CN209466258U - A kind of tracking mode bubble cap tray transfer robot arm - Google Patents
A kind of tracking mode bubble cap tray transfer robot arm Download PDFInfo
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- CN209466258U CN209466258U CN201821832628.8U CN201821832628U CN209466258U CN 209466258 U CN209466258 U CN 209466258U CN 201821832628 U CN201821832628 U CN 201821832628U CN 209466258 U CN209466258 U CN 209466258U
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- arm
- power source
- slide
- oscilaltion
- suction nozzle
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Abstract
The utility model relates to a kind of tracking mode bubble cap tray transfer robot arms for being able to maintain bubble-cap machine Yu box packing machine Fast synchronization continuous operation.This tracking mode bubble cap tray transfer robot arm includes organic block, suction nozzle and suction nozzle bracket, it is characterized by: suction nozzle bracket is hinged on the front end of oscilaltion arm, the oscilaltion arm is hinged on front and back transfer arm, the lower end of front and back transfer arm is installed in rotation on slide, oscilaltion power source is installed on slide and power source is transferred in front and back, transfer power source and front and back transfer arm transmission connection in front and back, the transmission connection of the lower end of oscilaltion power source and lifter drawing bar, the upper end of lifter drawing bar and the rear end of oscilaltion arm are hinged, the sliding rail of left and right settings is installed on base, slide sliding is set on the slide rail.This tracking mode bubble cap tray transfer robot arm organically combines bubble-cap machine and box packing machine, and not only yield has turned over one and turned over, but also stability is relatively reliable, is able to achieve the superposition of more plates.
Description
Technical field
The utility model relates to a kind of manipulators, and in particular to a kind of that bubble-cap machine is set up what conveying was connected with box packing machine
Tracking mode bubble cap tray transfer robot arm.
Background technique
Blister packaging machine is generally made of bubble-cap machine with box packing machine, and bubble-cap machine completes the formation and encapsulation of medicine version bubble-cap, dress
The mounted box of box machine completion medicine version bubble-cap.Traditional bubble-cap machine conveyer belt is generally arranged in parallel with boxing machine conveying belt, passes through centre
Suction plate putting machine tool hand medicine version inhaled from the conveyer belt of bubble-cap machine put to the conveyer belt of box packing machine, to realize linkage.Mesh
Preceding existing blister packaging machine is all to inhale plate putting machine tool hand by tracking mode, if applicant in applying for a patent (entitled one kind before
Bubble-cap box packing machine, Patent No. 201420196925.3), wherein the manipulator for completing transfer work includes mechanical arm, crossbeam
And the vacuum slot of load quantity, although this structure is also to put plate using tracking mode suction, due to itself structure
Limitation, suction needs conveyer belt intermittent movement when putting plate, therefore limits the transfer efficiency of bubble-cap machine and box packing machine, and if plus
Fast speed, manipulator will appear shake drift problem again.
Summary of the invention
In view of the shortcomings of the prior art, the utility model innovation provide it is a kind of it is structurally reasonable, stable, can protect
Hold the tracking mode bubble cap tray transfer robot arm of bubble-cap machine Yu box packing machine Fast synchronization continuous operation.
This tracking mode bubble cap tray transfer robot arm includes organic block, suction nozzle and suction nozzle bracket, it is characterised in that: described
Suction nozzle bracket is hinged on the front end of oscilaltion arm, and the oscilaltion arm is hinged on front and back transfer arm, the front and back transfer
The lower end of arm is installed in rotation on slide, and oscilaltion power source is equipped on the slide and power source is transferred in front and back,
The lower end of the front and back transfer power source and front and back transfer arm transmission connection, the oscilaltion power source and lifter drawing bar is driven
Connection, the upper end of the lifter drawing bar and the rear end of oscilaltion arm are hinged, and the sliding rail of left and right settings is equipped on the base,
The slide sliding is set on the slide rail, and the horizontal transfer power source transmission that the slide and driving slide move on the slide rail connects
It connects；The slide is equipped with the horizontal holding component for keeping the holding of suction nozzle bracket horizontal.
It is described it is horizontal keep component include horizontal drag link, triangle cantilever, horizontal vertical connecting rod, pull-up rod bearing and under
Drag link bearing, triangle cantilever handover on front and back transfer arm, one jiao of the triangle cantilever with the rear end of horizontal drag link
Hingedly, the pull-up rod bearing is mounted on suction nozzle bracket, and the front end of the horizontal drag link and pull-up rod bearing are hinged, described
Another angle of triangle cantilever and the upper end of horizontal vertical connecting rod are hinged, and the lower drag link bearing is mounted on slide, the horizontal vertical
The lower end of pull rod and lower drag link bearing are hinged.
The oscilaltion power source and triangle joint arm are sequentially connected, one jiao and lifter drawing bar of the triangle joint arm
Lower end it is hinged, another angle of the triangle joint arm with drive lifter drawing bar toward drop-down extensible member connect.
The extensible member is support cylinder or tension spring.
Synchronous belt component is installed, the synchronous belt component includes driven synchronous pulley, active synchronization on the base
Belt wheel and synchronous belt, the synchronous belt are wound in driven synchronous pulley and active synchronization belt wheel, and the synchronous belt and slide connect
It connects, the active synchronization belt wheel and horizontal transfer power source transmission connection.
Front and back is equipped with three row's suction nozzles on the suction nozzle bracket.
The oscilaltion power source, front and back transfer power source and horizontal transfer power source are speed reducer for servo motor
Combination.
Bubble-cap machine and box packing machine are organically combined according to tracking mode bubble cap tray transfer robot arm provided by the utility model, no
Only yield has turned over one and has turned over, and stability is relatively reliable, is able to achieve the superposition of more plates.
Detailed description of the invention
Fig. 1 is the working condition chart of the utility model；
Fig. 2 is the perspective view of the utility model；
Fig. 3 is the main view of the utility model；
Fig. 4 is the side view of the utility model.
Specific embodiment
As shown in Figure 1, the function of this tracking mode bubble cap tray transfer robot arm is exactly the bubble conveyed bubble-cap machine in grid A
Cover plate is transferred in the charging grid B of box packing machine, and then bubble cap tray is packed into medicine box together with specification after multiprogramming.
As in Figure 2-4, this tracking mode bubble cap tray transfer robot arm includes organic block 18, suction nozzle 1 and suction nozzle bracket
2, suction nozzle 1 is mounted on suction nozzle bracket 2, these are all as the prior art, and the difference is that driving suction nozzle bracket 2 front and back
It is mobile, move left and right and the mode of oscilaltion.
In order to realize 2 above-mentioned three kinds of motion modes of suction nozzle bracket, the suction nozzle bracket 2 of the utility model by upper bracket 20 with
Connecting shaft is hinged on the front end of oscilaltion arm 3, and oscilaltion arm 3 is hinged on front and back transfer arm 4, and the lower end of arm 4 is transferred in front and back
It is installed in rotation on slide 19 and (is mounted on slide 19 by main shaft and spindle drum 16), liter up and down is installed on slide 19
It drops power source 7 and power source 9 is transferred in front and back, front and back transfers power source 9 and front and back transfer arm 4 is sequentially connected, oscilaltion power
Source 7 and the lower end of lifter drawing bar 5 are sequentially connected, and the upper end of lifter drawing bar 5 and the rear end of oscilaltion arm 3 are hinged, on base 18
The sliding rail (sliding rail is not drawn into) of left and right settings is installed, the sliding of slide 19 is set on the slide rail, and slide 19 and driving slide 19 are in cunning
The horizontal transfer power source 8 moved on rail is sequentially connected；In addition, slide 19 is equipped with the level for making suction nozzle bracket 2 holding level
Keep component.
The working principle of the utility model is as follows: the manipulator first bubble-cap machine conveying grid A in draw a row or
Multiple rows of bubble cap tray (seeing packing specification), then horizontal transfer power source 8 drives slide 19 mobile, and slide 19 carries suction nozzle bracket 2
It is fast moved (X-direction in Fig. 2) with suction nozzle 1 along the direction of charging grid B conveying, the speed that certain slide 19 moves horizontally is wanted
It is faster than the conveying speed of charging grid B；During moving horizontally, 4 turns of arm of the driving of power source 9 front and back transfer is transferred in front and back
It is dynamic, i.e., it rotates backward, such suction nozzle bracket 2 just removes (Y direction in Fig. 2) toward the charging direction grid B, at the same time, up and down
Lifting drive source 7 drives lifter drawing bar 5 up to move, this one end that such oscilaltion arm 3 is connect with lifter drawing bar 5 is up
Move, this one end that oscilaltion arm 3 is connect with suction nozzle bracket 2 with regard to toward moving down (Z-direction in Fig. 2), such suction nozzle 1 just reach into
Expect the surface of grid B, then suction nozzle is deflated, and row's bubble cap tray is just fallen in charging grid B；Certainly, during putting plate,
Slide still tracks charging grid B, keeps identical movement speed and identical conveying direction with charging grid B, so
It can allow bubble cap tray that can smoothly be placed in charging grid B, and convey grid A and charging grid B and can be achieved with being continuously conveyed, thus
Greatly improve packaging efficiency.If suction nozzle bracket 2 is equipped with multiple rows of suction nozzle, 1 plate of Yao Shixian/box packaging, then suction nozzle bracket 2
After discharging a row, rise (Z-direction in Fig. 2) immediately, while fast moving to feed the opposite direction of grid B conveying direction
(X-direction in Fig. 2) comes above the subsequent vacancy charging grid B, adjusts the front-rear position (figure of suction nozzle bracket 2 at the same time
Y direction in 2), it allows another row's suction nozzle 1 to be in the surface in vacancy behind charging grid B, then declines the bubble-cap this row
Plate is put down.Certainly bubble cap tray (2-5) can also be completed with the transfer track of optimization and least movement beat by programming
Plate/box stacking mounted box.Specifically front and back is equipped with three row's suction nozzles 1 to the utility model on suction nozzle bracket 2, and three row's suction nozzles 1 are substantially
It is able to satisfy the stacking mounted box of bubble cap tray (1-5) plate/box.
It moves anyway, suction nozzle bracket 2 will keep horizontal always, and suction nozzle bracket 2 is exactly to keep component by horizontal
Keep horizontal, the utility model it is horizontal keep component include horizontal drag link 10, triangle cantilever 11, horizontal vertical connecting rod 12,
Rod bearing 100 and lower drag link bearing 13 are pulled up, the handover of triangle cantilever 11 is on front and back transfer arm 4, and one jiao of triangle cantilever 11
Hinged with the rear end of horizontal drag link 10, pull-up rod bearing 100 is mounted on suction nozzle bracket 2 (as shown in Figure 1), horizontal drag link
10 front end and pull-up rod bearing 100 are hinged, and another angle of triangle cantilever 11 and the upper end of horizontal vertical connecting rod 12 are hinged, lower pull rod
Support 13 is mounted on slide 19, and the lower end of horizontal vertical connecting rod 12 and lower drag link bearing 13 are hinged.Component is kept by the level,
As shown in figure 4, the lower interface point 200 of suction nozzle bracket 2 and oscilaltion arm 3 and pull-up rod bearing 100 and horizontal drag link 10
Upper interface point 201 remains vertical (if two o'clock is not vertically, it is constant to be just to maintain direction), due to lower interface point
200 are all located on suction nozzle bracket 2 with upper interface point 201, therefore suction nozzle bracket 2 would not rotate, no matter oscilaltion, or before
After move, can remain horizontal.
As shown in figure 4, the linkage section of oscilaltion arm 3 and suction nozzle bracket 2 is long-armed, oscilaltion arm 3 and lifter drawing bar 5
Linkage section be galianconism, according to lever principle, lifter drawing bar 5 to overcome very big pulling force up could allow suction nozzle bracket 2 protect
Maintain an equal level weighing apparatus, and lifter drawing bar 5 and oscilaltion power source 7 are sequentially connected, therefore the pulling force to be overcome is transferred to oscilaltion
On power source 7, oscilaltion power source 7 will bear bigger load thus.In order to mitigate the load of oscilaltion power source 7,
Oscilaltion power source 7 and triangle joint arm 6 are sequentially connected by the utility model, one jiao and lifter drawing bar 5 of triangle joint arm 6
Lower end it is hinged, another angle of triangle joint arm 6 with drive lifter drawing bar 5 toward drop-down extensible member 15 connect.Due to extensible member
15 give one jiao of pulling force back of triangle joint arm 6, and the connecting pin of such triangle joint arm 6 and lifter drawing bar 5 there is
One power toward drop-down, this power just alleviate the pulling force of suction nozzle bracket 2 up to lifter drawing bar 5, and this reduces upper
The load in lower lifting drive source 7, allows oscilaltion power source 7 to possess longer service life.Certainly, extensible member 15 here can
Think tension spring or support cylinder.
In order to fast move slide 19, the utility model is equipped with synchronous belt component, synchronous belt component on base 18
It include driven synchronous pulley, active synchronization belt wheel and synchronous belt 14, synchronous belt 14 is wound on driven synchronous pulley and active is same
It walks on belt wheel, synchronous belt 14 is connect with slide 19, and level transfer power source 8 is just sequentially connected with active synchronization belt wheel.Pass through water
Translation send power source 8 to drive, and synchronous belt 14 just can quickly move back and forth on the slide rail with slide 19, to make suction nozzle 1 and inhale
Mouth bracket 2 can catch up with conveying grid A and feed the conveying speed of grid B.
