CN107414814A - A kind of driving auxiliary equipment of passive closed type variable topological packaging robot - Google Patents
A kind of driving auxiliary equipment of passive closed type variable topological packaging robot Download PDFInfo
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- 238000004806 packaging method and process Methods 0.000 title claims abstract description 35
- 230000007246 mechanism Effects 0.000 claims description 23
- 230000008878 coupling Effects 0.000 claims description 8
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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
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Abstract
一种被动闭合式变拓扑包装机器人的驱动附属装置，该装置的转盘安装在中心轴上，可绕中心轴转动，第一伸缩杆总成由第三连杆、第一粗伸缩杆、第一细伸缩杆和第一滑块组成，第一粗伸缩杆一端焊接于第三连杆上，另一端与第一细伸缩杆以圆柱副的方式相连，第一细伸缩杆底部以球副的连接方式与第一滑块相连，第三连杆以球副的连接方式与滑动杆相连，第一滑块安装在三角变胞杆上的滑槽内，第一滑块可沿滑槽移动。该装置结构简单、驱动灵活、便于控制且在运动的过程中不会与其他杆件发生干涉，能巧妙的完成变拓扑包装机器人顶部的开闭。
A driving accessory device of a passive closed-type variable topology packaging robot. The turntable of the device is installed on the central axis and can rotate around the central axis. The first telescopic rod assembly consists of a third connecting rod, a first thick telescopic rod, a first The thin telescopic rod is composed of the first slider. One end of the first thick telescopic rod is welded on the third connecting rod, and the other end is connected with the first thin telescopic rod in the form of a cylindrical pair. The bottom of the first thin telescopic rod is connected by a ball pair. The third connecting rod is connected with the sliding rod in the connection mode of the ball pair, and the first sliding block is installed in the chute on the triangular metamorphic rod, and the first sliding block can move along the chute. The device is simple in structure, flexible in drive, easy to control and does not interfere with other rods during the movement process, and can skillfully complete the opening and closing of the top of the variable topology packaging robot.
Description
技术领域technical field
本发明涉及一种机械设计领域，特别是一种被动闭合式变拓扑包装机器人的驱动附属装置。The invention relates to the field of mechanical design, in particular to a driving accessory device of a passive closed variable topology packaging robot.
背景技术Background technique
近年来，随着社会的不断发展，机器人已经逐渐进入了各行各业，而生产产品往往离不开包装，因此，包装机器人也逐渐成为了人们研究的热点，中国专利ZL201210218278.7公布了一种变拓扑包装机器人机构，该包装机器人机构能够变拓扑，一次完成包装作业任务，结构简单，成型稳定可靠，大大减少多工作站、多模块包装机械作业的程序，在提高包装作业效率的同时，满足人们对食品包装形式多变的需求，但是该包装机器人机构只是一个机构，尚未设计出顶部闭合驱动附属装置，因而无法使机构顶部闭合，因此有必要设计一种结构简单，控制灵活且不会和机构本身发生干涉的顶部开闭驱动附属装置。In recent years, with the continuous development of society, robots have gradually entered all walks of life, and the production of products is often inseparable from packaging. Therefore, packaging robots have gradually become a hot research topic. Chinese patent ZL201210218278.7 announced a Variable topology packaging robot mechanism, the packaging robot mechanism can change the topology and complete the packaging task at one time. The demand for food packaging is changeable, but the packaging robot mechanism is only a mechanism, and the top closing drive attachment has not been designed, so it is impossible to close the top of the mechanism. Top-opening and closing drive attachments that interfere by themselves.
目前尚未见有一种结构简单、用拉绳控制、被动闭合、便于维护且能适合该包装机器人机构的顶部开闭驱动附属装置的创新发明设计。There is no innovative invention design of a top opening and closing drive attachment device that is simple in structure, controlled by a pull cord, passively closed, easy to maintain and suitable for the packaging robot mechanism.
