members, have excellent mechanical properties and sports performance, and can push the five-bar linkage
  • the operation of the organization plays a guarantee role.
  • the pusher member is a curved pusher structure; the mounting bracket is a frame structure disposed above the material moving route.
  • the invention has the following beneficial effects:
  • the five-link pushing mechanism used in the packaging machine greatly simplifies the structure, omits the components such as the swing motor, the cylinder, the speed reducer, and the like, and does not require the pipeline to follow the movement, so that the weight of the moving part is obtained.
  • the packaging machine obtains a good performance pushing mechanism, effectively improves the performance of the packaging machine, and adapts the packaging machine to high-speed operation, effectively improving production efficiency and reducing production costs.
  • the five-link pusher mechanism used in the packaging machine has a simple structure and flexible use, can provide excellent mechanical transmission performance, and can generate more complex motion output than the conventional four-bar linkage mechanism, including rest and stop. Sports, etc., its output trajectory is diversified, and it can be flexibly adapted to the packaging and pushing materials of various specifications.
  • the five-link unit uses two independent drive motors to control the movable links. By combining the two sets of independent movements, the five-link pushing mechanism can output any desired motion within its limit range. And the track.
  • each connecting rod of the five-link unit is made of carbon fiber Piece or carbon fiber force-bearing parts, with excellent mechanical properties and sports performance, can effectively guarantee the normal operation and effective operation of the five-bar linkage mechanism.
  • the five-bar pushing mechanism After testing in the packaging machine for disposable sanitary products such as sanitary napkins and pads, the five-bar pushing mechanism has greatly improved the equipment performance and production efficiency of the production line, simplifying the equipment and reducing labor. Operation is conducive to the control of production costs.
  • FIG. 1 is a schematic structural view of a pusher unit on an existing packaging machine.
  • FIG. 2 is a schematic view showing the working principle of the pusher unit of FIG. 1.
  • Fig. 3 is a schematic view showing the working principle of the five-link pushing mechanism.
  • Figure 4 is a front elevational view of Figure 3.
  • Fig. 5 is a schematic view showing the state of the five-link pushing mechanism applied to the packaging machine.
  • Fig. 6 is a schematic structural view of a five-link unit in the first embodiment.
  • Figure 7 is a simplified schematic diagram of Figure 1.
  • Figure 8 is a schematic view showing the set length of each link in the five-bar linkage mechanism of Figure 1.
  • FIG. 9 is a schematic diagram showing the principle of the motion path of the five-bar linkage mechanism of FIG.
  • Fig. 10 is a schematic view showing the principle of the final movement path of the pusher in the five-link pushing mechanism.
  • Figure 11 is a schematic view showing the structure of a five-link unit in the second embodiment.
  • Figure 12 is a side view of the shaft of Figure 5.
  • Figure 13 is a schematic view showing the structure of a part of the connecting rod added in the second embodiment as compared with the first embodiment.
  • Figure 14 is a simplified schematic diagram of Figure 13.
  • Figure 15 is a schematic diagram of two working states that may be generated when the connection point of the seventh link and the sixth link and the connection point of the second link and the first link are not synchronized.
  • a five-link pushing mechanism for a packaging machine is suitable for the case where the structure of the pusher is relatively simple and the number of fixed mounting points is small.
  • the five-link pushing mechanism comprises a five-link unit, a pusher member and a mounting bracket, the mounting bracket is arranged in the middle of the material moving route, the five-link unit is arranged on the mounting bracket, and the execution output end of the five-link unit is fixed with the pusher member. connection.
  • the structure of the five-link unit is as shown in FIG. 6 or FIG. 7, and includes a first link 1, a second link 2, a third link 3, a fourth link 4, and a fifth which are sequentially connected to form a cyclic structure.
  • the connecting rod 5, the first connecting rod is a fixed rod (the fixed points at both ends are point A and point B, respectively, as shown in Fig. 7), and the second connecting rod, the third connecting rod, the fourth connecting rod and the fifth connecting line
  • the rods are all movable rods, one end of the second connecting rod is connected with the first connecting rod is provided with a first driving motor 11, and the end of the fifth connecting rod connected with the first connecting rod is provided with a second driving motor 12 (the structure can be seen) 12).
