Power assembly and flexible robot

Abstract

The utility model discloses a power assembly and a flexible robot, and relates to the technical field of food processing and packaging, the power assembly comprises a rack, a connecting rod mechanism, a fixing frame and a driving assembly, the connecting rod mechanism is arranged on the rack, and the driving assembly is connected with the connecting rod mechanism; the connecting rod mechanism comprises a first connecting rod group, a second connecting rod group and an auxiliary assembly, the first connecting rod group and the second connecting rod group are symmetrically arranged on the rack, one end of the auxiliary connecting rod is provided with a first connecting point, and the first connecting rod group is rotationally connected to the first connecting point; the other end of the auxiliary connecting rod is provided with a second connecting point and a third connecting point, the second connecting point and the third connecting point are distributed in a staggered mode, the first linkage connecting rod is rotationally connected to the second connecting point, and the second linkage connecting rod is rotationally connected to the third connecting point. When the connecting rod mechanism moves, abrasion between the auxiliary assembly and the first linkage connecting rod and the second linkage connecting rod is reduced, the flexibility is improved, and then the long-term stability of the connecting rod mechanism is improved.

Description

Technical Field

[0001] This utility model relates to the field of food processing and packaging technology, and in particular to a power component and a flexible robot. Background Technology

[0002] To mass-produce food products, such as sandwich cookies and candies, automated production lines are now widely used.

[0003] Existing automated production lines use robots equipped with power units, which include linkage mechanisms and mounting frames. The linkage mechanism drives the mounting frame to perform the operations of filling or covering cookies with fillings. The existing linkage mechanism connects the front end of a crossbar to two connecting rods via concentric hinges, and the rear end of the crossbar is also concentrically hinged to the other two connecting rods. This makes the rear end of the crossbar prone to interference with the other two connecting rods during movement, resulting in poor flexibility, significant wear between the crossbar and the two connecting rods, and consequently, poor long-term stability, a high failure rate, and frequent maintenance requirements. Utility Model Content

[0004] The main purpose of this invention is to propose a power assembly that aims to solve the problem of poor long-term stability of linkage mechanisms.

[0005] To achieve the above objectives, the power assembly proposed in this utility model includes: a frame, a linkage mechanism, a fixed frame, and a drive assembly. The linkage mechanism is disposed on the frame, the fixed frame is mounted on the linkage mechanism, and the drive assembly is connected to the linkage mechanism to drive the linkage mechanism to move.

[0006] The linkage mechanism includes a first linkage group and a second linkage group, which are symmetrically arranged on the frame. Both the first linkage group and the second linkage group include an input link and an output link. The upper end of the input link is rotatably connected to the lower end of the output link. The lower end of the input link is connected to the drive assembly, and the upper end of the output link is connected to the fixed frame.

[0007] The linkage mechanism further includes an auxiliary component, which includes a first linkage link, an auxiliary link, and a second linkage link. The lower end of the first linkage link is rotatably mounted on the frame, and the upper end of the second linkage link is connected to the fixed frame.

[0008] One end of the auxiliary link is provided with a first connection point, and the upper end of the input end link of the first link group is rotatably connected to the auxiliary link through the first connection point; the other end of the auxiliary link is provided with a second connection point and a third connection point, the second connection point and the third connection point are staggered, the upper end of the first linkage link is rotatably connected to the auxiliary link through the second connection point, and the lower end of the second linkage link is rotatably connected to the auxiliary link through the third connection point.

[0009] In some embodiments, the second connection point is located above the third connection point, and there is a gap between the second connection point and the third connection point.

[0010] In some embodiments, the auxiliary link has a first side and a second side, with the first linkage link and the output end link both located on the first side of the auxiliary link, and the second linkage link and the input end link both located on the second side of the auxiliary link.

[0011] In some embodiments, the number of linkage mechanisms is two, and the two linkage mechanisms are located on both sides of the frame;

[0012] The drive assembly includes two drive units and two horizontal drive shafts. The two drive units are mounted on the frame, and the two horizontal drive shafts are mounted on the frame and connected to the two linkage mechanisms. The two drive units and the two horizontal drive shafts are connected in a one-to-one correspondence.

[0013] In some embodiments, a limit switch is installed on the side of the frame away from the drive unit. The limit switch is located at the lower end of the input link and has a gap with the input link. The limit switch is used to sense the input link.

[0014] In some embodiments, the input end connecting rod includes a rod body and a protrusion. The lower end of the rod body is rotatably connected to the horizontal transmission shaft, and the upper end of the rod body is rotatably connected to the input end connecting rod. The protrusion protrudes from the lower end of the rod body, and the limit switch is used to sense the protrusion.

