CN106956831B - A kind of driving device of autonomous closed type variable topological packaging machine robot mechanism - Google Patents
A kind of driving device of autonomous closed type variable topological packaging machine robot mechanism Download PDFInfo
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- CN106956831B CN106956831B CN201710221999.6A CN201710221999A CN106956831B CN 106956831 B CN106956831 B CN 106956831B CN 201710221999 A CN201710221999 A CN 201710221999A CN 106956831 B CN106956831 B CN 106956831B
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- telescopic rod
- connecting rod
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- sliding block
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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
- B65B65/00—Details peculiar to packaging machines and not otherwise provided for; Arrangements of such details
- B65B65/02—Driving gear
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Abstract
A kind of driving device of autonomous closed type variable topological packaging machine robot mechanism, the turntable installation of the driving device is on center shaft, turntable can rotate around center axis, first telescopic rod assembly is by third connecting rod, first thick telescopic rod, first thin telescopic rod and the first sliding block composition, first thick telescopic rod one end is welded on third connecting rod, the other end is connected in a manner of cylindrical pair with the first thin telescopic rod, first thin telescopic rod bottom is connected with the connection type of ball pair with the first sliding block, third connecting rod is connected with the connection type of ball pair with sliding bar, first sliding block is mounted on triangle and becomes in the sliding slot on born of the same parents' bar, first sliding block can move along the chute.The driving device structure is simple, driving is flexible, convenient for controlling and will not interfere in the process of movement with other rod pieces, can cleverly complete the opening and closing at the top of variable topological packaging machine robot mechanism.
Description
Technical field
The present invention relates to a kind of mechanical design field, especially a kind of autonomous closed type variable topological packaging machine robot mechanism
Driving device.
Background technique
In recent years, with the continuous development of society, robot has progressed into all trades and professions, and produces product often
It is be unable to do without packaging, therefore, packaging robot has been increasingly becoming the hot spot 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
Packaging operation task is completed, structure is simple, and stable molding is reliable, greatly reduces multiple-workstation, multimode package packing machine operation
Program meets the needs of people are changeable to food packaging form while improving packaging operation efficiency, but the packaging machine
Robot mechanism not yet designs top and is closed driving device, so that the top of mechanism can not be closed, it is therefore necessary to design one
Kind structure is simple, controls the top open/close driving device that will not be interfered flexibly and with mechanism itself.
Had not yet to see a kind of structure is simple, control flexibly, it is autonomous closure, convenient for safeguarding and the packaging machine can be suitble to
The innovation of the top open/close driving device of robot mechanism designs.
Summary of the invention
The object of the present invention is to provide a kind of driving devices of autonomous closed type variable topological packaging machine robot mechanism, have knot
The advantage that structure is simple, control is flexible and convenient for safeguarding can complete the top opening and closing of variable topological packaging machine robot mechanism.
A kind of above-mentioned purpose that the invention is realized by the following technical scheme: autonomous closed type variable topological packaging machine robot mechanism
Driving device, including directly become born of the same parents' bar, drawstring, side lever, triangle to become born of the same parents' bar, leaf spring, the first telescopic rod assembly, the second telescopic rod total
At, rotating assembly, pin shaft, turntable, central axis, connecting plate, the first support plate and the second support plate, the rotating assembly is by first
Connecting rod, sliding bar and rotating plate composition, the first telescopic rod assembly is by third connecting rod, the first thick telescopic rod, the first thin telescopic rod
It is formed with the first sliding block, the second telescopic rod assembly is by second connecting rod, the second thick telescopic rod, the second thin telescopic rod and second
Sliding block composition, specific structure and connection relationship are as follows:
The turntable that can be rotated around center axis is installed, drawstring one end is connected with turntable, the other end and on the central axis
One connecting rod is connected, and the rope groove in the first support plate and the second support plate is passed through among drawstring, and first connecting rod one end and rotating plate weld,
The other end is connected by pin shaft with connecting plate, and first connecting rod can be rotated around pin shaft, and sliding bar is installed in the elongated slot on rotating plate, sliding
Lever can be moved along elongated slot, and leaf spring one end is connected with first connecting rod, and the other end is connected with side lever, second thick telescopic rod one end weldering
It is connected on second connecting rod, the other end is connected in a manner of cylindrical pair with the second thin telescopic rod, and the second thin telescopic rod bottom is with ball pair
Connection type be connected with the second sliding block, second connecting rod is connected with the connection type of ball pair with sliding bar, and the second sliding block is mounted on
Straight to become in the sliding slot on born of the same parents' bar, the second sliding block can move along the chute, and first thick telescopic rod one end is welded on third connecting rod, another
End is connected in a manner of cylindrical pair with the first thin telescopic rod, and the first thin telescopic rod bottom is with the connection type of ball pair and the first sliding block
It is connected, third connecting rod is connected with the connection type of ball pair with sliding bar, and the first sliding block is mounted on triangle and becomes in the sliding slot on born of the same parents' bar,
First sliding block can move along the chute.