  • connection point of the third link and the fourth link is an execution output end of the five-link unit, and the connection point (ie, point D) is fixedly connected with the pusher member;
  • the rod, the first drive motor and the second drive motor are each fixed to the mounting bracket.
  • the second link rotates about a connection point (ie, point B) of the second link and the first link
  • the fifth link rotates around a connection point (ie, point A) of the fifth link and the first link
  • the third link rotates about a connection point (ie, point C) of the third link and the second link
  • the fourth link rotates around a connection point (ie, point E) of the fourth link and the fifth link.
  • the first drive motor and the second drive motor are both servo drive motors.
  • the first drive motor and the second drive motor adopt two servo drive motors independent of each other, and the independent movement of the second link and the fifth link is controlled, so that the five-bar linkage mechanism can output any need within its limit range. Movement and trajectory.
  • the first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod and the fifth connecting rod are all carbon fiber connecting rod members, and have excellent mechanical properties and sports performance, and can operate from the five-bar linkage mechanism To the role of security.
  • the pusher member 17 is a curved pusher structure; the mounting bracket 18 is a frame structure disposed above the material moving path.
  • the principle of the five-link unit is as follows: as shown in FIG. 6 or FIG. 7, point A and point B are fixed joints, and the first link is a fixed link, so the second connection Rod and fifth company One end of the rod can respectively rotate corresponding to the point B and the point A, and is respectively driven by the independent servo drive motor, so the movements of the second link and the fifth link are independently controlled by the corresponding drive motor, point C and The movement of point E is also controlled by the corresponding drive motor.
  • the motion of the point D as the output end is simultaneously controlled by the two driving motors, and when the driving motor motion program is changed, the D point can be controlled according to the required motion trajectory. motion.
  • the motion trajectory of the dual-drive five-bar linkage mechanism is calculated as follows: As shown in Fig. 8, it is assumed that the length of the first link is L1, the length of the second link is L2, and the length of the third link is L3, the fourth link The length of the rod is L4, and the length of the fifth link is L5; as shown in Fig. 9, the effective motion trajectory of the five-bar linkage mechanism is shown in the shaded portion in Fig. 9, wherein the area in the circle 13 represents the second connection
  • the combination of the rod and the third link can reach the minimum range of the trajectory (ie, L3-L2), and the area within the circle 14 indicates the maximum range (ie, L3+L2) that can reach the trajectory after the combination of the second link and the third link.
  • the area in the circle 15 indicates the minimum range (ie, L4-L5) at which the fourth link and the fifth link are combined to reach the trajectory, and the area in the circle 16 indicates that the fourth link and the fifth link are combined to reach The maximum range of the trajectory (ie L4+L5).
  • the formed shadow part is the effective moving track of the output end of the five-bar linkage mechanism.
  • the movement of the driving motor can be changed by conventional programming, so that the moving point D can be realized to the required position or the driving point D according to The required trajectory movement, when necessary, can change the length of the first link, the second link, the third link, the fourth link or the fifth link to change the range of motion of the five-link manipulator, thereby reflecting The powerful working area of the five-link manipulator and the powerful trajectory output capability.
  • the five-link pushing mechanism when the five-link pushing mechanism is applied to the packaging machine, the five-link pushing mechanism generally only needs to complete the pushing of the material from the M point as shown in FIG. 3 or FIG.
  • a five-bar pushing mechanism for a packaging machine is suitable for a case where the structure of the pusher is large and the required mounting points are large.