发明内容Contents of the invention
本发明的目的是提供一种被动闭合式变拓扑包装机器人的驱动附属装置，具结构简单、控制灵活和便于维护的优点，能完成一种变拓扑包装机器人顶部的开闭。The purpose of the present invention is to provide a passive closed-type variable topology packaging robot drive attachment, which has the advantages of simple structure, flexible control and easy maintenance, and can complete the opening and closing of the top of a variable topology packaging robot.
本发明通过以下技术方案实现上述目的：一种被动闭合式变拓扑包装机器人的驱动附属装置，包括三角变胞杆、直变胞杆、第二连杆、第二伸缩杆总成、第一伸缩杆总成、第三连杆、转动总成、板簧、拉绳、侧杆、转盘、第一锥齿轮、第二锥齿轮、电机、螺钉、第一连杆、转板、滑动杆、第二滑块、第二细伸缩杆、第二粗伸缩杆、第一滑块、第一细伸缩杆、第一粗伸缩杆、第一支撑板、第二支撑板、连接板、销轴、中心轴、移动板、第一气缸、模具、变拓扑包装机器人机构、第二气缸、滑杆、第二螺钉、机架、粘块、第一连接板、第二连接板、联轴器、丝杆、第二电机和移动板滑槽，具体结构和连接关系为：The present invention achieves the above object through the following technical solutions: a driving accessory device of a passive closed variable topology packaging robot, including a triangular variable cell rod, a straight variable cell rod, a second connecting rod, a second telescopic rod assembly, a first telescopic Rod assembly, third connecting rod, rotating assembly, leaf spring, pull rope, side rod, turntable, first bevel gear, second bevel gear, motor, screw, first connecting rod, rotating plate, sliding rod, second The second slider, the second thin telescopic rod, the second thick telescopic rod, the first slider, the first thin telescopic rod, the first thick telescopic rod, the first support plate, the second support plate, connecting plate, pin shaft, center Shaft, moving plate, first cylinder, mold, variable topology packaging robot mechanism, second cylinder, slide rod, second screw, frame, sticky block, first connecting plate, second connecting plate, coupling, screw rod , the second motor and the mobile plate chute, the specific structure and connection relationship are as follows:
所述电机通过螺钉安装在移动板上，第二锥齿轮安装在电机上，第二锥齿轮与第一锥齿轮啮合，第一锥齿轮焊接于转盘上，转盘安装在中心轴上，转盘可绕中心轴转动，拉绳一端与转盘相连，另一端与板簧相连，板簧一端与第一连杆相连，另一端与侧杆相连，拉绳中间穿过第一支撑板和第二支撑板上的绳槽，转动总成由第一连杆、滑动杆和转板组成，第一连杆一端与转板焊接，另一端通过销轴与连接板相连，第一连杆可绕销轴转动，滑动杆安装于转板上的长槽内，滑动杆可沿着长槽移动，第二伸缩杆总成由第二连杆、第二粗伸缩杆、第二细伸缩杆和第二滑块组成，第二粗伸缩杆一端焊接于第二连杆上，另一端与第二细伸缩杆以圆柱副的方式相连，第二细伸缩杆底部以球副的连接方式与第二滑块相连，第二连杆以球副的连接方式与滑动杆相连，第二滑块安装在直变胞杆上的滑槽内，第二滑块可沿滑槽移动，第一伸缩杆总成由第三连杆、第一粗伸缩杆、第一细伸缩杆和第一滑块组成，第一粗伸缩杆一端焊接于第三连杆上，另一端与第一细伸缩杆以圆柱副的方式相连，第一细伸缩杆底部以球副的连接方式与第一滑块相连，第三连杆以球副的连接方式与滑动杆相连，第一滑块安装在三角变胞杆上的滑槽内，第一滑块可沿滑槽移动，滑杆焊接在机架上，移动板通过移动板滑槽安装在滑杆上，移动板底部通过螺纹与丝杆连接，第二电机一端通过第二螺钉与机架相连，另一端通过联轴器与丝杆相连，第一连接板和第二连接板焊接于机架上，第一气缸安装于第一连接板上，第二气缸安装于第二连接板上，模具安装于第一气缸上，粘块安装于第二气缸上，变拓扑包装机器人机构安装于移动板上。The motor is installed on the moving plate through screws, the second bevel gear is installed on the motor, the second bevel gear meshes with the first bevel gear, the first bevel gear is welded on the turntable, the turntable is installed on the central axis, and the turntable can rotate When the central axis rotates, one end of the pull rope is connected to the turntable, the other end is connected to the leaf spring, one end of the leaf spring is connected to the first connecting rod, and the other end is connected to the side rod, and the middle of the pull rope passes through the first support plate and the second support plate The rotating assembly is composed of a first connecting rod, a sliding rod and a rotating plate. One end of the first connecting rod is welded to the rotating plate, and the other end is connected to the connecting plate through a pin shaft. The first connecting rod can rotate around the pin shaft. The sliding rod is installed in