CN205605752U - Dual drive five -bar linkage mechanism - Google Patents
Dual drive five -bar linkage mechanism Download PDFInfo
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- CN205605752U CN205605752U CN201620413057.9U CN201620413057U CN205605752U CN 205605752 U CN205605752 U CN 205605752U CN 201620413057 U CN201620413057 U CN 201620413057U CN 205605752 U CN205605752 U CN 205605752U
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- connecting rod
- bar
- link
- junction point
- dual drive
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Abstract
The utility model discloses a dual drive five -bar linkage mechanism, including connecting gradually first connecting rod, second connecting rod, third connecting rod, fourth connecting rod and the five -bar linkage who forms the loop structure, first connecting rod is the dead lever, and second connecting rod, third connecting rod, fourth connecting rod and five -bar linkage are the movable rod, and the second connecting rod is equipped with a driving motor with the one end that first connecting rod is connected, and five -bar linkage is equipped with the 2nd driving motor with the one end that first connecting rod is connected. This dual drive five -bar linkage mechanism simple structure uses in a flexible way, can provide fabulous mechanics transmission performance to can produce the motion output more complicated than traditional four -bar linkage, include that the stoppage in transit of having a rest is moved, its output orbit is diversified, and the product that can adapt to multiple specification in a flexible way uses.
Description
Technical field
This utility model relates to hygienic article and manufactures apparatus field, can be applicable to industrial machine particularly to one
The Dual Drive five-bar mechanism of people.
Background technology
Intelligent robot, as the core of China's Industry transition and upgrade, is pursued by each side.Each enterprise development with
And the plan of applied robot is in the ascendant, the maturation such as coordinates robot, swing arm robot is applied to respectively
Industry.And the most popular also five connecting rod robots, five link robots are owing to can provide fabulous
Power transmission performance, and the output campaign more more complicated than conventional machines people can be produced, be that robot is basic
The direction newly developed of mechanism, but develop at present and immature, its structure is the most complex, the most seldom
Application.
In the production line of the disposable sanitary articles such as sanitary towel, protective pad, the Track Pick-up of existing equipment or thing
Material is mobile, carrying mechanism mostly is conventional mechanisms, and every equipment, each mechanism majority can only adapt to one
Operating mode, when needing to change the product specification produced, needs to change more mechanical fitting and just adapts to produce
The change of product specification, its equipment cost hinge height, operation level and proficiency level to operator also have relatively
High requirement, is unfavorable for the control of production cost, and device structure is complicated simultaneously, and maintenance cost is at a relatively high.
Utility model content
The purpose of this utility model is to overcome the deficiencies in the prior art, it is provided that a kind of simple in construction, output rail
The Dual Drive five-bar mechanism that mark is diversified, can be suitable for plurality of specifications product uses.
The technical solution of the utility model is: a kind of Dual Drive five-bar mechanism, follows including being sequentially connected with composition
The first connecting rod of ring structure, second connecting rod, third connecting rod, fourth link and the 5th connecting rod, first connecting rod is
Fixing bar, second connecting rod, third connecting rod, fourth link and the 5th connecting rod be motion bar, second connecting rod with
One end that first connecting rod connects is provided with the first driving motor, and one end that the 5th connecting rod is connected with first connecting rod is provided with
Second drives motor.
The junction point of described third connecting rod and fourth link is the execution outfan of five-bar mechanism, and this execution is defeated
Go out to hold outer welding manipulator, can be applicable to product carrying, packaging etc..
Described second connecting rod rotates around the junction point of second connecting rod with first connecting rod, and the 5th connecting rod is around the 5th connecting rod
Rotate with the junction point of first connecting rod.
Described third connecting rod rotates around the junction point of third connecting rod with second connecting rod, and fourth link is around fourth link
Rotate with the junction point of the 5th connecting rod.
Further, performing the area of outfan to increase five-bar mechanism, five-bar mechanism also includes the
Six-bar linkage, seven-link assembly, the 8th connecting rod, the 9th connecting rod and the tenth connecting rod, six-bar linkage is first connecting rod
(i.e. six-bar linkage one end is connected on seven-link assembly horizontal extension section, and the other end of six-bar linkage is connected to
One connecting rod and the junction point of second connecting rod), seven-link assembly is paralleled with second connecting rod, the 9th connecting rod and the 3rd
Connecting rod is parallel, and the 8th connecting rod one end is connected to seven-link assembly and the junction point of the 9th connecting rod, the 8th connecting rod another
One end is connected to the junction point of second connecting rod and third connecting rod, and the tenth connecting rod one end is connected to the 9th connecting rod end
End, the tenth connecting rod other end is connected to the junction point of third connecting rod and fourth link；Seven-link assembly and the 6th is even
Connected by Timing Belt or synchronous gear wheels between junction point and second connecting rod and the junction point of first connecting rod of bar
Connect.