  • the five-link pushing mechanism of the present embodiment is different from that of the first embodiment in that, as shown in FIG. 13 or FIG. 14, the five-link unit (the overall structure thereof is as shown in FIG. 11 or FIG. 12) Including the sixth a connecting rod 6, a seventh connecting rod 7, an eighth connecting rod 8, a ninth connecting rod 9 and a tenth connecting rod 10, wherein the sixth connecting rod is a horizontal extension of the first connecting rod (ie, one end of the sixth connecting rod is connected to On the seventh link (ie, point G), the other end of the sixth link is connected to the connection point of the first link and the second link (ie, point B), and the seventh link is parallel to the second link
  • the ninth link is parallel to the third link, one end of the eighth link is connected to the connection point of the seventh link and the ninth link (ie, point H), and the other end of the eighth link is connected to the second link a connection point with the third link (ie, point C), one end of the tenth link is connected to the end of the ninth link (i
  • the sixth link is a fixed rod
  • the seventh link and the ninth link are movable rods; as shown in FIG. 14, the connection point of the seventh link around the seventh link and the sixth link (ie, point G) Rotating, the ninth link rotates around the connection point of the ninth link and the seventh link (ie, point H).
  • the sixth link, the seventh link, the eighth link and the second link are cyclically connected to form a parallelogram structure
  • the eighth link, the ninth link, the tenth link and the third link are cyclically connected in sequence
  • Another parallelogram structure is formed to ensure that the tenth link as the working platform is always parallel to the sixth link and is controlled by the motion of the two drive motors.
  • the tenth link is an execution output end of the five-bar linkage mechanism, and the execution output end is fixedly connected with the pusher member.
  • the first link, the sixth link, the first drive motor, and the second drive motor are all fixed to the mounting bracket.
  • the pusher unit as the execution part is a unitary structure mechanism, a platform or a member is generally required to fix it, but the five-bar linkage mechanism of Embodiment 1 can only control one point, and it is difficult to apply.
  • the five-link manipulator of the second embodiment needs to be used, and the added sixth link, the seventh link, the eighth link and the ninth link are used as auxiliary members, and the second connection
  • the rod, the third link and the tenth link form an auxiliary mechanism, the purpose of which is to expand the point D as the output end into a mechanism output (ie, the tenth link), and only need to install the manipulator in the tenth connection
  • the trajectory of the tenth link driving the robot to move is completely consistent with the trajectory of the point D described in Embodiment 1.
  • the working principle of the auxiliary mechanism is as follows: point B and point G are fixed joints, the sixth link is fixed, and the second link and the seventh link are rotated corresponding to the point B and the point G, when the control points B and G are When the angle is rotated, the movement of point H and point C can be controlled, the lengths of the second link and the seventh link are equal, the lengths of the third link and the ninth link are equal, and the sixth link and the eighth link are And the length of the tenth link is equal, so the auxiliary mechanism is actually a combination of two parallelograms, and the characteristics of the parallelogram can ensure that the sixth link, the eighth link and the tenth link are always parallel to each other, so The ten link is equivalent to a working platform that can be parallel to the sixth link.
  • the point C may be generated as shown in FIG. State a or state b, that is, the seventh link may operate in the opposite direction of the second link, changing the entire auxiliary mechanism to the state a or state b shown in FIG. 9, resulting in the tenth link and the sixth
  • the links are no longer parallel, and the tenth link is not yet fully movable in accordance with the desired motion trajectory, which obviously does not correspond to the object of the present invention.
  • the point B and the point G are connected by a timing belt (which may also be connected by a gear transmission), so that the point B and the point G are synchronously operated, and the seventh link is also kept parallel with the second link.
  • the motion is synchronized and the angle of rotation is synchronized to ensure that the tenth link is always parallel to the sixth link and that its motion is controlled by the two drive motors.
  • the effective motion trajectory of the tenth link in this embodiment is the same as the effective motion trajectory of the point D in the first embodiment.
  • the specific structural form of the tenth link it is possible to adapt to the installation requirements and motion requirements of the pusher parts of different structural forms.