the long groove on the rotating plate, and the sliding rod can move along the long groove. The second telescopic rod assembly is composed of the second connecting rod, the second thick telescopic rod, the second thin telescopic rod and the second slider , one end of the second thick telescopic rod is welded to the second connecting rod, the other end is connected with the second thin telescopic rod in the form of a cylindrical pair, and the bottom of the second thin telescopic rod is connected with the second slider in the form of a ball pair. The second connecting rod is connected with the sliding rod in the way of a ball pair, the second sliding block is installed in the chute on the straight variable cell rod, the second sliding block can move along the chute, the first telescopic rod assembly is connected by the third connecting rod rod, the first thick telescopic rod, the first thin telescopic rod and the first slider. One end of the first thick telescopic rod is welded to the third connecting rod, and the other end is connected with the first thin telescopic rod in the form of a cylinder pair. The bottom of a thin telescopic rod is connected to the first slider by a ball pair, and the third connecting rod is connected to the sliding rod by a ball pair. The first slider is installed in the chute on the triangular metamorphic rod. A slider can move along the chute, the slider is welded on the frame, the moving plate is installed on the slider through the chute of the moving plate, the bottom of the moving plate is connected with the screw through the thread, and one end of the second motor is connected with the machine through the second screw. The other end is connected to the screw rod through a coupling, the first connecting plate and the second connecting plate are welded on the frame, the first cylinder is installed on the first connecting plate, and the second cylinder is installed on the second connecting plate , the mold is installed on the first cylinder, the sticky block is installed on the second cylinder, and the variable topology packaging robot mechanism is installed on the moving plate.
所述第一锥齿轮焊接于转盘上，便于电机控制。The first bevel gear is welded on the turntable to facilitate motor control.
所述板簧在机构顶部张开时处于自然状态，无弹性势能。The leaf spring is in a natural state when the top of the mechanism is opened, without elastic potential energy.
本发明的突出优点在于：The outstanding advantages of the present invention are:
1、开闭驱动结构简单，便于控制，只需用电机带动旋转转盘就可以将包装机器人机构的顶部同步拉闭，张开时是用板簧的弹力使顶部同步张开，在一定程度上具有节能的效果，其附属装置也具有较强的可控性。1. The opening and closing drive structure is simple and easy to control. Just use the motor to drive the rotating turntable to pull and close the top of the packaging robot mechanism synchronously. When opening, the elastic force of the leaf spring is used to make the top open synchronously. As a result, its accessory devices also have strong controllability.
2、开闭驱动结构采用柔性的拉绳来传递力，拉绳本身是柔性的，因此防止了与包装机器人机构本身发生干涉，具有较强的可靠性。2. The opening and closing drive structure uses a flexible pull rope to transmit force. The pull rope itself is flexible, so it prevents interference with the packaging robot mechanism itself, and has strong reliability.
附图说明Description of drawings
图1是本发明所述的驱动附属装置在变拓扑包装机器人机构处于半闭合状态时的主视图。Fig. 1 is a front view of the driving accessory device according to the present invention when the topologically variable packaging robot mechanism is in a semi-closed state.
