Eccentric rotating parallel holding transfer robot

Abstract

The present invention relates to an eccentric rotating parallel holding transfer robot with a more reasonable structure and more stable operation. This eccentric rotating parallel holding transfer robot includes a main seat, a rotating spindle, a rotating frame, a suction nozzle mechanism and a rotating power source. The rotating spindle is installed in the main seat and is transmission-connected to the rotating power source. The rotating frame is installed on the rotating spindle. The suction nozzle mechanism is installed on the rotating frame. It is characterized in that: a driven star disk and a lifting guide wheel are installed on the main seat, and the outer surface of the lifting guide wheel is provided with a lifting guide groove along the circumferential direction, and the lifting guide groove has a lifting bending section; the suction nozzle mechanism includes a suction nozzle, a suction nozzle rotating shaft, a guide block and a lifting roller. This eccentric rotating parallel holding transfer robot realizes the transfer of materials by allowing the driven star disk to always rotate in the same direction through the holding arm through the eccentric setting of the driven star disk. It has the characteristics of reasonable structure, flexible design and high versatility.

Description

Technical Field

[0001] The invention relates to a manipulator in the field of pharmaceutical machinery, in particular to a transfer manipulator for transferring blister plates or pillow bags. Background Art

[0002] A blister packaging machine typically consists of a blister machine and a cartoner. The blister machine forms and seals the blisters, while the cartoner packs them into boxes. A transfer robot links the two machines. Similarly, a pillow bag packaging machine also consists of a pillow bagger and a cartoner. The pillow bagger forms and seals the pillow bags, while the cartoner packs the pillow bags into boxes. The two machines are also linked by a transfer robot. To meet these requirements, the blister sheets must remain parallel during transport from the blister machine to the cartoner (or vice versa). This means that the material's direction remains unchanged during transport. Existing parallel-maintaining rotary transfer robots utilize a power transmission system such as synchronous belts or gears. These systems have numerous transmission parts, a complex structure, and demanding assembly requirements, making them prone to failure. They also require grease lubrication during use, which can easily cause grease to drip onto the product, posing a safety risk. When a failure occurs, the transmission timing belt needs to be replaced. However, there are many transmission parts and replacement is difficult, which brings great inconvenience to the operating and maintenance personnel. Summary of the Invention

[0003] In view of the deficiencies in the prior art, the present invention innovatively provides an eccentric rotating parallel holding transfer robot with a more reasonable structure and more stable operation.

[0004] This eccentric rotating parallel holding transfer robot includes a main seat, a rotating spindle, a rotating frame, a suction nozzle mechanism and a rotating power source, the rotating spindle is installed in the main seat and is connected to the rotating power source, the rotating frame is installed on the rotating spindle, and the suction nozzle mechanism is installed on the rotating frame, which is characterized in that: a lifting guide wheel is installed on the main seat, and the outer circular surface of the lifting guide wheel is provided with a lifting guide groove along the circumferential direction, and the lifting guide groove has a lifting bending section; the suction nozzle mechanism includes a suction nozzle, a suction nozzle rotating shaft, a guide block and a lifting roller, and the suction nozzle is installed on the suction The nozzle shaft is rotatably mounted on the rotating frame, the guide block is rotatably mounted on the nozzle shaft, the lifting roller is mounted on the inner side of the guide block and is located in the lifting guide groove, and the guide block has a state of moving up and down with the nozzle shaft; an eccentric wheel seat is mounted on the main seat, and a driven star disk is rotatably mounted on the eccentric wheel seat, the driven star disk is hinged to one end of the holding arm, and the other end of the holding arm is transmission-connected to the nozzle shaft, and the eccentricity of the driven star disk relative to the rotating main shaft is equal to the distance between the connection points at both ends of the holding arm.

[0005] The nozzle shaft is axially movably mounted in the shaft connecting sleeve via a spline. The shaft connecting sleeve is rotatably mounted on the rotating frame. The retaining arm is fixedly connected to the shaft connecting sleeve.

[0006] The driven star disk is provided with a side support positioning bearing and an upper support positioning bearing. The upper support positioning bearing acts on the upper surface of the eccentric wheel seat, and the side support positioning bearing acts on the side surface of the eccentric wheel seat.

[0007] A positioning slot block is installed on the rotating frame, and a positioning slot extending up and down is provided on the inner side surface of the positioning slot block. A positioning roller is connected to the outer side of the guide block, and the positioning roller is matched and located in the positioning slot.