[0015] In some embodiments, the number of limit switches is at least four, two of which are located on both sides of the input end link of the first linkage group and are inclined to each other to form a V-shape; the other two limit switches are located on both sides of the input end link of the second linkage group and are inclined to each other to form a V-shape.

[0016] In some embodiments, the frame includes two support frames and a fixed shaft, the fixed shaft being located between the two support frames and connecting the two support frames to support them, and the two linkage mechanisms being correspondingly arranged on the two support frames.

[0017] In some embodiments, the rods of the input link, the output link, the first linkage link, the auxiliary link, and the second linkage link are all hollowed out; the frame portion connecting the fixing frame and the linkage mechanism is also hollowed out.

[0018] This invention also proposes a flexible robot, which further includes a power component.

[0019] The linkage mechanism of this utility model includes a first linkage group, a second linkage group, and an auxiliary component. The first and second linkage groups are symmetrically arranged on the frame. One end of the auxiliary link has a first connection point, and the first linkage group is rotatably connected to the first connection point. The other end of the auxiliary link has a second connection point and a third connection point, which are staggered. The first linkage link is rotatably connected to the second connection point, and the second linkage link is rotatably connected to the third connection point. During operation, the wear between the auxiliary component and the first and second linkage links is reduced, improving flexibility and thus enhancing the long-term stability of the linkage mechanism. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0021] Figure 1 A schematic diagram of the structure of an embodiment of the power assembly provided by this utility model;

[0022] Figure 2 A schematic diagram of a linkage mechanism in a power assembly provided by this utility model;

[0023] Figure 3 A partially exploded structural diagram of an embodiment of the linkage mechanism in the power assembly provided by this utility model;

[0024] Figure 4 A three-dimensional structural schematic diagram of an embodiment of the power assembly provided by this utility model;

[0025] Figure 5This is a schematic diagram of an embodiment of the power assembly provided by this utility model, in which a linkage mechanism is installed.

[0026] Explanation of icon numbers:

[0027] 100. Power assembly; 10. Frame; 11. Limit switch; 12. Support frame; 13. Fixed shaft; 20. Drive assembly; 21. Drive unit; 22. Horizontal drive shaft; 30. Fixed frame;

[0028] 40. Linkage mechanism; 41. First linkage group; 410. Input link; 411. Output link; 412. Protrusion; 42. Second linkage group; 43. Auxiliary component; 44. First linkage link; 45. Auxiliary link; 451. First connection point; 452. Second connection point; 453. Third connection point; 46. Second linkage link.

[0029] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0030] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0031] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0032] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0033] To mass-produce food products, such as sandwich cookies and candies, automated production lines are now widely used.

[0034] Existing automated production lines use robots equipped with power units, which include linkage mechanisms and mounting frames. The linkage mechanism drives the mounting frame to perform the operations of filling or covering cookies with fillings. The existing linkage mechanism connects the front end of a crossbar to two connecting rods via concentric hinges, and the rear end of the crossbar is also concentrically hinged to the other two connecting rods. This makes the rear end of the crossbar prone to interference with the other two connecting rods during movement, resulting in poor flexibility, significant wear between the crossbar and the two connecting rods, and consequently, poor long-term stability, a high failure rate, and frequent maintenance requirements.

[0035] This utility model discloses a power assembly 100 and a flexible robot. Please refer to [link / reference]. Figures 1 to 3 The power assembly 100 proposed in this utility model includes: a frame 10, a linkage mechanism 40, a fixed frame 30 and a drive assembly 20. The linkage mechanism 40 is disposed on the frame 10, the fixed frame 30 is installed on the linkage mechanism 40, and the drive assembly 20 is connected to the linkage mechanism 40 to drive the linkage mechanism 40 to move.

[0036] The linkage mechanism 40 includes a first linkage group 41 and a second linkage group 42. The first linkage group 41 and the second linkage group 42 are symmetrically arranged on the frame 10. Both the first linkage group 41 and the second linkage group 42 include an input end linkage 410 and an output end linkage 411. The upper end of the input end linkage 410 is rotatably connected to the lower end of the output end linkage 411. The lower end of the input end linkage 410 is connected to the drive assembly 20, and the upper end of the output end linkage 411 is connected to the fixed frame 30.

