CN106965997A - A kind of drive device of mechanism type variable topological packaging machine robot mechanism - Google Patents
A kind of drive device of mechanism type variable topological packaging machine robot mechanism Download PDFInfo
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- CN106965997A CN106965997A CN201710221509.2A CN201710221509A CN106965997A CN 106965997 A CN106965997 A CN 106965997A CN 201710221509 A CN201710221509 A CN 201710221509A CN 106965997 A CN106965997 A CN 106965997A
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- rotary body
- compound hinges
- bearing pin
- push rod
- connecting rod
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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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
A kind of drive device of mechanism type variable topological packaging machine robot mechanism, the central shaft of the drive device is arranged on base, be provided with central shaft can around central axis rotating disk, Hooke's hinge connecting rod one end is connected by Hooke's hinge with rotating disk, the other end is connected by third connecting rod with sliding block, the rotary body of compound hinges the 4th is connected by the 6th bearing pin with the rotary body of compound hinges second, and the rotary body of compound hinges first and the rotary body of compound hinges second are connected by the 7th bearing pin with side lever.The driving device structure is simple, driving is flexible, be easy to control, 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, particularly a kind of driving of mechanism type variable topological packaging machine robot mechanism
Device.
Background technology
In recent years, continuing to develop with society, robot has progressed into all trades and professions, and produces product often
Packaging is be unable to do without, therefore, packaging robot has been increasingly becoming the focus of people's research, Chinese patent ZL
201210218278.7 disclose a kind of variable topological packaging machine robot mechanism, the packaging machine robot mechanism can variable topological, once
Package handling task is completed, simple in construction, stable molding is reliable, greatly reduce multiple-workstation, multimode package packing machine operation
Program, while package handling efficiency is improved, meets people's demand changeable to packaging for foodstuff form, but the packaging machine
Robot mechanism not yet designs top closure drive device, so that can not be closed at the top of mechanism, it is therefore necessary to which design is a kind of
It is simple in construction, control the top open/close driving device that will not be interfered flexibly and in itself with mechanism.
Had not yet to see a kind of simple in construction, control flexibly, be easy to safeguard and can be adapted to the packaging machine robot mechanism top
The innovation design of the connecting-rod mechanism type drive device of portion's opening and closing.
The content of the invention
It is an object of the invention to provide a kind of drive device of mechanism type variable topological packaging machine robot mechanism, it possesses structure
Simply, the advantages of controlling flexibly and be easy to safeguard, can complete the top opening and closing of variable topological packaging machine robot mechanism.
The present invention is achieved through the following technical solutions above-mentioned purpose：A kind of drive of mechanism type variable topological packaging machine robot mechanism
Dynamic device, including triangle become born of the same parents' bar, straight born of the same parents' bar, the rotary body of compound hinges the 3rd, the first push rod, the compound hinges the 4th of becoming and rotated
Body, the second push rod, primary push rod, side lever, the first bearing pin, second connecting rod, the 3rd bearing pin, the 4th bearing pin, first connecting rod, sliding bar,
It is sliding block, the second bearing pin, third connecting rod, Hooke's hinge connecting rod, Hooke's hinge, rotating disk, the 7th bearing pin, the 5th bearing pin, the 6th bearing pin, multiple
The rotary body of hinge first, the rotary body of compound hinges second, base, central shaft are closed, concrete structure and annexation are：
Rotating disk is installed on center shaft and can be arranged on around central axis, central shaft on base, Hooke's hinge connecting rod one
End is connected by Hooke's hinge with rotating disk, and the other end is connected by third connecting rod with sliding block, and sliding block can be along on the sliding bar
Sliding bar is moved, and sliding bar is welded on base, and first connecting rod one end is connected by the second bearing pin with sliding block, and the other end passes through the
Four bearing pins are connected with second connecting rod, and second connecting rod one end is connected by the 3rd bearing pin with side lever, the other end by the first bearing pin with
Primary push rod is connected, and first push rod one end is connected with the rotary body of compound hinges the 3rd, and the other end is connected with primary push rod, the second push rod one
End is connected with the rotary body of compound hinges the 4th, and the other end is connected with primary push rod, and the straight born of the same parents' bar that becomes rotates body phase with compound hinges the 3rd
Even, triangle becomes born of the same parents' bar and is connected with the rotary body of compound hinges the 4th, and the rotary body of compound hinges the 3rd passes through the 5th bearing pin and composite hinge
The rotary body of chain first is connected, and the rotary body of compound hinges the 4th is connected by the 6th bearing pin with the rotary body of compound hinges second, is combined
The rotary body of hinge first and the rotary body of compound hinges second are connected by the 7th bearing pin with side lever.