It is provided with sliding slot on the rotating plate, for connecting with sliding bar.
When the leaf spring is closed at the top of mechanism in the raw, nonelastic potential energy.
Of the invention has the prominent advantages that:
1, the open/close driving device structure is simple, easily controllable, only can be by packaging machine robot mechanism with rotary turnplate
Top synchronize and pull open, when closure is to make top synchronizing close with the elastic force of leaf spring, has energy-efficient effect to a certain extent.
2, using drawstring flexible come transmission force, drawstring itself is flexible the open/close driving device structure, therefore is prevented
It interferes with packaging machine robot mechanism itself, there is stronger reliability.
Detailed description of the invention
Fig. 1 is signal of the driving device of the present invention when variable topological packaging machine robot mechanism is in semi-closure conjunction state
Figure.
Fig. 2 is driving device of the present invention showing when variable topological packaging machine robot mechanism is in fully unfolded position
It is intended to.
Fig. 3 is driving device of the present invention showing when variable topological packaging machine robot mechanism is in fully closed condition
It is intended to.
Fig. 4 is the rotating assembly schematic diagram of driving device of the present invention.
Fig. 5 is the second telescopic rod assembly diagram of driving device of the present invention.
Fig. 6 is the first telescopic rod assembly diagram of driving device of the present invention.
Fig. 7 is the first support plate, the second support plate and connecting plate of driving device of the present invention in original packing machine
Scheme of installation on people's 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.
In the figure, it is marked as 1. straight change born of the same parents' bars；2. drawstring；3. side lever；4. triangle becomes born of the same parents' bar；5. leaf spring；6. the first telescopic rod
Assembly；7. the second telescopic rod assembly；8. rotating assembly；9. pin shaft；10. turntable；11. central axis；12. sliding bar；13. rotating plate；
14. first connecting rod；15. second connecting rod；16. the second thick telescopic rod；17. the second thin telescopic rod；18. the second sliding block；19. third connects
Bar；20. the first thick telescopic rod；21. the first thin telescopic rod；22. the first sliding block；23. connecting plate；24. the first support plate；25. the
Two support plates.