[0037] The linkage mechanism 40 also includes an auxiliary component 43, which includes a first linkage link 44, an auxiliary link 45, and a second linkage link 46. The lower end of the first linkage link 44 is rotatably mounted on the frame 10, and the upper end of the second linkage link 46 is connected to the fixed frame 30.

[0038] One end of the auxiliary link 45 is provided with a first connection point 451. The upper end of the input end link 410 of the first link group 41 is rotatably connected to the auxiliary link 45 through the first connection point 451. The other end of the auxiliary link 45 is provided with a second connection point 452 and a third connection point 453. The second connection point 452 and the third connection point 453 are staggered. The upper end of the first linkage link 44 is rotatably connected to the auxiliary link 45 through the second connection point 452. The lower end of the second linkage link 46 is rotatably connected to the auxiliary link 45 through the third connection point 453.

[0039] In this embodiment, the first linkage link 44 of the auxiliary component 43 is arranged parallel to the output end link 411 of the first linkage group 41; the second linkage link 46 of the auxiliary component 43 is arranged parallel to the input end link 410 of the first linkage group 41. Furthermore, a pouring device for adding butter or a biscuit suction nozzle can be installed on the fixing frame 30. In one embodiment, the drive component 20 includes two drive motors, one of which is rotatably connected to the input end link 410 of the first linkage group 41 to drive the input end link 410 of the first linkage group 41 to swing; the other drive motor is rotatably connected to the second drive motor to swing the input end link 410 of the second linkage group 42.

[0040] Please refer to Figure 1 The fixed frame 30 has a rising and backward movement stage and a falling and forward movement stage.

[0041] During the upward and backward movement phase of the fixed frame 30: two drive motors drive the input end link 410 of the first link group 41 and the input end link 410 of the second link group 42 to swing backward, thereby driving the output end link 411 of the first link group 41, the output end link 411 of the second link group 42, the auxiliary link 45, the first linkage link 44, and the fixed frame 30 to rise and move backward. The second linkage link 46 is driven by the auxiliary link 45 to swing backward.

[0042] During the descent and forward movement phase of the fixed frame 30: two drive motors drive the input end link 410 of the first link group 41 and the input end link 410 of the second link group 42 to swing forward, thereby driving the output end link 411 of the first link group 41, the output end link 411 of the second link group 42, the auxiliary link 45, the first linkage link 44, and the fixed frame 30 to descend and move forward. The second linkage link 46 is driven by the auxiliary link 45 to swing forward.

[0043] During the movement of the linkage mechanism 40, the first linkage 44 is driven by the auxiliary linkage 45 and can remain parallel to the output end linkage 411 of the first linkage group 41. The second linkage 46 is also driven by the auxiliary linkage 45 and can remain parallel to the input end linkage 410 of the first linkage group 41.

[0044] If the second connection point 452 where the first linkage 44 and the auxiliary linkage 45 connect to each other and the third connection point 453 where the second linkage 46 and the auxiliary linkage 45 connect to each other are set as concentric circles, then the first linkage 44 and the second linkage 46 need to be installed on the same axis of rotation of the auxiliary linkage 45. When the linkage mechanism 40 moves, the first linkage 44 is driven by the auxiliary linkage 45 to move upwards and backwards or downwards and forwards. The axis of rotation on the auxiliary linkage 45 is prone to deflection, which in turn affects the second linkage 46, increasing the friction between the axis of rotation of the second linkage 46 and the auxiliary linkage 45. In some cases, interference may even occur between the second linkage 46 and the axis of rotation of the auxiliary linkage 45, making the second linkage 46 prone to jamming. This results in a high failure rate for the linkage mechanism 40. The swing amplitude of the first linkage 44 and the second linkage 46 is also limited as a result.

[0045] Therefore, this utility model designs the second connection point 452 at the connection between the first linkage 44 and the auxiliary linkage 45 and the third connection point 453 at the connection between the second linkage 46 and the auxiliary linkage 45 independently, instead of using a concentric circle design. The first linkage 44 is mounted on the shaft at the second connection point 452, and the second linkage 46 is mounted on the shaft at the third connection point 453. The first linkage 44 does not need to be mounted on the same shaft as the second linkage 46, in order to reduce the possibility of the first linkage 44 and the second linkage 46 getting stuck, improve the flexibility of the first linkage 44 and the second linkage 46, and also reduce the wear of the shafts on the first linkage 44, the second linkage 46 and the auxiliary linkage 45, thereby improving the long-term stability of the linkage mechanism 40 and reducing the failure rate of the linkage mechanism 40. Furthermore, since the first linkage 44 and the second linkage 46 are not installed on the same rotating shaft, the flexibility of the first linkage 44 and the second linkage 46 is improved, the swing amplitude of the first linkage 44 and the second linkage 46 is increased, and the displacement of the fixed frame 30 can also be increased.