图2是本发明所述的驱动附属装置在变拓扑包装机器人机构处于完全闭合状态时的主视图。Fig. 2 is a front view of the driving accessory device according to the present invention when the variable topology packaging robot mechanism is in a fully closed state.
图3是本发明所述的驱动附属装置在变拓扑包装机器人机构处于半闭合状态时的示意图。Fig. 3 is a schematic diagram of the driving accessory device according to the present invention when the topologically variable packaging robot mechanism is in a semi-closed state.
图4是本发明所述的驱动附属装置的转动总成示意图。Fig. 4 is a schematic view of the rotation assembly of the drive attachment according to the present invention.
图5是本发明所述的驱动附属装置的第一伸缩杆总成示意图。Fig. 5 is a schematic diagram of the first telescopic rod assembly of the driving accessory device according to the present invention.
图6是本发明所述的驱动附属装置的第二伸缩杆总成示意图。Fig. 6 is a schematic diagram of the second telescopic rod assembly of the driving accessory device according to the present invention.
图7是本发明所述的驱动附属装置的第一支撑板、第二支撑板和连接板在原包装机器人侧杆上的安装示意图。Fig. 7 is a schematic diagram of the installation of the first supporting plate, the second supporting plate and the connecting plate of the driving attachment according to the present invention on the side pole of the original packaging robot.
图8是本发明所述的三角变胞杆示意图。Fig. 8 is a schematic diagram of a triangular metamorphic rod according to the present invention.
图9是本发明所述的直变胞杆示意图。Fig. 9 is a schematic diagram of a straight variable cell rod according to the present invention.
图10是本发明所述的驱动附属装置的移动板示意图。Fig. 10 is a schematic diagram of the moving plate of the driving accessory device according to the present invention.
图中标记为：1.三角变胞杆；2.直变胞杆；3.第二连杆；4.第二伸缩杆总成；5.第一伸缩杆总成；6.第三连杆；7.转动总成；8.板簧；9.拉绳；10.侧杆；11.转盘；12.第一锥齿轮；13.第二锥齿轮；14.电机；15.螺钉；16.第一连杆；17.转板；18.滑动杆；19.第二滑块；20.第二细伸缩杆；21.第二粗伸缩杆；22.第一滑块；23.第一细伸缩杆；24.第一粗伸缩杆；25.第一支撑板；26.第二支撑板；27.连接板；28.销轴；29.中心轴；30.移动板；31.包装纸；32.第一气缸；33.模具；34.变拓扑包装机器人机构；35.第二气缸；36.滑杆；37.第二螺钉；38.机架；39.粘块；40.第一连接板；41.第二连接板；42.联轴器；43.丝杆；44.第二电机；45.移动板滑槽。Marked in the figure: 1. Triangular variable cell rod; 2. Straight variable cell rod; 3. Second connecting rod; 4. Second telescopic rod assembly; 5. First telescopic rod assembly; 6. Third connecting rod ;7. Rotating assembly; 8. Leaf spring; 9. Pull rope; 10. Side lever; 11. Turntable; 12. First bevel gear; 13. Second bevel gear; 14. Motor; 15. Screw; 16. 17. Turning plate; 18. Sliding rod; 19. Second slider; 20. Second thin telescopic rod; 21. Second thick telescopic rod; 22. First slider; 23. First thin Telescopic rod; 24. The first coarse telescopic rod; 25. The first support plate; 26. The second support plate; 27. Connecting plate; 28. Pin shaft; 29. Central shaft; 32. The first cylinder; 33. The mould; 34. The variable topology packaging robot mechanism; 35. The second cylinder; 36. The slide rod; 37. The second screw; 38. The frame; Plate; 41. Second connecting plate; 42. Coupling; 43. Screw rod; 44. Second motor; 45. Moving plate chute.
具体实施方式：detailed description:
下面结合附图和实施例对本发明的技术方案作进一步的描述。The technical solutions of the present invention will be further described below in conjunction with the drawings and embodiments.
如图1、图2、图4、图5、图6和图7所示，本发明所述的被动闭合式变拓扑包装机器人的驱动附属装置，包括三角变胞杆1、直变胞杆2、第二连杆3、第二伸缩杆总成4、第一伸缩杆总成5、第三连杆6、转动总成7、板簧8、拉绳9、侧杆10、转盘11、第一锥齿轮12、第二锥齿轮13、电机14、螺钉15、第一连杆16、转板17、滑动杆18、第二滑块19、第二细伸缩杆20、第二粗伸缩杆21、第一滑块22、第一细伸缩杆23、第一粗伸缩杆24、第一支撑板25、第二支撑板26、连接板27、销轴28、中心轴29、移动板30、第一气缸32、模具33、变拓扑包装机器人机构34、第二气缸35、滑杆36、第二螺钉37、机架38、粘块39、第一连接板40、第二连接板41、联轴器42、丝杆43、第二电机44和移动板滑槽45，具体结构和连接关系为：As shown in Fig. 1, Fig. 2, Fig. 4, Fig. 5, Fig. 6 and Fig. 7, the driving accessory device of the passive closed type variable topology packaging robot according to the present invention includes a triangular variable cell rod 1 and a straight variable cell rod 2 , the second connecting rod 3, the second telescopic rod assembly 4, the first telescopic rod assembly 5, the third connecting rod 6, the rotating assembly 7, the leaf spring 8, the pull cord 9, the side rod 10, the turntable 11, the first A bevel gear 12, a second bevel gear 13, a motor 14, a screw 15, a first connecting rod 16, a rotating plate 17, a sliding rod 18, a second slider 19, a second thin telescopic rod 20, and a second thick telescopic rod 21 , the first slider 22, the first thin telescopic rod 23, the first thick telescopic rod 24, the first support plate 25, the second support plate 26, the connecting plate 27, the pin shaft 28, the central shaft 29, the moving plate 30, the second One cylinder 32, mold 33, variable topology packaging robot mechanism 34, second cylinder 35, slide bar 36, second screw 37, frame 38, sticky block 39, first connecting plate 40, second connecting plate 41, shaft coupling Device 42, screw mandrel 43, second motor 44 and moving plate chute 45, concrete structure and connection relation are:
所述电机14通过螺钉15安装在移动板30上，第二锥齿轮13安装在电机14上，第二锥齿轮13与第一锥齿轮12啮合，第一锥齿轮12焊接于转盘11上，转盘11安装在中心轴29上，可绕中心轴29转动，拉绳9一端与转盘11相连，另一端与板簧8相连，板簧8一端与第一连杆16相连，另一端与侧杆10相连，拉绳9中间穿过第一支撑板25和第二支撑板26上的绳槽，转动总成7由第一连杆16、滑动杆18和转板17组成，第一连杆16一端与转板17焊接，另一端通过销轴28与连接板27相连，并可绕销轴28转动，滑动杆18安装于转板17上的长槽内，滑动杆18可沿着长槽移动，第二伸缩杆总成4由第二连杆3、第二粗伸缩杆21、第二细伸缩杆20和第二滑块19组成，第二粗伸缩杆21一端焊接于第二连杆3上，另一端与第二细伸缩杆20以圆柱副的方式相连，第二细伸缩杆20底部以球副的连接方式与第二滑块19相连，第二连杆3以球副的连接方式与滑动杆18相连，第二滑块19安装在直变胞杆2上的滑槽内，第二滑块19可沿滑槽移动，第一伸缩杆总成5由第三连杆6、第一粗伸缩杆24、第一细伸缩杆23和第一滑块22组成，第一粗伸缩杆24一端焊接于第三连杆6上，另一端与第一细伸缩杆23以圆柱副的方式相连，第一细伸缩杆23底部以球副的连接方式与第一滑块22相连，第三连杆6以球副的连接方式与滑动杆18相连，第一滑块22安装在三角变胞杆1上的滑槽内，第一滑块22可沿滑槽移动，滑杆36焊接在机架38上，移动板30通过移动板滑槽45安装在滑杆36上，移动板30底部通过螺纹与丝杆43连接，第二电机44一端通过第二螺钉37与机架38相连，另一端通过联轴器42与丝杆43相连，第一连接板40和第二连接板41焊接于机架38上，第一气缸32安装于第一连接板40上，第二气缸35安装于第二连接板41上，模具33安装于第一气缸32上，粘块39安装于第二气缸35上，变拓扑包装机器人机构34安装于移动板30上。Described motor 14 is installed on the mobile plate 30 by screw 15, and second bevel gear 13 is installed on the motor 14, and second bevel gear 13 meshes with first bevel gear 12, and first bevel gear 12 is welded on the turntable 11, and turntable 11 is installed on the central shaft 29 and can rotate around the central shaft 29. One end of the stay rope 9 is connected with the turntable 11, and the other end is connected with the leaf spring 8. One end of the leaf spring 8 is connected with the first connecting rod 16, and the other end is connected with the side rod 10 Connected, the stay cord 9 passes through the rope grooves on the first support plate 25 and the second support plate 26 in the middle, and the rotating assembly 7 is made up of the first connecting rod 16, the sliding rod 18 and the rotating plate 17, and one end of the first connecting rod 16 Welded with the rotating plate 17, the other end is connected with the connecting plate 27 through the pin shaft 28, and can rotate around the pin shaft 28. The sliding rod 18 is installed in the long groove on the rotating plate 17, and the sliding rod 18 can move along the long groove. The second telescopic rod assembly 4 is made up of the second connecting rod 3, the second thick telescopic rod 21, the second thin telescopic rod 20 and the second slider 19, and one end of the second thick telescopic rod 21 is welded on the second connecting rod 3 , the other end is connected with the second thin telescopic rod 20 in the form of a cylindrical pair, the bottom of the second thin telescopic rod 20 is connected with the second slider 19 in the connection mode of the ball pair, and the second connecting rod 3 is connected with the second slider in the connection mode of the ball pair. Slide bar 18 links to each other, and the second slide block 19 is installed in the chute on the straight variable cell bar 2, and the second slide block 19 can move along the chute, and the first telescoping link assembly 5 is made up of the 3rd connecting rod 6, the first The thick telescopic rod 24, the first thin telescopic rod 23 and the first slider 22 are composed, one end of the first thick telescopic rod 24 is welded on the third connecting rod 6, and the other end is connected with the first thin telescopic rod 23 in the form of a cylindrical pair , the bottom of the first thin telescopic rod 23 is connected with the first slider 22 in the connection mode of the ball pair, the third connecting rod 6 is connected with the sliding rod 18 in the connection mode of the ball pair, and the first slider 22 is installed on the triangular variable cell rod 1, the first slider 22 can move along the chute, the slide bar 36 is welded on the frame 38, the moving plate 30 is installed on the slide bar 36 through the moving plate chute 45, and the bottom of the moving plate 30 is threaded Connected to the screw rod 43, one end of the second motor 44 is connected to the frame 38 through the second screw 37, and the other end is connected to the screw rod 43 through the coupling 42, and the first connecting plate 40 and the second connecting plate 41 are welded to the frame 38, the first cylinder 32 is installed on the first connecting plate 40, the second cylinder 35 is installed on the second connecting plate 41, the mold 33 is installed on the first cylinder 32, and the sticky block 39 is installed on the second cylinder 35, The variable topology packaging robot mechanism 34 is installed on the moving plate 30 .
本发明的工作原理是：The working principle of the present invention is:
当变拓扑包装机器人机构处于半闭合状态时，如图1所示，此时板簧8处于自然状态，弹性势能为0，若要使包装机器人机构顶部闭合，达到图2的状态，首先正转电机14，电机14带动第二锥齿轮13旋转，第二锥齿轮13带动第一锥齿轮12旋转，第一锥齿轮12带动转盘11旋转，拉绳9拉动板簧8逆时针转动，从而带动第一连杆16绕销轴28逆时针转动，第一连杆16带动转板17转动，转板17带动第一伸缩杆总成5和第二伸缩杆总成4转动，从而推闭直变胞杆2和三角变胞杆1，最终达到图2所示的完全闭合状态；变拓扑包装机器人顶部闭合时，弹簧弹性势能最大，当变拓扑包装机器人机构需要从图2状态转变成图1状态时，只需反转电机14，电机14带动第二锥齿轮13转动，第二锥齿轮13带动第一锥齿轮12转动，第一锥齿轮12带动转盘11转动，转盘11拉动拉绳9转动，第一连杆16在板簧8的弹力作用下绕着销轴28顺时针旋转，从而带动转板17顺时针旋转，转板17带动第一伸缩杆总成5和第二伸缩杆总成6顺时针旋转，从而将直变胞杆21和三角变胞杆1拉开，最终达到图1所示状态；当变拓扑包装机器人机构34需要左右移动时，转动第二电机44，第二电机44通过联轴器42与丝杆43的连接作用带动丝杆43转动，丝杆43通过与移动板30的螺纹连接关系带动移动板30左右移动，移动板30带动变拓扑包装机器人机构34左右移动，第一气缸32可推动模具33上下运动，模具33的作用是在包装的过程中辅助包装纸31成型，第二气缸35可推动粘块39上下运动，粘块39的作用是将包装好的包装纸31的顶部粘黏起来。When the variable topology packaging robot mechanism is in a semi-closed state, as shown in Figure 1, the leaf spring 8 is in a natural state at this time, and the elastic potential energy is 0. If the top of the packaging robot mechanism is to be closed to reach the state shown in Figure 2, firstly rotate forward The motor 14, the motor 14 drives the second bevel gear 13 to rotate, the second bevel gear 13 drives the first bevel gear 12 to rotate, the first bevel gear 12 drives the turntable 11 to rotate, and the stay rope 9 pulls the leaf spring 8 to rotate counterclockwise, thereby driving the first bevel gear 12 to rotate. A connecting rod 16 rotates counterclockwise around the pin shaft 28, the first connecting rod 16 drives the rotating plate 17 to rotate, and the rotating plate 17 drives the first telescopic rod assembly 5 and the second telescopic rod assembly 4 to rotate, thereby pushing and closing the straight variable cell Rod 2 and triangular metamorphic rod 1 finally reach the fully closed state shown in Figure 2; when the top of the variable topology packaging robot is closed, the elastic potential energy of the spring is the largest, when the mechanism of the variable topology packaging robot needs to change from the state in Figure 2 to the state in Figure 1 , only need to reverse the motor 14, the motor 14 drives the second bevel gear 13 to rotate, the second bevel gear 13 drives the first bevel gear 12 to rotate, the first bevel gear 12 drives the turntable 11 to rotate, the turntable 11 pulls the pull rope 9 to rotate, the second A connecting rod 16 rotates clockwise around the pin shaft 28 under the elastic force of the leaf spring 8, thereby driving the rotating plate 17 to rotate clockwise, and the rotating plate 17 drives the first telescopic rod assembly 5 and the second telescopic rod assembly 6 to rotate clockwise. Rotate clockwise, so that the straight variable cell rod 21 and the triangular variable cell rod 1 are pulled apart, and finally reach the state shown in Figure 1; The connection between the shaft coupling 42 and the screw mandrel 43 drives the screw mandrel 43 to rotate, and the screw mandrel 43 drives the moving plate 30 to move left and right through the screw connection relationship with the moving plate 30, and the moving plate 30 drives the variable topology packaging robot mechanism 34 to move left and right. A cylinder 32 can push the mold 33 to move up and down. The function of the mold 33 is to assist in the forming of the wrapping paper 31 during the packaging process. The second cylinder 35 can push the sticky block 39 to move up and down. The effect of the sticky block 39 is to wrap the wrapped wrapper The top of the 31 is glued up.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108971839A (en) * | 2018-09-03 | 2018-12-11 | 柳州铁道职业技术学院 | A kind of welding robot |
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Application publication date: 20171201 |