Specific embodiment:
Technical scheme of the present invention will be 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, autonomous closed type variable topological packaging robot of the present invention
The driving device of mechanism, including directly become born of the same parents' bar 1, drawstring 2, side lever 3, triangle and become born of the same parents' bar 4, leaf spring 5, the first telescopic rod assembly 6, the
Two telescopic rod assemblies 7, rotating assembly 8, pin shaft 9, turntable 10, central axis 11, sliding bar 12, rotating plate 13, first connecting rod 14, second
Connecting rod 15, the second thick telescopic rod 16, the second thin telescopic rod 17, the second sliding block 18, third connecting rod 19, the first thick telescopic rod 20,
One thin telescopic rod 21, the first sliding block 22, connecting plate 23, the first support plate 24 and the second support plate 25, specific structure and connection are closed
System are as follows:
The turntable 10 that can be rotated around central axis 11 is installed, 2 one end of drawstring is connected with turntable 10, separately on the central axis 11
One end is connected with first connecting rod 14, and the rope groove in the first support plate 24 and the second support plate 25, rotating assembly are passed through among drawstring 2
8 are made of first connecting rod 14, sliding bar 12 and rotating plate 13, and 14 one end of first connecting rod and rotating plate 13 weld, and the other end passes through pin shaft 9
It is connected with connecting plate 23, first connecting rod 14 can be rotated around pin shaft 9, and sliding bar 12 is installed in the elongated slot on rotating plate 13, sliding bar
12 can move along elongated slot, and 5 one end of leaf spring is connected with first connecting rod 14, and the other end is connected with side lever 3, the second telescopic rod assembly 7
It is made of second connecting rod 15, the second thick telescopic rod 16, the second thin telescopic rod 17 and the second sliding block 18, second thick 16 one end of telescopic rod
It is welded on second connecting rod 15, the other end is connected in a manner of cylindrical pair with the second thin telescopic rod 17, the second thin 17 bottom of telescopic rod
Portion is connected with the connection type of ball pair with the second sliding block 18, and second connecting rod 15 is connected with the connection type of ball pair with sliding bar 12,
Second sliding block 18 be mounted on it is straight become in the sliding slot on born of the same parents' bar 1, the second sliding block 18 can move along the chute, the first telescopic rod assembly 6 by
Third connecting rod 19, the first thick telescopic rod 20, the first thin telescopic rod 21 and the first sliding block 22 composition, first thick 20 one end of telescopic rod weldering
It is connected on third connecting rod 19, the other end is connected in a manner of cylindrical pair with the first thin telescopic rod 21, the first thin 21 bottom of telescopic rod
It is connected with the connection type of ball pair with the first sliding block 22, third connecting rod 19 is connected with the connection type of ball pair with sliding bar 12, the
One sliding block 22 is mounted on triangle and becomes in the sliding slot on born of the same parents' bar 4, and the first sliding block 22 can move along the chute.
The working principle of the invention is:
When variable topological packaging machine robot mechanism is in fully closed condition, as shown in figure 3, leaf spring 5 is in initial at this time
State, the elastic potential energy of leaf spring are 0, to make to open at the top of packaging machine robot mechanism, reach the state of Fig. 1, first clockwise
Rotary turnplate 10, turntable 10 pull drawstring 2 to rotate, and drawstring 2 pulls first connecting rod 14 to rotate clockwise around pin shaft 9, and first connects
Bar 14 drives rotating plate 13 to rotate, and rotating plate 13 drives the first telescopic rod assembly 6 and the rotation of the second telescopic rod assembly 7, to pull open straight
Become born of the same parents' bar 1 and triangle becomes born of the same parents' bar 4 and reaches semi-closure conjunction state shown in FIG. 1 when first connecting rod 14 rotates clockwise 90 °；?
Leaf spring 5 has gradually laid in elastic potential energy during one connecting rod 14 rotates clockwise, when variable topological packaging machine robot mechanism needs
When being transformed into Fig. 3 state from Fig. 1 state, turntable 10 need to only be rotated counterclockwise, first connecting rod 14 is under the elastic force effect of leaf spring 5
Rotation counterclockwise, so that rotating plate 13 be driven to rotate counterclockwise, rotating plate 13 drives the first telescopic rod assembly 6 and the second telescopic rod assembly
7 rotations counterclockwise are closed to will directly become born of the same parents' bar 1 and triangle and become born of the same parents' bar 4, are finally reached state shown in Fig. 3；When variable topological is packed
When robot mechanism needs reach fully unfolded position from semi-closure conjunction state, since drawstring 2 has flexibility, the mistake that side lever 3 rotates
The influence of drawstring 2 is not will receive in journey, so side lever 3, when rotating to fully unfolded position, turntable 10 is also pico- to be turned counterclockwise
It is dynamic to tense drawstring.