[0046] The technical solution of this utility model has a first connection point 451 at one end of the auxiliary link 45, and a first link assembly 41 is rotatably connected to the first connection point 451. The other end of the auxiliary link 45 has a second connection point 452 and a third connection point 453, which are staggered. A first linkage link 44 is rotatably connected to the second connection point 452, and a second linkage link 46 is rotatably connected to the third connection point 453. When the linkage mechanism 40 moves, the wear between the auxiliary component 43 and the first linkage link 44 and the second linkage link 46 is reduced, flexibility is improved, and thus the long-term stability of the linkage mechanism 40 is enhanced.

[0047] Please see Figure 2 and Figure 3 In one embodiment, the second connection point 452 is located above the third connection point 453, and there is a gap between the second connection point 452 and the third connection point 453. The auxiliary link 45 is L-shaped.

[0048] Furthermore, the auxiliary link 45 has a first side and a second side. The first linkage link 44 and the output end link 411 are both located on the first side of the auxiliary link 45, and the second linkage link 46 and the input end link 410 are both located on the second side of the auxiliary link 45 for easy installation.

[0049] When the angle between the input link 410 and the output link 411 is set too large, the bearing at the first connection point 451 is prone to excessive lateral load, leading to accelerated wear of the shaft and requiring frequent replacement. Therefore, in one embodiment, the angle between the input link 410 and the output link 411 is less than or equal to 60 degrees to reduce the force on the shaft at the first connection point 451. This reduces the swing amplitude of the input link 410 and the output link 411, and also reduces the risk of collision and wear among the multiple links.

[0050] Please see Figure 4 In one embodiment, there are two linkage mechanisms 40, which are located on both sides of the frame 10. The drive assembly 20 includes two drive units 21 and two horizontal drive shafts 22. The two drive units 21 are located on the frame 10, and the two horizontal drive shafts 22 are horizontally arranged on the frame 10 and connected to the two linkage mechanisms 40. The two drive units 21 and the two horizontal drive shafts 22 are connected in a one-to-one correspondence.

[0051] Specifically, the drive unit 21 can be a drive motor. The horizontal transmission shaft 22 connects the two linkage mechanisms 40. The two drive units 21 are used to drive the two horizontal transmission shafts 22 to rotate, thereby driving the two linkage mechanisms 40 to move synchronously.

[0052] In one embodiment, a limit switch 11 is installed on the side of the frame 10 away from the drive unit 21. The limit switch 11 is located at the lower end of the input end link 410 and has a gap with the input end link 410. The limit switch 11 is used to sense the input end link 410.

[0053] To facilitate sensing by the limit switch 11, the input end connecting rod 410 includes a rod body and a protrusion 412. The lower end of the rod body is rotatably connected to the horizontal transmission shaft 22, and the upper end of the rod body is rotatably connected to the input end connecting rod 410. The protrusion 412 protrudes from the lower end of the rod body, and the limit switch 11 is used to sense the protrusion 412. In one embodiment, the protrusion 412 can be configured as a cylindrical structure.

[0054] The limit switch 11 is used to sense the protrusion 412 to stop the power assembly 100 and trigger an alarm when the power assembly 100 exceeds its travel range. The limit switch 11 is electrically connected to the drive unit 21. When the protrusion 412 contacts the limit switch 11, the limit switch 11 sends a stop signal to the drive unit 21 and an alarm signal to an external alarm. The drive unit 21 receives the stop signal and stops operating, thereby stopping the power assembly 100.

[0055] In one embodiment, please refer to Figure 4 and Figure 5 The number of limit switches 11 is at least four. Two of the limit switches 11 are located on both sides of the input end link 410 of the first link group 41, and the two limit switches 11 are inclined to each other to form a V shape. The other two limit switches 11 are located on both sides of the input end link 410 of the second link group 42, and the other two limit switches 11 are inclined to each other to form a V shape.

[0056] If one or more of the four limit switches 11 sense the protrusion 412, a stop signal can be sent to the drive unit 21 so that the drive unit 21 stops operating.

[0057] In one embodiment, the frame 10 includes two support frames 12 and a fixed shaft 13. The fixed shaft 13 is located between the two support frames 12 and connects the two support frames 12 to support them. Two linkage mechanisms 40 are correspondingly arranged on the two support frames 12. The fixed shaft 13 is positioned to avoid the horizontal transmission shaft 22. Three fixed shafts 13 are mounted on the support frame 12 of this invention.