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Abstract

一种包装机用的五连杆推料机构，包括五连杆单元、推手件（17）和安装支架（18），安装支架（18）设于物料移动路线的中部，五连杆单元设于安装支架（18）上，五连杆单元的执行输出端与推手件（17）固定连接。该包装机用的五连杆推料机构与现有的推手件相比较，简化了结构，省去摆动电机、气缸、减速器等部件，并且无需管线跟随运动，使移动部件的重量得到较大程度的减轻，从而使包装机获得性能良好的推料机构，有效提高包装机性能，并且使包装机适应高速运行，有效提高生产效率，降低生产成本。

Description

一种包装机用的五连杆推料机构 技术领域
本发明涉及卫生用品制造设备领域，特别涉及一种包装机用的五连杆推料机构。
背景技术
在一次性卫生用品(如卫生巾、纸尿裤、成人纸尿裤等)的生产中，其产品生产后为单片状态，一般会经过人工或机器把数片或数十片产品片堆叠好，放进包装袋中后再把包装袋口封牢，成为市场上销售的袋装产品。目前，为了提高生产效率，在这些生产线中也有配套全自动包装机器的，在产品单片生产完成后，经过包装机自动完成产品装袋，包装袋封口等工序，生产过程不需人工参与，保证产品卫生，节省人力物力。
在包装机上，一般设有压缩、包装袋张口、产品装袋以及包装袋封口等工序，这些工序在设备空间上按顺序呈一字排开，完成一次产品包装需要经过以上所有工序对应的工位，产品的移动距离约为2.4米，而产品在各工位之间的切换，则如图1所示，是由推手单元21推动产品使其移动来实现的，其中，19为封口单元，20为张袋单元，推手单元21的工作原理如图2所示，通过移动驱动电机21-4驱动同步带21-5进行正向转动或反向转动，移动框架21-3、摆臂21-2和摆臂电机21-1组成的移动部件通过夹紧在同步带上，当同步带转动时，移动部件沿着横梁导轨21-6进行前后移动，完成把物料从M位置推动到N位置的功能。当移动部件返回时，摆臂21-2在摆臂电机21-1的驱动下由X状态旋转到Y状态，避免返程时撞到其它零件，保证安全。
然而，这种推手单元虽然能满足现有设备的使用，但在实际生产过程中仍存在明显不足：该推手单元的摆臂电机以及配套的减速机需要跟随摆臂移动，导致移动部件重量过大，运动惯量过大，无法适应高速运行，限制了包装机包 装速度的提升，不利于生产效率的提高，故需要开发一款新的推手机构用于改善这种情况。
发明内容
本发明的目的在于克服现有技术的不足，提供一种结构简单轻巧、可适应设备高速运行的包装机用的五连杆推料机构。
本发明的技术方案为：一种包装机用的五连杆推料机构，包括五连杆单元、推手件和安装支架，安装支架设于物料移动路线的中部，五连杆单元设于安装支架上，五连杆单元的执行输出端与推手件固定连接。
所述五连杆单元包括依次连接组成循环结构的第一连杆、第二连杆、第三连杆、第四连杆和第五连杆，第一连杆为固定杆，第二连杆、第三连杆、第四连杆和第五连杆均为活动杆，第二连杆与第一连杆连接的一端设有第一驱动电机，第五连杆与第一连杆连接的一端设有第二驱动电机。
所述第三连杆和第四连杆的连接点为五连杆单元的执行输出端，第三连杆和第四连杆的连接点与推手件固定连接；第一连杆、第一驱动电机和第二驱动电机均固定于安装支架上。
所述第二连杆绕第二连杆与第一连杆的连接点旋转，第五连杆绕第五连杆与第一连杆的连接点旋转，第三连杆绕第三连杆与第二连杆的连接点旋转，第四连杆绕第四连杆与第五连杆的连接点旋转。