The secondary connecting hole of two balls is provided with the primary push rod, for being connected with the first push rod and the second push rod.
Compound hinges by the rotary body of compound hinges first, the rotary body of compound hinges second, the rotary body of compound hinges the 3rd and
The rotary body of compound hinges the 4th is assembled.
The present invention's has the prominent advantages that：
1st, simple in construction, it is easy to control, only rotary turnplate can just control synchronous opening/closing at the top of packaging robot, one
Determine the effect in degree with energy-conservation.
2nd, power is transmitted using rod member, makes transmission mechanism that there is preferable transmission force property, with stronger reliability.
Brief description of the drawings
Fig. 1 is signal of the drive device of the present invention when variable topological packaging machine robot mechanism is in semi-closure conjunction state
Figure.
Fig. 2 is drive device of the present invention showing when variable topological packaging machine robot mechanism is in its fully unfolded position
It is intended to.
Fig. 3 is drive 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 front view of the compound hinges of drive device of the present invention.
Fig. 5 is the top view of the compound hinges of drive device of the present invention.
Fig. 6 is the side lever schematic diagram of drive device of the present invention.
Fig. 7 is the primary push rod schematic diagram of drive device of the present invention.
Fig. 8 is the slide block schematic diagram of drive device of the present invention.
Fig. 9 is the second connecting rod schematic diagram of drive device of the present invention.
Marked in figure：1. the rotary body of compound hinges the 3rd；2. the first push rod；3. the rotary body of compound hinges the 4th；4. the
Two push rods；5. primary push rod；6. side lever；7. the first bearing pin；8. second connecting rod；9. the 3rd bearing pin；10. the 4th bearing pin；11. first connects
Bar；12. sliding bar；13. sliding block；14. the second bearing pin；15. third connecting rod；16. Hooke's hinge connecting rod；17. Hooke's hinge；18. turn
Disk；19. the 7th bearing pin；20. the 5th bearing pin；21. the 6th bearing pin；22. the rotary body of compound hinges first；23. compound hinges second
Rotary body；24. triangle becomes born of the same parents' bar；25. directly become born of the same parents' bar；26. base；27. central shaft.
Embodiment：
Technical scheme is further described with reference to the accompanying drawings and examples.