Described six-bar linkage is fixing bar, and seven-link assembly and the 9th connecting rod are motion bar；Seven-link assembly is around the 7th
The junction point of connecting rod and six-bar linkage rotates, and the 9th connecting rod revolves around the junction point of the 9th connecting rod and seven-link assembly
Turn.
Described six-bar linkage, seven-link assembly, the 8th connecting rod and second connecting rod circulate connection formation one successively puts down
Row quadrilateral structure, the 8th connecting rod, the 9th connecting rod, the tenth connecting rod and third connecting rod circulate connection successively and are formed
Another parallelogram sturcutre, thus ensure forever to be parallel to the 6th as the tenth connecting rod of work platforms even
Bar, and it is controlled by the motion of two driving motors.
Described tenth connecting rod is the execution outfan of five-bar mechanism, the outer welding manipulator of this execution outfan, can
It is applied to product carrying, packaging etc..
Described first drives motor and second to drive motor to be servo drive motor.First drives motor and the
Two drive motor to use two separate servo drive motors, by controlling second connecting rod and the 5th connecting rod
Self-movement so that this five-bar mechanism can export in its limit range the motion of arbitrarily needs with
And track.
Described first connecting rod, second connecting rod, third connecting rod, fourth link and the 5th connecting rod are carbon fiber even
Bar component, has fabulous mechanical property and exercise performance, the operation of five-bar mechanism can be played guarantee and make
With.
This utility model, relative to prior art, has the advantages that
This Dual Drive five-bar mechanism simple in construction, uses flexibly, it is possible to provide fabulous mechanics transmission performance,
And can produce the movement output more more complicated than traditional quadric chain, including having a rest, stoppage in transit is moved, its output
Track variation, can flexible adaptation plurality of specifications product use.
This Dual Drive five-bar mechanism uses two separate driving motors to control individual movable rod
System, by the combination of two groups of separate motions, thus makes this five-bar mechanism can be in its limit range
The motion of output arbitrarily needs and track.
Each connecting rod of this Dual Drive five-bar mechanism all uses carbon fiber construction or carbon fiber stressed member, has
Fabulous mechanical property and exercise performance, can the properly functioning and effective fortune of effective guarantee five-bar mechanism
OK.
Prove through the test in the production line of the disposable sanitary articles such as sanitary towel, protective pad, this Dual Drive
Five-bar mechanism can be applicable to the production links such as product carrying, packaging, for equipment performance and the production of production line
Efficiency all brings improvement greatly, while simplification equipment, reduces manual operation, beneficially production cost
Control.
Accompanying drawing explanation
Fig. 1 is the structural representation of this Dual Drive five-bar mechanism embodiment 1.
Fig. 2 is the simplified pinciple schematic diagram of Fig. 1.
Fig. 3 be Fig. 1 five-bar mechanism in the preseting length schematic diagram of each connecting rod.
Fig. 4 is the movement locus principle schematic of five-bar mechanism in Fig. 3.
Fig. 5 is the structural representation of this Dual Drive five-bar mechanism embodiment 2.
Fig. 6 is the axis side view of Fig. 5.
Fig. 7 is compared with Example 1, the structural representation of embodiment 2 increased part connecting rod.
Fig. 8 is the simplified pinciple schematic diagram of Fig. 7.
Fig. 9 be seven-link assembly and the junction point of six-bar linkage and second connecting rod with the junction point of first connecting rod it
Between asynchronous time, the issuable two kinds of duty schematic diagrams of increased part connecting rod.
Detailed description of the invention
Below in conjunction with embodiment, the utility model is described in further detail, but of the present utility model
Embodiment is not limited to this.
Embodiment 1
The present embodiment one Dual Drive five-bar mechanism, as shown in Figure 1 or 2, including being sequentially connected with composition
The first connecting rod 1 of loop structure, second connecting rod 2, third connecting rod 3, fourth link 4 and the 5th connecting rod 5,
For fixing bar, (fixing point at its two ends is respectively some A and some B, as shown in Figure 2), second to first connecting rod
Connecting rod, third connecting rod, fourth link and the 5th connecting rod are motion bar, and second connecting rod is connected with first connecting rod
One end be provided with the first driving motor 11, one end that the 5th connecting rod is connected with first connecting rod is provided with the second driving
Motor 12 (Fig. 6 seen from this structure).