[0008] The main seat is installed on the lifting seat, the lifting seat is installed on the fixed seat in a liftable manner, and the lifting seat is transmission-connected to a lifting power source for driving the lifting seat to move up and down.

[0009] A slide rail is installed on the fixed seat, a slide seat is installed on the lifting seat, and the slide seat is slidably arranged on the slide rail.

[0010] A screw rod is installed on the fixing seat, a screw sleeve is connected to the sliding seat, the screw rod is threadedly connected to the screw sleeve, and the screw rod is transmission-connected to a lifting power source.

[0011] The rotating main shaft has a main air circuit, the air outlet of the main air circuit is connected to the air circuit on the nozzle rotating shaft through a lower air pipe, the air circuit on the nozzle rotating shaft is connected to the nozzle, the air inlet of the main air circuit is connected to the rotating air circuit through an upper air pipe, the rotating air circuit is connected to the solenoid valve island, and the solenoid valve island is connected to the gas tank.

[0012] The retaining cam and the lifting guide wheel are both made of supramolecular materials.

[0013] The present invention provides an eccentrically rotating parallel holding transfer robot. By eccentrically positioning the driven star disk, the driven star disk, through a holding arm, enables the suction nozzle to always rotate in the same direction, thereby achieving material transfer. The robot features a rational structure, flexible design, and high versatility. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A perspective view of the present invention mounted on a frame;

[0015] Figure 2 A perspective view of the present invention;

[0016] Figure 3 This is a schematic diagram of the eccentricity of the driven star disk of the present invention;

[0017] Figure 4 is a cross-sectional view of the present invention;

[0018] Figure 5 for Figure 4 A partial enlarged view of point C in the middle;

[0019] Figure 6 It is a three-dimensional diagram of the nozzle mechanism;

[0020] Figure 7 This is a schematic diagram of the present invention for the linkage between a blister machine and a cartoning machine;

[0021] Figure 8 This is a schematic diagram of the principle of the present invention for the linkage between a pillow packing machine and a cartoning machine. DETAILED DESCRIPTION

[0022] like Figure 1 and Figure 2 As shown, this eccentric rotating parallel holding transfer robot D is installed on the frame B and is located between the two devices that need to be linked: Figure 7 As shown, the eccentric rotating parallel holding transfer robot D links the blister machine with the cartoning machine, so that the blister medicine plate produced by the blister machine is transferred to the cartoning machine through the eccentric rotating parallel holding transfer robot D, thereby completing the blister medicine plate cartoning; Figure 8 As shown, the eccentrically rotating parallel holding transfer robot D links the pillow packing machine with the cartoning machine, so that the pillow packs made by the pillow packing machine are transferred to the cartoning machine through the eccentrically rotating parallel holding transfer robot D, thereby completing the pillow packaging box.

[0023] like Figure 2 and Figure 3 As shown, this eccentric rotating parallel holding transfer robot D includes a main seat 1 (support flange), a rotating main shaft 2, a rotating frame 3, a nozzle mechanism 6 and a rotating power source 8 (all power sources include motors, cylinders and other driving devices). The rotating main shaft 2 is installed in the main seat 1 and is connected to the rotating power source 8. The rotating main shaft 2 rotates through the drive of the rotating power source 8. The rotating frame 3 is installed on the rotating main shaft 2. The nozzle mechanism 6 is installed on the rotating frame 3. When the rotating main shaft 2 rotates, the nozzle mechanism 6 rotates together with the rotating frame 3. In order to control the up and down movement of the nozzle mechanism 6, a lifting guide wheel 4 is installed on the main seat 1. The outer surface of the lifting guide wheel 4 is provided with a lifting guide groove 40 along the circumferential direction. Figure 2 As shown, the lifting guide groove 40 has a lifting curved section 400; Figure 6 As shown, the nozzle mechanism 6 includes a nozzle 60, a nozzle shaft 61, a guide block 62 and a lifting roller 63. The nozzle 60 is mounted on the nozzle shaft 61, the nozzle shaft 61 is rotatably mounted on the rotating frame 3, and the guide block 62 is rotatably mounted on the nozzle shaft 61. Figure 5As shown, the lifting roller 63 is connected to the inner side of the guide block 62 and is located in the lifting guide groove 40; as the lifting roller 63 moves in the lifting guide groove 40, the guide block 62 moves up and down with the nozzle shaft 61 and the nozzle 60; and in order to control the nozzle 60 to always maintain the same direction during the revolution, the present invention also installs an eccentric wheel seat 18 on the main seat 1, as shown in FIG. Figure 2 and Figure 3 As shown, a driven star disk 5 is rotatably mounted on the eccentric wheel seat 18 (the eccentric wheel seat 18 is eccentric relative to the rotating main shaft 2, and the driven star disk 5 is mounted on the eccentric wheel seat 18 to generate a corresponding eccentricity). The driven star disk 5 is hinged to one end of the holding arm 65, and the other end of the holding arm 65 is transmission-connected to the nozzle rotating shaft 61. The eccentricity A of the driven star disk 5 relative to the rotating main shaft 2 is equal to the distance A1 between the connection points at both ends of the holding arm 65 (only in this way can the rotation of the nozzle rotating shaft 61 be restrained by the driven star disk 5, and the nozzle can always maintain the same direction during the revolution).

[0024] like Figure 8 As shown, taking the linkage of pillow packing machine and cartoning machine as an example, when working, the rotary power source 8 drives the rotating main shaft 2 to rotate, and the rotating main shaft 2 rotates together with the rotating frame 3 and the suction nozzle mechanism 6, and the lifting roller 63 of the suction nozzle mechanism 6 moves in the lifting guide groove 40 of the lifting guide wheel 4; when one of the suction nozzle mechanisms 6 approaches the front end of the pillow packing machine output assembly line, as shown in FIG. Figure 2 As shown, the lifting roller 63 of the suction nozzle mechanism 6 enters the lifting curved section 400 of the lifting guide groove 40, so that the suction nozzle mechanism 6 moves downward under the guidance of the curved guide groove, and the suction nozzle 60 stably absorbs the material; then it climbs up under the guidance of the curved guide groove and turns towards the location of the cartoning machine input assembly line; when this suction nozzle mechanism 6 is transferred to the front end of the cartoning machine input assembly line, the suction nozzle 60 descends and deflates, allowing the material to fall; and in the process of rotation of the rotating frame 3, the suction nozzle rotating shaft 61 of the suction nozzle mechanism 6 drives the driven star disk 5 to rotate through the holding rotating arm 65. Since the driven star disk 5 is eccentrically arranged, and the eccentricity A of the driven star disk 5 relative to the rotating main shaft 2 is equal to the distance A1 between the connection points at both ends of the holding rotating arm 65 (that is, the distance from the center of the driven star disk 5 to the center of the rotating main shaft 2 is equal to the distance between the connection points at both ends of the holding rotating arm 65, as shown in FIG. Figure 3 As shown, the driven star disk 5 in turn restrains the nozzle shaft 61 of the nozzle mechanism 6, causing it to rotate. This rotation, in turn, overcomes the orbital motion, allowing the nozzle 60 to maintain a consistent orientation throughout its orbital motion. This allows the nozzle 60 to precisely place materials into the grid of the cartoner's input line. The unique eccentric structure of the driven star disk 5 ensures that the nozzle 60 maintains its orientation during its orbital motion, significantly optimizing the existing structure and further enhancing the stability and flexibility of the entire machine. This significantly reduces the number of transmission parts, resulting in a simpler structure, lower assembly requirements, and a lower risk of failure.

[0025] Since the nozzle shaft 61 needs to move up and down and simultaneously rotate, several methods can be used to achieve this transmission: First, the nozzle shaft 61 is axially movably mounted within a shaft connecting sleeve 66 via a spline 660. The shaft connecting sleeve 66 is rotatably mounted on the rotating frame 3, and the retaining arm 65 is fixedly connected to the shaft connecting sleeve 66. With this structure, the retaining arm 65 can drive the shaft connecting sleeve 66 to rotate. Since the retaining arm 65 is axially movably mounted within the shaft connecting sleeve 66 with the nozzle shaft 61 via a spline 660, the nozzle shaft 61 can both move up and down within the shaft connecting sleeve 66 and be automatically driven by the shaft connecting sleeve 66. This achieves a transmission connection between the retaining arm 65 and the nozzle shaft 61. Second, the nozzle shaft 61 is rotatably mounted within a sleeve (without locking). The sleeve is fixedly mounted on the rotating frame 3, and the nozzle shaft 61 is axially movably mounted within the retaining arm 65 via a spline. This structure can also achieve the same transmission relationship as mentioned above. The third type is that the nozzle shaft 61 is rotatably arranged in the shaft sleeve (not locked), the shaft sleeve is fixedly mounted on the rotating frame 3, and the nozzle shaft 61 is fixedly connected to the retaining arm 65, and the retaining arm 65 is connected to the driven star disk through a connecting shaft, and one end of the connecting shaft is hinged to the driven star disk, and the other end is set in the retaining arm 65 through a spline. That is, when the nozzle shaft 61 moves up and down, it can drive the retaining arm 65 to move up and down. This structure can also achieve the same transmission relationship as mentioned above. Of course, there are many other structures that can achieve the above transmission relationship, which will not be listed here one by one. Among them, the first structure is the most reasonable because the spline can be set longer, the structure is more solid, and the acting force is located on the nozzle shaft 61, and the transmission is more stable. Of course, all structures that can achieve the above transmission relationship fall within the scope of protection of the present invention.

[0026] like Figure 2 As shown, the driven star plate 5 can be rotatably mounted on the eccentric wheel seat 18. The driven star plate 5 can be directly mounted on the eccentric wheel seat 18 via bearings. However, such bearings are relatively large and costly. To reduce costs, a side support locating bearing 51 and an upper support locating bearing 50 can be mounted on the driven star plate 5. The upper support locating bearing 50 acts on the upper surface of the eccentric wheel seat 18, and the side support locating bearing 51 acts on the side surface of the eccentric wheel seat 18, thereby enabling the driven star plate 5 to rotate on the eccentric wheel seat 18.

[0027] Under the action of the lifting guide wheel 63, the guide block 62 moves up and down with the nozzle shaft 61. Since only the lifting guide wheel 63 is subjected to force in this direction, left and right deviations may occur. In order to solve this problem, a positioning slot block 30 is installed on the rotating frame 3. Figure 5 and Figure 6As shown, the inner side surface of the positioning groove block 30 is provided with a positioning groove 300 extending vertically, and the outer side of the guide block 62 is connected to a positioning roller 64, which is matched and located in the positioning groove 300. Through this structure, when the guide block 62 moves up and down with the nozzle shaft 61, in addition to the force applied in the direction of the lifting guide wheel 63, the positioning roller 64 located in the other direction of the guide block 62 also moves up and down in the positioning groove 300 of the positioning groove block 30, and is restricted to the left and right by the positioning groove 3000. Due to the two-point restriction, it can be ensured that the nozzle mechanism 6 will not shake during lifting and lowering, thereby ensuring the stability of the nozzle mechanism 6.

[0028] Due to the varying number of blister packs, pillow packs vary in thickness. To accommodate the handling of pillow packs of varying thicknesses, the present invention employs a main base 1 mounted on a lift base 11, which is in turn mounted on a fixed base 12 for scissor liftability. Lift base 11 is in transmission connection with a power source (not shown) that drives the lift base 11 upward and downward on fixed base 12. Driven by the power source, lift base 11 rises and falls on fixed base 12, thereby raising or lowering the entire manipulator, thereby controlling the height of suction nozzle 60.

[0029] To ensure smooth movement of the lifting platform 11, a slide rail 120 is mounted on the fixed base 12, while a slide 110 is mounted on the lifting platform 11. The slide 110 slides on the slide rail 120. To ensure precise lifting of the lifting platform 11, a screw is mounted on the fixed base 12, and a threaded sleeve is connected to the slide 110. The screw and sleeve are threadedly connected, and a lifting power source is connected to the screw. Driven by the lifting power source, the screw rotates, causing the slide 110 to move smoothly and precisely on the slide rail 120.

[0030] Of course, the suction nozzle 60 must be connected to the air source. The connection method between the suction nozzle 60 and the air source is as follows: Figure 4 As shown, the rotating spindle 2 has a main air circuit 20. The outlet of main air circuit 20 communicates with air circuit 610 on the nozzle shaft 61 via a lower air pipe. Air circuit 610 on the nozzle shaft 61 communicates with the nozzle 60. The air inlet of main air circuit 20 communicates with rotating air circuit 7 via an upper air pipe. Rotating air circuit 7 is connected to solenoid valve island 10, which is connected to air tank 9. The nozzle shaft 61 is controlled by an independent solenoid valve, achieving high-speed switching between negative and positive pressure within a set area, capable of high-speed transfer of 600 packs / min of pillow bags and 800 sheets / min of blister sheets.

[0031] Finally, it's worth mentioning that the lift guide wheel 4 is made of a supramolecular material (specifically, 9 million ultra-high molecular weight). This material offers several advantages: first, the cam's contact with the roller (maintaining contact between the roller and the lift roller) reduces noise; second, it's maintenance-free, eliminating the need for grease in the cam's guide groove. The machine remains clean and grease-free, minimizing the risk of cross-contamination between packaged products.

Claims

1. An eccentric rotating parallel holding transfer robot, comprising a main seat (1), a rotating spindle (2), a rotating frame (3), a nozzle mechanism (6) and a rotating power source (8), wherein the rotating spindle (2) is installed in the main seat (1) and is in transmission connection with the rotating power source (8), the rotating frame (3) is installed on the rotating spindle (2), and the nozzle mechanism (6) is installed on the rotating frame (3), characterized in that: A lifting guide wheel (4) is installed on the main seat (1), and a lifting guide groove (40) is provided on the outer circumferential surface of the lifting guide wheel (4) along the circumferential direction, and the lifting guide groove (40) has a lifting bending section (400); the suction nozzle mechanism (6) includes a suction nozzle (60), a suction nozzle rotating shaft (61), a guide block (62) and a lifting roller (63), the suction nozzle (60) is installed on the suction nozzle rotating shaft (61), the suction nozzle rotating shaft (61) is rotatably installed on the rotating frame (3), the guide block (62) is rotatably installed on the suction nozzle rotating shaft (61), and the lifting roller (63) is installed The guide block (62) is mounted on the inner side of the guide block (62) and is located in the lifting guide groove (40). The guide block (62) has a state of moving up and down with the suction nozzle shaft (61); the main seat (1) is mounted with an eccentric wheel seat (18), and the eccentric wheel seat (18) is rotatably mounted with a driven star disk (5). The driven star disk (5) is hinged to one end of the holding arm (65), and the other end of the holding arm (65) is transmission-connected to the suction nozzle shaft (61). The eccentricity (A) of the driven star disk (5) relative to the rotating main shaft (2) is equal to the distance (A1) between the connection points at both ends of the holding arm (65).

2. The eccentric rotating parallel holding transfer robot according to claim 1, characterized in that: The nozzle shaft (61) is axially movably mounted in a shaft connecting sleeve (66) via a spline (660); the shaft connecting sleeve (66) is rotatably mounted on the rotating frame (3); and the retaining arm (65) is fixedly connected to the shaft connecting sleeve (66).

3. The eccentric rotating parallel holding transfer robot according to claim 1, characterized in that: A side support positioning bearing (51) and an upper support positioning bearing (50) are installed on the driven star disc (5), the upper support positioning bearing (50) acts on the upper surface of the eccentric wheel seat (18), and the side support positioning bearing (51) acts on the side surface of the eccentric wheel seat (18).

4. The eccentric rotating parallel holding transfer robot according to claim 1, characterized in that: A positioning slot block (30) is mounted on the rotating frame (3), and a positioning slot (300) extending up and down is provided on the inner side surface of the positioning slot block (30). A positioning roller (64) is connected to the outer side of the guide block (62), and the positioning roller (64) is matched and located in the positioning slot (300).

5. The eccentric rotating parallel holding transfer robot according to claim 1, characterized in that: The main seat (1) is mounted on a lifting seat (11), the lifting seat (11) is mounted on a fixed seat (12) in a liftable manner, and the lifting seat (11) is in transmission connection with a lifting power source that drives the lifting seat (11) to move up and down.

6. The eccentric rotating parallel holding transfer robot according to claim 5, characterized in that: A slide rail (120) is installed on the fixed seat (12), a slide seat (110) is installed on the lifting seat (11), and the slide seat (110) is slidably arranged on the slide rail (120).

7. The eccentric rotating parallel holding transfer robot according to claim 6, characterized in that: A screw rod is installed on the fixed seat (12), a screw sleeve is connected to the sliding seat (110), the screw rod is threadedly connected to the screw sleeve, and the screw rod is transmission-connected to the lifting power source.

8. The eccentric rotating parallel holding transfer robot according to claim 1, characterized in that: The rotating main shaft (2) has a main air circuit (20), the air outlet of the main air circuit (20) is communicated with the air circuit on the nozzle rotating shaft (61) through a lower air pipe, the air circuit on the nozzle rotating shaft (61) is communicated with the nozzle (60), the air inlet of the main air circuit (20) is communicated with the rotating air circuit (7) through an upper air pipe, the rotating air circuit (7) is connected to the electromagnetic valve island (10), and the electromagnetic valve island (10) is connected to the gas storage tank (9).

9. The eccentric rotating parallel holding transfer robot according to claim 1, characterized in that: The lifting guide wheel (4) is made of supramolecular material.

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