进一步的，为了增大五连杆单元执行输出端的面积，所述五连杆单元还包括第六连杆、第七连杆、第八连杆、第九连杆和第十连杆，第六连杆为第一连杆的水平延长段(即第六连杆一端连接于第七连杆上，第六连杆的另一端连接于第一连杆与第二连杆的连接点)，第七连杆与第二连杆相平行，第九连杆与第三连杆平行，第八连杆一端连接于第七连杆与第九连杆的连接点，第八连杆的另一端连接于第二连杆与第三连杆的连接点，第十连杆一端连接于第九连杆末端，第十连杆另一端连接于第三连杆与第四连杆的连接点；第七连杆与第六连杆的连接点和第二连杆与第一连杆的连接点之间通过同步带或同步齿轮组连接。
所述第十连杆为五连杆单元的执行输出端，第十连杆与推手件固定连接；第一连杆、第六连杆、第一驱动电机和第二驱动电机均固定于安装支架上。
所述第七连杆绕第七连杆与第六连杆的连接点旋转，第九连杆绕第九连杆与第七连杆的连接点旋转；第六连杆、第七连杆、第八连杆和第二连杆依次循环连接形成一个平行四边形结构，第八连杆、第九连杆、第十连杆和第三连杆依次循环连接形成另一个平行四边形结构，从而保证作为工作平台的第十连杆永远平行于第六连杆，并且受控于两个驱动电机的运动。
所述第一驱动电机和第二驱动电机均为伺服驱动电机。第一驱动电机和第二驱动电机采用相互独立的两个伺服驱动电机，通过控制第二连杆和第五连杆的独立运动，从而使五连杆单元可以在其极限范围内输出任意需要的运动以及轨迹。
所述第一连杆、第二连杆、第三连杆、第四连杆和第五连杆均为碳纤维连杆构件，具有极好的力学性能及运动性能，可对五连杆推料机构的运行起到保障作用。
所述推手件为弯曲状的推杆结构；安装支架为设于物料移动路线上方的框架结构。
本发明相对于现有技术，具有以下有益效果：
本包装机用的五连杆推料机构与现有的推手件相比较，大大简化了结构，省去摆动电机、气缸、减速器等部件，并且无需管线跟随运动，使移动部件的重量得到较大程度的减轻，从而使包装机获得性能良好的推料机构，有效提高包装机性能，并且使包装机适应高速运行，有效提高生产效率，降低生产成本。
本包装机用的五连杆推料机构中，五连杆单元结构简单，使用灵活，可提供极好的力学传动性能，并且可以产生比传统四连杆机构更复杂的运动输出，包括歇停运动等，其输出轨迹多样化，可灵活适应多种规格产品的包装推料使用。另外，五连杆单元采用两个相互独立的驱动电机对个活动连杆进行控制，通过两组相互独立运动的结合，从而令五连杆推料机构可以在其极限范围内输出任意需要的运动以及轨迹。
本包装机用的五连杆推料机构中，五连杆单元的各个连杆均采用碳纤维构 件或碳纤维受力件，具有极好的力学性能以及运动性能，可有效保障五连杆机构的正常运行和有效运行。
经过在卫生巾、护垫等一次性卫生用品的包装机中的试验证明，本五连杆推料机构为生产线的设备性能和生产效率都带来极大的改善，简化设备的同时，减少人工操作，有利于生产成本的控制。
附图说明
图1为现有包装机上推手单元的结构示意图。
图2为图1中推手单元的工作原理示意图。
图3为本五连杆推料机构使用时的工作原理示意图。
图4为图3的正面视图。
图5为本五连杆推料机构应用于包装机上的状态示意图。
图6为实施例1中五连杆单元的结构示意图。
图7为图1的简化原理示意图。
图8为图1的五连杆机构中各连杆的设定长度示意图。
图9为图3中五连杆机构的运动轨迹原理示意图。
图10为本五连杆推料机构中推手件的最终运动轨迹原理示意图。
图11为实施例2中五连杆单元的结构示意图。
图12为图5的轴侧视图。
图13为与实施例1相比，实施例2所增加部分连杆的结构示意图。
图14为图13的简化原理示意图。
图15为第七连杆与第六连杆的连接点和第二连杆与第一连杆的连接点之间不同步时，所增加部分连杆可能产生的两种工作状态原理图。
具体实施方式
下面结合实施例，对本发明作进一步的详细说明，但本发明的实施方式不限于此。
实施例1
本实施例一种包装机用的五连杆推料机构，适用于推手件结构较为简单，所需固定安装点较少的情况。
五连杆推料机构包括五连杆单元、推手件和安装支架，安装支架设于物料移动路线的中部，五连杆单元设于安装支架上，五连杆单元的执行输出端与推手件固定连接。
其中，五连杆单元的结构如图6或图7所示，包括依次连接组成循环结构的第一连杆1、第二连杆2、第三连杆3、第四连杆4和第五连杆5，第一连杆为固定杆(其两端的固定点分别为点A和点B，如图7所示)，第二连杆、第三连杆、第四连杆和第五连杆均为活动杆，第二连杆与第一连杆连接的一端设有第一驱动电机11，第五连杆与第一连杆连接的一端设有第二驱动电机12(该结构可见图12)。
如图7所示，第三连杆和第四连杆的连接点(即点D)为五连杆单元的执行输出端，该连接点(即点D)与推手件固定连接；第一连杆、第一驱动电机和第二驱动电机均固定于安装支架上。第二连杆绕第二连杆与第一连杆的连接点(即点B)旋转，第五连杆绕第五连杆与第一连杆的连接点(即点A)旋转。第三连杆绕第三连杆与第二连杆的连接点(即点C)旋转，第四连杆绕第四连杆与第五连杆的连接点(即点E)旋转。
第一驱动电机和第二驱动电机均为伺服驱动电机。第一驱动电机和第二驱动电机采用相互独立的两个伺服驱动电机，通过控制第二连杆和第五连杆的独立运动，从而使本五连杆机构可以在其极限范围内输出任意需要的运动以及轨迹。
第一连杆、第二连杆、第三连杆、第四连杆和第五连杆均为碳纤维连杆构件，具有极好的力学性能及运动性能，可对五连杆机构的运行起到保障作用。
如图3所示，推手件17为弯曲状的推杆结构；安装支架18为设于物料移动路线上方的框架结构。
上述五连杆推料机构使用时，五连杆单元的原理如下：如图6或图7所示，点A和点B作为固定关节，第一连杆为固定连杆，因此，第二连杆和第五连 杆的一端分别可对应绕点B和点A旋转，并且分别由相互独立的伺服驱动电机驱动，所以第二连杆和第五连杆的运动分别独立受控于相应的驱动电机，点C和点E的运动也受控于相应的驱动电机。由此，在点C、D、E组成的三角形中，作为执行输出端的点D的运动同时受控于两个驱动电机，当改变驱动电机运动程序时，可以控制D点按照需要的运动轨迹进行运动。该双驱动五连杆机构的运动轨迹计算如下：如图8所示，假设第一连杆的长度为L1，第二连杆的长度为L2，第三连杆的长度为L3，第四连杆的长度为L4，第五连杆的长度为L5；如图9所示，五连杆机构的有效运动轨迹如图9中的阴影部分所示，其中，圆圈13内的区域表示第二连杆和第三连杆组合后能到达轨迹的最小范围(即L3-L2)，圆圈14内的区域表示第二连杆和第三连杆组合后能到达轨迹的最大范围(即L3+L2)，圆圈15内的区域表示第四连杆和第五连杆组合后能到达轨迹的最小范围(即L4-L5)，圆圈16内的区域表示第四连杆和第五连杆组合后能到达轨迹的最大范围(即L4+L5)。形成的阴影部分为五连杆机构执行输出端的有效运动轨迹，在此工作区域内，根据实际需要，通过常规的编程改变驱动电机运动，即可实现移动点D至需要的位置或驱动点D按照需要的轨迹运动，当需要时，可以改变第一连杆、第二连杆、第三连杆、第四连杆或第五连杆的长度来改变五连杆机械手的运动范围，由此体现出五连杆机械手的强大工作区域以及强大的轨迹输出能力。按照该计算方法，如图5所示，当五连杆推料机构应用于包装机上时，五连杆推料机构一般只需要完成如图3或图4所示的将物料由M点推向N点的直线动作，因此D点只需要在其能达到运动轨迹范围内选取一个直线路径即可，即如图10所示，阴影部分中L6为D点最终的运动轨迹。
实施例2
本实施例一种包装机用的五连杆推料机构，适用于推手件结构较大，所需的安装固定点较多的情况。
本实施例的五连杆推料机构与实施例1相比较，其不同之处在于：如图13或图14所示，五连杆单元(其整体结构如图11或图12所示)还包括第六 连杆6、第七连杆7、第八连杆8、第九连杆9和第十连杆10，第六连杆为第一连杆的水平延长段(即第六连杆一端连接于第七连杆上(即点G)，第六连杆的另一端连接于第一连杆与第二连杆的连接点(即点B))，第七连杆与第二连杆相平行，第九连杆与第三连杆平行，第八连杆一端连接于第七连杆与第九连杆的连接点(即点H)，第八连杆的另一端连接于第二连杆与第三连杆的连接点(即点C)，第十连杆一端连接于第九连杆末端(即点K)，第十连杆另一端连接于第三连杆与第四连杆的连接点(即点D)；第七连杆与第六连杆的连接点和第二连杆与第一连杆的连接点之间通过同步带或同步齿轮组连接，即分别为固定点的点G和点B之间通过同步带或同步齿轮组连接。
其中，第六连杆为固定杆，第七连杆和第九连杆为活动杆；如图14所示，第七连杆绕第七连杆与第六连杆的连接点(即点G)旋转，第九连杆绕第九连杆与第七连杆的连接点(即点H)旋转。第六连杆、第七连杆、第八连杆和第二连杆依次循环连接形成一个平行四边形结构，第八连杆、第九连杆、第十连杆和第三连杆依次循环连接形成另一个平行四边形结构，从而保证作为工作平台的第十连杆永远平行于第六连杆，并且受控于两个驱动电机的运动。第十连杆为五连杆机构的执行输出端，该执行输出端与推手件固定连接。第一连杆、第六连杆、第一驱动电机和第二驱动电机均固定于安装支架上。
由于在较大型的设备中，作为执行部分的推手单元是一个整体结构的机构，一般需要一个平台或构件对其进行固定，但实施例1的五连杆机构仅能控制一个点，应用时难以满足推手单元的安装要求，此时需要采用实施例2的五连杆机械手，所增加的第六连杆、第七连杆、第八连杆和第九连杆作为辅助构件，与第二连杆、第三连杆和第十连杆形成辅助机构，其目的是为了将作为执行输出端的点D扩展为一个机构输出(即第十连杆)，使用时仅需将机械手安装于第十连杆上即可，第十连杆带动机械手进行运动的轨迹与实施例1中所述点D的运动轨迹完全吻合。其中，辅助机构的工作原理如下：点B和点G作为固定关节，第六连杆固定，第二连杆和第七连杆对应绕点B和点G转动，当控制点B和点G的转动角度时，即可控制点H和点C的运动，第二连杆与第七连杆的长度相等，第三连杆和第九连杆的长度相等，第六连杆、第八连杆 和第十连杆的长度相等，因此该辅助机构实际上就是两个平行四边形的组合，由平行四边形的特性可以保证第六连杆、第八连杆和第十连杆永远互相平行，所以第十连杆等同于一个可以平行于第六连杆的工作平台。
但当点G的旋转运动不受控制时，点B驱动第二连杆运动到点B、C、H处于同一直线时，由于点G没有受控制，则点C有可能产生如图15所示的状态a或状态b，即第七连杆有可能会朝第二连杆的相反方向运转，使整个辅助机构改变为图9所示的状态a或状态b，导致第十连杆和第六连杆不再平行，此时第十连杆还不能完全按照需要的运动轨迹进行运动，这显然与本发明目的不相符。为此，本实施例中将点B和点G之间通过同步带连接(也可以采用齿轮传动方式连接)，使点B和点G同步运转，第七连杆也与第二连杆保持平行运动，且旋转角度同步，从而保证第十连杆永远平行于第六连杆，而且其运动受控于两个驱动电机。
由上述可知，本实施例中第十连杆的有效运动轨迹与实施例1中的点D的有效运动轨迹相同。在实际应用中，通过改变第十连杆的具体结构形式，即可适应不同结构形式的推手件的安装要求和运动要求。
如上所述，便可较好地实现本发明，上述实施例仅为本发明的较佳实施例，并非用来限定本发明的实施范围；即凡依本发明内容所作的均等变化与修饰，都为本发明权利要求所要求保护的范围所涵盖。

Claims (10)

  1. 一种包装机用的五连杆推料机构，其特征在于，包括五连杆单元、推手件和安装支架，安装支架设于物料移动路线的中部，五连杆单元设于安装支架上，五连杆单元的执行输出端与推手件固定连接。
  2. 根据权利要求1所述一种包装机用的五连杆推料机构，其特征在于，所述五连杆单元包括依次连接组成循环结构的第一连杆、第二连杆、第三连杆、第四连杆和第五连杆，第一连杆为固定杆，第二连杆、第三连杆、第四连杆和第五连杆均为活动杆，第二连杆与第一连杆连接的一端设有第一驱动电机，第五连杆与第一连杆连接的一端设有第二驱动电机。
  3. 根据权利要求2所述一种包装机用的五连杆推料机构，其特征在于，所述第三连杆和第四连杆的连接点为五连杆单元的执行输出端，第三连杆和第四连杆的连接点与推手件固定连接；第一连杆、第一驱动电机和第二驱动电机均固定于安装支架上。
  4. 根据权利要求2所述一种包装机用的五连杆推料机构，其特征在于，所述第二连杆绕第二连杆与第一连杆的连接点旋转，第五连杆绕第五连杆与第一连杆的连接点旋转，第三连杆绕第三连杆与第二连杆的连接点旋转，第四连杆绕第四连杆与第五连杆的连接点旋转。
  5. 根据权利要求2所述一种包装机用的五连杆推料机构，其特征在于，所述五连杆单元还包括第六连杆、第七连杆、第八连杆、第九连杆和第十连杆，第六连杆为第一连杆的水平延长段，第七连杆与第二连杆相平行，第九连杆与第三连杆平行，第八连杆一端连接于第七连杆与第九连杆的连接点，第八连杆的另一端连接于第二连杆与第三连杆的连接点，第十连杆一端连接于第九连杆末端，第十连杆另一端连接于第三连杆与第四连杆的连接点；第七连杆与第六连杆的连接点和第二连杆与第一连杆的连接点之间通过同步带或同步齿轮组连接。
  6. 根据权利要求5所述一种包装机用的五连杆推料机构，其特征在于，所述第十连杆为五连杆单元的执行输出端，第十连杆与推手件固定连接；第一 连杆、第六连杆、第一驱动电机和第二驱动电机均固定于安装支架上。
  7. 根据权利要求5所述一种包装机用的五连杆推料机构，其特征在于，所述第七连杆绕第七连杆与第六连杆的连接点旋转，第九连杆绕第九连杆与第七连杆的连接点旋转；第六连杆、第七连杆、第八连杆和第二连杆依次循环连接形成一个平行四边形结构，第八连杆、第九连杆、第十连杆和第三连杆依次循环连接形成另一个平行四边形结构。
  8. 根据权利要求2或5所述一种包装机用的五连杆推料机构，其特征在于，所述第一驱动电机和第二驱动电机均为伺服驱动电机。
  9. 根据权利要求2或5所述一种包装机用的五连杆推料机构，其特征在于，所述第一连杆、第二连杆、第三连杆、第四连杆和第五连杆均为碳纤维连杆构件。
  10. 根据权利要求1所述一种包装机用的五连杆推料机构，其特征在于，所述推手件为弯曲状的推杆结构；安装支架为设于物料移动路线上方的框架结构。
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CN116788811A (zh) * 2023-08-04 2023-09-22 曹妃甸职业技术学院 一种传送带用固体物料分选作业装置

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CN105805252A (zh) * 2016-05-06 2016-07-27 广州市兴世机械制造有限公司 一种双驱动五连杆机构
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