As in figure 2 it is shown, the junction point of third connecting rod and fourth link (i.e. putting D) is holding of five-bar mechanism
Row outfan, the outer welding manipulator of this execution outfan, can be applicable to product carrying, packaging etc..Second connecting rod
Junction point (i.e. putting B) around second connecting rod with first connecting rod rotates, and the 5th connecting rod is around the 5th connecting rod and first
The junction point (i.e. putting A) of connecting rod rotates.Third connecting rod around third connecting rod and second connecting rod junction point (i.e.
Point C) rotate, fourth link rotates around the junction point (i.e. putting E) of fourth link with the 5th connecting rod.
First drives motor and second to drive motor to be servo drive motor.First drives motor and second to drive
Galvanic electricity machine uses separate two servo drive motors, by controlling the only of second connecting rod and the 5th connecting rod
Vertical motion, so that this five-bar mechanism can export motion and the rail of arbitrarily needs in its limit range
Mark.
First connecting rod, second connecting rod, third connecting rod, fourth link and the 5th connecting rod are carbon fiber connecting rod structure
Part, has fabulous mechanical property and exercise performance, the operation of five-bar mechanism can be played guaranteeing role.
When above-mentioned Dual Drive five-bar mechanism uses, its principle is as follows: as shown in Figure 1 or 2, puts A
With a B as fixing joint, first connecting rod is fixing connecting rod, therefore, and second connecting rod and the 5th connecting rod
One end can corresponding rotate around a B and some A respectively, and is driven by separate servo drive motor respectively
Dynamic, so the motion of second connecting rod and the 5th connecting rod is independently controlled by drives motor accordingly, put C
Motion with an E is also controlled by driving accordingly motor.Thus, at a triangle for C, D, E composition
In, the motion as the some D performing outfan is controlled by two driving motors simultaneously, drives electricity when changing
During machine motor program, D point movement locus as required can be controlled and move.This Dual Drive five is even
The moving track calculation of linkage is as follows: as shown in Figure 3, it is assumed that a length of L1 of first connecting rod, and second
The a length of L2 of connecting rod, a length of L3 of third connecting rod, a length of L4 of fourth link, the 5th connecting rod
A length of L5；As shown in Figure 4, the effective exercise track of five-bar mechanism such as the dash area institute in Fig. 4
Show, wherein, track can be arrived after region representation second connecting rod in circle 13 and third connecting rod combination
Can arrive after little scope (i.e. L3-L2), region representation second connecting rod in circle 14 and third connecting rod combination
The maximum magnitude (i.e. L3+L2) of track, the region representation fourth link in circle 15 and the 5th connecting rod assembly
After can arrive the minimum zone (i.e. L4-L5) of track, the region representation fourth link and the 5th in circle 16
The maximum magnitude (i.e. L4+L5) of track can be arrived after connecting rod assembly.The dash area formed is five connecting rod machines
Structure performs the effective exercise track of outfan, in this working region, according to actual needs, by routine
Programming change drives motor movement, can realize transfer point D and to the position needed or drive a D according to needing
The orbiting motion wanted, when needed, thus it is possible to vary first connecting rod, second connecting rod, third connecting rod, the 4th company
The length of bar or the 5th connecting rod changes the range of movement of five link robot manipulator, thus embodies five connecting rod machineries
The powerful working region of hands and powerful track fan-out capability.
Embodiment 2
The present embodiment one Dual Drive five-bar mechanism, its overall structure as shown in Figure 5 or Figure 6, with enforcement
Example 1 compares, and its difference is: as shown in Fig. 7 or Fig. 8, and five-bar mechanism also includes the 6th even
Bar 6, seven-link assembly the 7, the 8th connecting rod the 8, the 9th connecting rod 9 and the tenth connecting rod 10, six-bar linkage is first
(i.e. six-bar linkage one end is connected on seven-link assembly (i.e. putting G), six-bar linkage to the horizontal extension section of connecting rod
The other end be connected to the junction point (i.e. putting B) of first connecting rod and second connecting rod), seven-link assembly and second is even
Bar is parallel, and the 9th connecting rod is parallel with third connecting rod, and the 8th connecting rod one end is connected to seven-link assembly and the 9th even
The junction point (i.e. putting H) of bar, the other end of the 8th connecting rod is connected to the connection of second connecting rod and third connecting rod
Point (i.e. puts C), and the tenth connecting rod one end is connected to the 9th connecting rod end (i.e. putting K), the tenth connecting rod other end
It is connected to the junction point (i.e. putting D) of third connecting rod and fourth link；Seven-link assembly and the connection of six-bar linkage
It is connected by Timing Belt or synchronous gear wheels between point and second connecting rod and the junction point of first connecting rod, i.e. distinguishes
For being connected by Timing Belt or synchronous gear wheels between the some G and some B of fixing point.