As shown in Figure 1, Figure 2, shown in Fig. 4, Fig. 5 and Fig. 6, the drive of mechanism type variable topological packaging machine robot mechanism of the present invention
Dynamic device, concrete structure and annexation are：
The rotating disk 18 of the drive device is arranged on central shaft 27, and central shaft 27 is installed on base plate 26, and rotating disk 18 can be around
Central shaft 27 is rotated, and the one end of Hooke's hinge connecting rod 16 is connected by Hooke's hinge 17 with rotating disk 18, and the other end passes through third connecting rod 15
It is connected with sliding block 13, sliding block 13 is arranged on sliding bar 12, and sliding block 13 can be moved along sliding bar 12, and sliding bar 12 is welded on bottom
On seat 26, the one end of first connecting rod 11 is connected by the second bearing pin 14 with sliding block 13, and the other end is connected by the 4th bearing pin 10 and second
Bar 8 is connected, and the one end of second connecting rod 8 is connected by the 3rd bearing pin 9 with side lever 6, and the other end passes through the first bearing pin 7 and the phase of primary push rod 5
Even, the one end of the first push rod 2 is connected with the rotary body 1 of compound hinges the 3rd, and the other end is connected with primary push rod 5, the one end of the second push rod 4 and
The rotary body 3 of compound hinges the 4th is connected, and the other end is connected with primary push rod 5, straight to become born of the same parents' bar 25 and the phase of the 3rd rotary body of compound hinges 1
Even, triangle becomes born of the same parents bar 24 and is connected with the rotary body 3 of compound hinges the 4th, the rotary body 1 of compound hinges the 3rd by the 5th bearing pin 20 and
The first rotary body of compound hinges 22 is connected, and the rotary body 3 of compound hinges the 4th is rotated by the 6th bearing pin 21 with compound hinges second
Body 23 is connected, and the first rotary body of compound hinges 22 and the second rotary body of compound hinges 23 are connected by the 7th bearing pin 19 with side lever 6,
Compound hinges is by the first rotary body of compound hinges 22, the second rotary body of compound hinges 23, the rotary body 1 of compound hinges the 3rd and is combined
The rotary body 3 of hinge the 4th is assembled.
The present invention operation principle be：
When needing expansion in fully closed condition at the top of variable topological packaging machine robot mechanism, rotating disk 18, rotating disk are rotated
18 are rotated by the connection function with Hooke's hinge 17, band tatc Hooke reamers connecting rod 16, and Hooke's hinge connecting rod 16 pulls third connecting rod
15, so as to pull sliding block 13 to move inward, drive first connecting rod 11 to rotate counterclockwise while sliding block 13 moves inward, the
One connecting rod 11 rotates counterclockwise drive second connecting rod 8 and rotated clockwise, so as to pull primary push rod 5 to move downward, primary push rod 5 passes through
With the annexation of the first push rod 2 and the second push rod 4, pull straight change born of the same parents bar 25 and triangle to become born of the same parents' bar 24 and open；When variable topological bag
When needing closure in open configuration at the top of machine robot mechanism, rotate backward rotating disk 18, rotating disk 18 by with Hooke's hinge 17
Connection function, band tatc Hooke reamers connecting rod 16 is rotated, and Hooke's hinge connecting rod 16 promotes third connecting rod 15, thus promote sliding block 13 to
Outside is moved, and drives first connecting rod 11 to rotate clockwise while sliding block 13 is moved laterally, first connecting rod 11 is rotated clockwise
Drive second connecting rod 8 rotate counterclockwise so that promote primary push rod 5 upwards motion, primary push rod 5 by with the first push rod 2 and second
The annexation of push rod 4, promotes straight change born of the same parents bar 25 and triangle to become born of the same parents' bar 24 and closes.
Claims (3)
1. a kind of drive device of mechanism type variable topological packaging machine robot mechanism, including triangle become born of the same parents' bar, straight change born of the same parents bar, composite hinge
The rotary body of chain the 3rd, the first push rod, the rotary body of compound hinges the 4th, the second push rod, primary push rod, side lever, the first bearing pin, second connect
Bar, the 3rd bearing pin, the 4th bearing pin, first connecting rod, sliding bar, sliding block, the second bearing pin, third connecting rod, Hooke's hinge connecting rod, Hooke
Hinge, rotating disk, the 7th bearing pin, the 5th bearing pin, the 6th bearing pin, the rotary body of compound hinges first, the rotary body of compound hinges second, bottom
Seat, central shaft, it is characterised in that concrete structure and annexation are：
Rotating disk is installed on center shaft and can be arranged on around central axis, central shaft on base, and Hooke's hinge connecting rod one end leads to
Cross Hooke's hinge with rotating disk to be connected, the other end is connected by third connecting rod with sliding block, sliding block is arranged on can be along slip on sliding bar
Bar is moved, and sliding bar is welded on base, and first connecting rod one end is connected by the second bearing pin with sliding block, and the other end passes through the 4th pin
Axle is connected with second connecting rod, and second connecting rod one end is connected by the 3rd bearing pin with side lever, and the other end is by the first bearing pin with promoting mainly
Bar be connected, first push rod one end is connected with the rotary body of compound hinges the 3rd, and the other end is connected with primary push rod, second push rod one end and
The rotary body of compound hinges the 4th is connected, and the other end is connected with primary push rod, and the straight born of the same parents' bar that becomes is connected with the rotary body of compound hinges the 3rd, and three
Angle becomes born of the same parents' bar and is connected with the rotary body of compound hinges the 4th, and the rotary body of compound hinges the 3rd passes through the 5th bearing pin and compound hinges first
Rotary body is connected, and the rotary body of compound hinges the 4th is connected by the 6th bearing pin with the rotary body of compound hinges second, compound hinges the
One rotary body and the rotary body of compound hinges second are connected by the 7th bearing pin with side lever.
2. the drive device of mechanism type variable topological packaging machine robot mechanism according to claim 1, it is characterised in that described
The secondary connecting hole of two balls is provided with primary push rod, for being connected with the first push rod and the second push rod.
3. the drive device of mechanism type variable topological packaging machine robot mechanism according to claim 1, it is characterised in that compound
Hinge is by the rotary body of compound hinges first, the rotary body of compound hinges second, the rotary body of compound hinges the 3rd and compound hinges the 4th
Rotary body is assembled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710221509.2A CN106965997A (en) | 2017-04-06 | 2017-04-06 | A kind of drive device of mechanism type variable topological packaging machine robot mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710221509.2A CN106965997A (en) | 2017-04-06 | 2017-04-06 | A kind of drive device of mechanism type variable topological packaging machine robot mechanism |
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| CN106965997A true CN106965997A (en) | 2017-07-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710221509.2A Pending CN106965997A (en) | 2017-04-06 | 2017-04-06 | A kind of drive device of mechanism type variable topological packaging machine robot mechanism |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4210720B2 (en) * | 2001-05-29 | 2009-01-21 | 孝美 北受 | Box sealing aid |
| CN102672716A (en) * | 2012-05-22 | 2012-09-19 | 广西大学 | Reconfigurable metamorphic polyhedron robot mechanism |
| CN202609140U (en) * | 2012-06-28 | 2012-12-19 | 广西大学 | Packaging robot mechanism capable of changing topology |
| CN204525455U (en) * | 2015-03-13 | 2015-08-05 | 洛阳理工学院 | A kind of variable topological four-freedom parallel mechanism |
| CN105415367A (en) * | 2016-01-13 | 2016-03-23 | 广西大学 | Controllable and stable height-adjustable deep sea grasping hand |
| CN105672146A (en) * | 2016-01-13 | 2016-06-15 | 广西大学 | Helicopter parking platform on marine drilling platform |
-
2017
- 2017-04-06 CN CN201710221509.2A patent/CN106965997A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4210720B2 (en) * | 2001-05-29 | 2009-01-21 | 孝美 北受 | Box sealing aid |
| CN102672716A (en) * | 2012-05-22 | 2012-09-19 | 广西大学 | Reconfigurable metamorphic polyhedron robot mechanism |
| CN202609140U (en) * | 2012-06-28 | 2012-12-19 | 广西大学 | Packaging robot mechanism capable of changing topology |
| CN204525455U (en) * | 2015-03-13 | 2015-08-05 | 洛阳理工学院 | A kind of variable topological four-freedom parallel mechanism |
| CN105415367A (en) * | 2016-01-13 | 2016-03-23 | 广西大学 | Controllable and stable height-adjustable deep sea grasping hand |
| CN105672146A (en) * | 2016-01-13 | 2016-06-15 | 广西大学 | Helicopter parking platform on marine drilling platform |
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| SE01 | Entry into force of request for substantive examination | ||
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170721 |
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| WD01 | Invention patent application deemed withdrawn after publication |