Claims (3)
1. a kind of driving device of autonomous closed type variable topological packaging machine robot mechanism, including directly become born of the same parents' bar, drawstring, side lever, three
Angle become born of the same parents' bar, leaf spring, the first telescopic rod assembly, the second telescopic rod assembly, rotating assembly, pin shaft, turntable, central axis, connecting plate,
First support plate and the second support plate, the rotating assembly are made of first connecting rod, sliding bar and rotating plate, first telescopic rod
Assembly is made of third connecting rod, the first thick telescopic rod, the first thin telescopic rod and the first sliding block, the second telescopic rod assembly be by
Second connecting rod, the second thick telescopic rod, the second thin telescopic rod and the second sliding block composition, which is characterized in that specific structure and connection are closed
System are as follows:
The turntable that can be rotated around center axis is installed, drawstring one end is connected with turntable, and the other end and first connects on the central axis
Bar is connected, and the rope groove in the first support plate and the second support plate is passed through among drawstring, first connecting rod one end and rotating plate weld, another
End is connected by pin shaft with connecting plate, and first connecting rod can be rotated around pin shaft, and sliding bar is installed in the elongated slot on rotating plate, sliding bar
It can be moved along elongated slot, leaf spring one end is connected with first connecting rod, and the other end is connected with side lever, and second thick telescopic rod one end is welded in
On second connecting rod, the other end is connected in a manner of cylindrical pair with the second thin telescopic rod, and the second thin telescopic rod bottom is with the company of ball pair
It connects mode to be connected with the second sliding block, second connecting rod is connected with the connection type of ball pair with sliding bar, and the second sliding block is mounted on straight change
In sliding slot on born of the same parents' bar, the second sliding block can move along the chute, and first thick telescopic rod one end is welded on third connecting rod, the other end with
First thin telescopic rod is connected in a manner of cylindrical pair, and the first thin telescopic rod bottom is with the connection type of ball pair and the first sliding block phase
Even, third connecting rod is connected with the connection type of ball pair with sliding bar, and the first sliding block is mounted on triangle and becomes in the sliding slot on born of the same parents' bar, the
One sliding block can move along the chute.
2. the driving device of autonomous closed type variable topological packaging machine robot mechanism according to claim 1, which is characterized in that
It is provided with sliding slot on the rotating plate, for connecting with sliding bar.
3. the driving device of autonomous closed type variable topological packaging machine robot mechanism according to claim 1, which is characterized in that
When the leaf spring is closed at the top of mechanism in the raw, nonelastic potential energy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710221999.6A CN106956831B (en) | 2017-04-06 | 2017-04-06 | A kind of driving device of autonomous closed type variable topological packaging machine robot mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710221999.6A CN106956831B (en) | 2017-04-06 | 2017-04-06 | A kind of driving device of autonomous closed type variable topological packaging machine robot mechanism |
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| CN106956831A CN106956831A (en) | 2017-07-18 |
| CN106956831B true CN106956831B (en) | 2019-04-16 |
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Citations (7)
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| 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 |
| CN102717924A (en) * | 2012-06-28 | 2012-10-10 | 广西大学 | Topology-changing packaging robot mechanism |
| CN204674930U (en) * | 2015-05-04 | 2015-09-30 | 陈幸 | A kind of full automaticity box folding machine |
| CN105415367A (en) * | 2016-01-13 | 2016-03-23 | 广西大学 | Controllable and stable height-adjustable deep sea grasping hand |
| CN105539880A (en) * | 2016-01-13 | 2016-05-04 | 广西大学 | Large-area unfoldable solar energy turnover plate |
| CN205671007U (en) * | 2016-05-16 | 2016-11-09 | 陕西科技大学 | Scalable apple-picking device |
-
2017
- 2017-04-06 CN CN201710221999.6A patent/CN106956831B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN102717924A (en) * | 2012-06-28 | 2012-10-10 | 广西大学 | Topology-changing packaging robot mechanism |
| CN204674930U (en) * | 2015-05-04 | 2015-09-30 | 陈幸 | A kind of full automaticity box folding machine |
| CN105415367A (en) * | 2016-01-13 | 2016-03-23 | 广西大学 | Controllable and stable height-adjustable deep sea grasping hand |
| CN105539880A (en) * | 2016-01-13 | 2016-05-04 | 广西大学 | Large-area unfoldable solar energy turnover plate |
| CN205671007U (en) * | 2016-05-16 | 2016-11-09 | 陕西科技大学 | Scalable apple-picking device |
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| CN106956831A (en) | 2017-07-18 |
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