[0058] For further details, please refer to Figure 4 and Figure 5The rods of the input link 410, the output link 411, the first linkage link 44, the auxiliary link 45, and the second linkage link 46 are all hollowed out; the frame part connecting the fixed frame 30 and the linkage mechanism 40 is hollowed out to reduce the weight of the linkage mechanism 40, making the linkage mechanism 40 move more flexibly and better suited to the needs of high-speed production lines.

[0059] This utility model also proposes a flexible robot, which further includes a power component. The flexible robot includes a power component, the specific structure of which is described in the above embodiments. Since this flexible robot adopts all the technical solutions of all the above embodiments, it possesses at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated upon here.

[0060] Flexible robots can be applied to food processing, such as filling sandwich cookies or placing one cookie on top of the previous one. They can also be used in food packaging, such as product boxing.

[0061] The above description is merely an exemplary embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A power assembly, characterized in that, include: The system comprises a frame, a linkage mechanism, a fixed frame, and a drive assembly. The linkage mechanism is disposed on the frame, the fixed frame is mounted on the linkage mechanism, and the drive assembly is connected to the linkage mechanism to drive the linkage mechanism to move. The linkage mechanism includes a first linkage group and a second linkage group, which are symmetrically arranged on the frame. Each linkage group includes an input link and an output link. The upper end of the input link is rotatably connected to the lower end of the output link. The lower end of the input link is connected to the drive assembly, and the upper end of the output link is connected to the fixed frame. The linkage mechanism further includes an auxiliary component, which includes a first linkage link, an auxiliary link, and a second linkage link. The lower end of the first linkage link is rotatably mounted on the frame, and the upper end of the second linkage link is connected to the fixed frame. One end of the auxiliary link is provided with a first connection point, and the upper end of the input end link of the first link group is rotatably connected to the auxiliary link through the first connection point; the other end of the auxiliary link is provided with a second connection point and a third connection point, the second connection point and the third connection point are staggered, the upper end of the first linkage link is rotatably connected to the auxiliary link through the second connection point, and the lower end of the second linkage link is rotatably connected to the auxiliary link through the third connection point.

2. The power assembly as described in claim 1, characterized in that, The second connection point is located above the third connection point, and there is a gap between the second connection point and the third connection point.

3. The power assembly as described in claim 2, characterized in that, The auxiliary link has a first side and a second side. The first linkage link and the output end link are both located on the first side of the auxiliary link, and the second linkage link and the input end link are both located on the second side of the auxiliary link.

4. The power assembly as described in any one of claims 1 to 3, characterized in that, The number of linkage mechanisms is two, and the two linkage mechanisms are located on both sides of the frame; The drive assembly includes two drive units and two horizontal drive shafts. The two drive units are mounted on the frame, and the two horizontal drive shafts are mounted on the frame and connected to the two linkage mechanisms. The two drive units and the two horizontal drive shafts are connected in a one-to-one correspondence.

5. The power assembly as described in claim 4, characterized in that, A limit switch is installed on the side of the frame away from the drive unit. The limit switch is located at the lower end of the input end link and has a gap with the input end link. The limit switch is used to sense the input end link.

6. The power assembly as described in claim 5, characterized in that, The input end connecting rod includes a rod body and a protrusion. The lower end of the rod body is rotatably connected to the horizontal transmission shaft, and the upper end of the rod body is rotatably connected to the input end connecting rod. The protrusion is protruding from the lower end of the rod body, and the limit switch is used to sense the protrusion.

7. The power assembly as described in claim 6, characterized in that, The number of limit switches is at least four, two of which are located on both sides of the input end link of the first linkage group and are inclined to each other to form a V-shape; the other two limit switches are located on both sides of the input end link of the second linkage group and are inclined to each other to form a V-shape.

8. The power assembly as described in claim 4, characterized in that, The frame includes two support frames and a fixed shaft. The fixed shaft is located between the two support frames and connects the two support frames to support them. The two linkage mechanisms are respectively arranged on the two support frames.

9. The power assembly as described in any one of claims 1 to 3, characterized in that, The rods of the input end connecting rod, the output end connecting rod, the first linkage connecting rod, the auxiliary connecting rod, and the second linkage connecting rod are all hollowed out; the frame portion of the fixing frame connected to the linkage mechanism is also hollowed out.

10. A flexible robot, characterized in that, Includes the power assembly as claimed in any one of claims 1 to 9.

Images