Wherein, six-bar linkage is fixing bar, and seven-link assembly and the 9th connecting rod are motion bar；As shown in Figure 8,
Seven-link assembly rotates around the junction point (i.e. putting G) of seven-link assembly and six-bar linkage, and the 9th connecting rod is around the 9th even
The junction point (i.e. putting H) of bar and seven-link assembly rotates.Six-bar linkage, seven-link assembly, the 8th connecting rod and
Two connecting rods circulate connection successively and form a parallelogram sturcutre, the 8th connecting rod, the 9th connecting rod, the tenth company
Bar and third connecting rod circulate connection successively and form another parallelogram sturcutre, thus ensure as work flat
Tenth connecting rod of platform is parallel to six-bar linkage forever, and is controlled by the motion of two driving motors.Tenth even
Bar is the execution outfan of five-bar mechanism, the outer welding manipulator of this execution outfan, can be applicable to product carrying,
Packaging etc..
Owing to, in general device, the mechanical hand as executable portion is an integrally-built mechanism, typically
Need a platform or component that it is fixed, but the five-bar mechanism of embodiment 1 is only capable of controlling one
Point, is difficult to meet the installation requirement of mechanical hand during application, now need to use five connecting rod machineries of embodiment 2
Hands, six-bar linkage, seven-link assembly, the 8th connecting rod and the 9th connecting rod increased is as auxiliary part, with
Two connecting rods, third connecting rod and the tenth connecting rod form auxiliary body, its purpose is to as performing outfan
Some D expand to mechanism output (the i.e. the tenth connecting rod), only need during use mechanical hand is installed on the tenth
On connecting rod, the tenth connecting rod driving mechanical hands carries out track and some D described in embodiment 1 moved
Movement locus fits like a glove.Wherein, the operation principle of auxiliary body is as follows: some B and some G is as fixing
Joint, six-bar linkage fixes, second connecting rod and seven-link assembly is corresponding rotates around a B and some G, works as control
Point B and some G rotational angle time, can control point H and some C motion, second connecting rod with the 7th connect
The length of bar is equal, and the length of third connecting rod and the 9th connecting rod is equal, six-bar linkage, the 8th connecting rod and the tenth
The length of connecting rod is equal, and therefore this auxiliary body is actually the combination of two parallelogrames, by parallel
The characteristic of tetragon can ensure that six-bar linkage, the 8th connecting rod and the tenth connecting rod are the most parallel to each other, so the
Ten connecting rods are equal to a work platforms that can be parallel to six-bar linkage.
But when the rotary motion of a G is uncontrolled, some B drives second connecting rod to move to some B, C, H
When being in same straight line, owing to a G does not has controlled, then some C likely produces shape as shown in Figure 9
State a or state b, i.e. seven-link assembly likely can operate towards the rightabout of second connecting rod, make whole auxiliary
Mechanism changes into state a shown in Fig. 9 or state b, causes the tenth connecting rod and six-bar linkage the most parallel,
Now the tenth connecting rod can't move fully according to the movement locus needed, this obvious and this utility model
Purpose does not corresponds.(can also to this end, the present embodiment will be connected by Timing Belt between some B and some G
Gear transmission mode is used to connect), make a B and some G run-in synchronism, seven-link assembly is also protected with second connecting rod
Hold parallel motion, and the anglec of rotation synchronizes, thus ensure that the tenth connecting rod is parallel to six-bar linkage forever, and
Its controlled movement is in two driving motors.
From the foregoing, the some D in the effective exercise track of the tenth connecting rod and embodiment 1 in the present embodiment
Effective exercise track identical.In actual applications, by changing the specific constructive form of the tenth connecting rod, i.e.
It is suitable for installation requirement and the movement needs of different mechanical hand.
As it has been described above, just can preferably realize this utility model, above-described embodiment be only of the present utility model relatively
Good embodiment, is not used for limiting practical range of the present utility model；The most all made according to this utility model content
Impartial change with modify, all contained by this utility model claim scope required for protection.