Finally it is worth mentioning that the oscilaltion power source 7, front and back transfer power source 9 and levels of the utility model
Transfer power source 8 is speed reducer for servo motor combination.Speed reducer for servo motor combines the movement that can be precisely controlled each mechanism,
Plate work is put to complete the suction of error very little.
Claims (7)
1. a kind of tracking mode bubble cap tray transfer robot arm, including organic block (18), suction nozzle (1) and suction nozzle bracket (2), special
Sign is: the suction nozzle bracket (2) is hinged on the front end of oscilaltion arm (3), and the oscilaltion arm (3) is hinged on front and back and moves
It send on arm (4), the lower end of front and back transfer arm (4) is installed in rotation on slide (19), is installed on the slide (19)
There are oscilaltion power source (7) and front and back transfer power source (9), front and back transfer power source (9) and front and back transfer arm (4) pass
Dynamic connection, the lower end transmission connection of the oscilaltion power source (7) and lifter drawing bar (5), the upper end of the lifter drawing bar (5)
It is hinged with the rear end of oscilaltion arm (3), the sliding rail of left and right settings, slide (19) sliding are installed on the base (18)
If on the slide rail, horizontal transfer power source (8) transmission connection that the slide (19) and driving slide (19) are moved on the slide rail；
The slide (19) is equipped with the horizontal holding component for making suction nozzle bracket (2) to keep horizontal.
2. a kind of tracking mode bubble cap tray transfer robot arm according to claim 1, it is characterised in that: the horizontal holding group
Part includes horizontal drag link (10), triangle cantilever (11), horizontal vertical connecting rod (12), pull-up rod bearing (100) and lower pull rod
Support (13), in front and back transfer arm (4), one jiao of the triangle cantilever (11) is horizontal with level for triangle cantilever (11) handover
The rear end of pull rod (10) is hinged, and the pull-up rod bearing (100) is mounted on suction nozzle bracket (2), the horizontal drag link (10)
Front end and pull-up rod bearing (100) hingedly, the upper end of another angle of the triangle cantilever (11) and horizontal vertical connecting rod (12) is cut with scissors
It connects, the lower drag link bearing (13) is mounted on slide (19), the lower end of the horizontal vertical connecting rod (12) and lower drag link bearing
(13) hinged.
3. a kind of tracking mode bubble cap tray transfer robot arm according to claim 1 or 2, it is characterised in that: described to rise up and down
Power source (7) and triangle joint arm (6) are dropped to be sequentially connected, one jiao of the triangle joint arm (6) with the lower end of lifter drawing bar (5)
Hingedly, another angle of the triangle joint arm (6) is connect with the extensible member (15) for driving lifter drawing bar (5) toward drop-down.
4. a kind of tracking mode bubble cap tray transfer robot arm according to claim 3, it is characterised in that: the extensible member (15)
For support cylinder or tension spring.
5. a kind of tracking mode bubble cap tray transfer robot arm according to claim 1, it is characterised in that: installed on the base
There is a synchronous belt component, the synchronous belt component includes driven synchronous pulley, active synchronization belt wheel and synchronous belt (14), described
Synchronous belt (14) is wound in driven synchronous pulley and active synchronization belt wheel, and the synchronous belt (14) connect with slide (19), described
Active synchronization belt wheel and horizontal transfer power source (8) transmission connection.
6. a kind of tracking mode bubble cap tray transfer robot arm according to claim 1, it is characterised in that: the suction nozzle bracket
(2) front and back is equipped with three row's suction nozzles (1) on.
7. a kind of tracking mode bubble cap tray transfer robot arm according to claim 1, it is characterised in that: the oscilaltion is dynamic
Power source (7), front and back transfer power source (9) and horizontal transfer power source (8) are speed reducer for servo motor combination.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821832628.8U CN209466258U (en) | 2018-11-08 | 2018-11-08 | A kind of tracking mode bubble cap tray transfer robot arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821832628.8U CN209466258U (en) | 2018-11-08 | 2018-11-08 | A kind of tracking mode bubble cap tray transfer robot arm |
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| Publication Number | Publication Date |
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| CN209466258U true CN209466258U (en) | 2019-10-08 |
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| CN201821832628.8U Active CN209466258U (en) | 2018-11-08 | 2018-11-08 | A kind of tracking mode bubble cap tray transfer robot arm |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109159145A (en) * | 2018-11-08 | 2019-01-08 | 浙江希望机械有限公司 | A kind of tracking mode bubble cap tray transfer robot arm |
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2018
- 2018-11-08 CN CN201821832628.8U patent/CN209466258U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109159145A (en) * | 2018-11-08 | 2019-01-08 | 浙江希望机械有限公司 | A kind of tracking mode bubble cap tray transfer robot arm |
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