Claims (10)
1. a Dual Drive five-bar mechanism, it is characterised in that include being sequentially connected with composition loop structure
First connecting rod, second connecting rod, third connecting rod, fourth link and the 5th connecting rod, first connecting rod is fixing bar,
Second connecting rod, third connecting rod, fourth link and the 5th connecting rod are motion bar, second connecting rod and first connecting rod
The one end connected is provided with the first driving motor, and one end that the 5th connecting rod is connected with first connecting rod is provided with the second driving
Motor.
A kind of Dual Drive five-bar mechanism, it is characterised in that the described 3rd
The junction point of connecting rod and fourth link is the execution outfan of five-bar mechanism.
A kind of Dual Drive five-bar mechanism, it is characterised in that described second
Connecting rod rotates around the junction point of second connecting rod with first connecting rod, and the 5th connecting rod is around the 5th connecting rod and first connecting rod
Junction point rotates.
A kind of Dual Drive five-bar mechanism, it is characterised in that the described 3rd
Connecting rod rotates around the junction point of third connecting rod with second connecting rod, and fourth link is around fourth link and the 5th connecting rod
Junction point rotates.
A kind of Dual Drive five-bar mechanism, it is characterised in that five connecting rod machines
Structure also includes six-bar linkage, seven-link assembly, the 8th connecting rod, the 9th connecting rod and the tenth connecting rod, and six-bar linkage is
The horizontal extension section of first connecting rod, seven-link assembly parallels with second connecting rod, and the 9th connecting rod is put down with third connecting rod
OK, the 8th connecting rod one end is connected to seven-link assembly and the junction point of the 9th connecting rod, and the other end of the 8th connecting rod is even
Being connected to the junction point of second connecting rod and third connecting rod, the tenth connecting rod one end is connected to the 9th connecting rod end, and the tenth
The connecting rod other end is connected to the junction point of third connecting rod and fourth link；Seven-link assembly and the connection of six-bar linkage
It is connected by Timing Belt or synchronous gear wheels between point and second connecting rod and the junction point of first connecting rod.
A kind of Dual Drive five-bar mechanism, it is characterised in that the described 6th
Connecting rod is fixing bar, and seven-link assembly and the 9th connecting rod are motion bar；Seven-link assembly is around seven-link assembly and the 6th even
The junction point of bar rotates, and the 9th connecting rod rotates around the junction point of the 9th connecting rod and seven-link assembly.
A kind of Dual Drive five-bar mechanism, it is characterised in that the described 6th
Connecting rod, seven-link assembly, the 8th connecting rod and second connecting rod circulate connection successively and form a parallelogram sturcutre,
8th connecting rod, the 9th connecting rod, the tenth connecting rod circulate connection successively and form another parallel four limits with third connecting rod
Shape structure.
A kind of Dual Drive five-bar mechanism, it is characterised in that the described tenth
Connecting rod is the execution outfan of five-bar mechanism.
A kind of Dual Drive five-bar mechanism, it is characterised in that described first
Motor and second is driven to drive motor to be servo drive motor.
A kind of Dual Drive five-bar mechanism, it is characterised in that described first
Connecting rod, second connecting rod, third connecting rod, fourth link and the 5th connecting rod are carbon fiber link component.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620413057.9U CN205605752U (en) | 2016-05-06 | 2016-05-06 | Dual drive five -bar linkage mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620413057.9U CN205605752U (en) | 2016-05-06 | 2016-05-06 | Dual drive five -bar linkage mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205605752U true CN205605752U (en) | 2016-09-28 |
Family
ID=56968355
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620413057.9U Active CN205605752U (en) | 2016-05-06 | 2016-05-06 | Dual drive five -bar linkage mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205605752U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105805252A (en) * | 2016-05-06 | 2016-07-27 | 广州市兴世机械制造有限公司 | Dual-drive five-linkage mechanism |
| WO2017190685A1 (en) * | 2016-05-06 | 2017-11-09 | 广州市兴世机械制造有限公司 | Five-linkage material-pushing mechanism for use in packaging machine |
-
2016
- 2016-05-06 CN CN201620413057.9U patent/CN205605752U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105805252A (en) * | 2016-05-06 | 2016-07-27 | 广州市兴世机械制造有限公司 | Dual-drive five-linkage mechanism |
| WO2017190686A1 (en) * | 2016-05-06 | 2017-11-09 | 广州市兴世机械制造有限公司 | Dual-drive five-linkage mechanism |
| WO2017190685A1 (en) * | 2016-05-06 | 2017-11-09 | 广州市兴世机械制造有限公司 | Five-linkage material-pushing mechanism for use in packaging machine |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |