Parallel rotary driving mechanism for bag-on-packing machine mechanical hand

Abstract

The utility model discloses a kind of parallel rotary drive mechanisms of bagging machine upper bag mechanical hand, including base, the side of base is equipped with bracket, rotatable mounting has rotary shaft on bracket, one end of rotary shaft is connected to power mechanism, rotary shaft is fixed with rotary swing arm outside, rotary swing arm is rotatably connected with rotary platform at the other end, the top of rotary platform is equipped with the connecting plane for installing upper bag mechanical hand, double parallelogram mechanism is connected between the other side rotary platform of base and base, double parallelogram mechanism keeps same posture around rotary shaft movement, and the device utilizes double parallelogram mechanism to constrain the rotary platform and its upper bag mechanical hand keep same posture around the rotary shaft parallel rotary movement, adopt parallelogram mechanism to replace current gear structure, can eliminate the "shaking" caused by gear tooth engagement gap, and parallelogram mechanism is strong in anti-pollution ability, and not prone to jam.

Description

Technical Field

[0001] This utility model relates to the field of bag-loading robot technology, and in particular to a parallel rotary drive mechanism for a bag-loading robot in a packaging machine. Background Technology

[0002] Currently, bag loading for packaging is divided into two methods: manual and automatic. Due to its low efficiency and safety, manual bag loading has been gradually phased out, and more and more packaging equipment adopts automatic bag loading. The bag loading robot is mounted on a parallel rotary drive mechanism, which drives the robot to extend and retract in a cyclical manner. See [link to relevant documentation]. Figure 5 This is an existing parallel rotary drive mechanism. This structure uses gear transmission to drive the rotary platform to maintain the same posture and swing around the rotation axis, driving the bag-loading robot to extend and retract. However, this structure relies on gear meshing to ensure the posture of the rotary platform, which has the following shortcomings: 1. Since the bag-loading robot is located below the packaging machine hopper, the surrounding environment is full of dust, and the gear structure is prone to jamming due to dust contaminants entering the teeth; 2. The gear meshing gap is prone to "wobbling", resulting in poor structural precision; 3. The top of the rotary platform needs to hold the structurally complex bag-loading robot, which has a certain weight, and only one side of the rotary platform is connected to the drive mechanism, resulting in poor structural stability of the rotary platform and potential safety hazards. Summary of the Invention

[0003] The technical problem to be solved by this utility model is to provide a parallel rotary drive mechanism for a packaging machine bag-loading robot that is suitable for dusty environments, has high transmission accuracy, and is highly stable and safe.

[0004] To solve the above-mentioned technical problems, the technical solution of this utility model is: a parallel rotary drive mechanism for a bag-loading robot in a packaging machine, including a base, a bracket on one side of the base, a rotating shaft rotatably mounted on the bracket, one end of the rotating shaft connected to a power mechanism, a rotating swing arm fixed externally to the rotating shaft, and a rotary platform rotatably connected to the other end of the rotating swing arm. The top of the rotary platform has a connecting plane for mounting the bag-loading robot. A double parallel four-bar linkage is connected between the rotary platform and the base on the other side of the base. The double parallel four-bar linkage constrains the rotary platform to maintain the same posture and move around the rotating shaft. The double parallel four-bar linkage includes a four-bar frame. A horizontally arranged parallel four-bar assembly one is connected between the four-bar frame and the rotary platform. A vertically arranged parallel four-bar assembly two is connected between the four-bar frame and the base. The first and second parallel four-bar assemblies are located on opposite sides of the four-bar frame.

[0005] As a preferred technical solution, the parallel four-bar assembly includes a first connecting rod and a second connecting rod. The first connecting rod and the second connecting rod are arranged horizontally and parallel to each other. The two ends of the first connecting rod and the second connecting rod are respectively rotatably connected to the rotary platform and the four-bar swing frame.

[0006] As a preferred technical solution, the parallel four-bar assembly includes a third link and a fourth link. The third link and the fourth link are arranged in parallel vertically, and the two ends of the third link and the fourth link are respectively rotatably connected to the four-bar swing frame and the base.

[0007] As a preferred technical solution, the four-bar pendulum frame is a cross-shaped pendulum frame, with the left and right ends of the cross-shaped pendulum frame connected to the first parallel four-bar assembly, and the upper and lower ends of the cross-shaped pendulum frame connected to the second parallel four-bar assembly.

[0008] As a preferred technical solution, the power mechanism includes a motor, the output end of which is connected to a speed reducer, and the output end of the speed reducer is connected to the rotating shaft.

[0009] As a preferred technical solution, the rotary platform includes an installation platform with the connecting plane at the top, a lower support at the bottom of the installation platform near the rotating swing arm, a support connecting lug on the lower support, and a swing arm shaft rotatably connected to the support connecting lug at the end of the rotating swing arm.

[0010] Due to the adoption of the above technical solution, the beneficial effects of this utility model are:

[0011] I. This device uses a double parallel four-bar linkage to constrain the rotary platform and the bag-loading robot on it to maintain the same posture and rotate parallel to the rotation axis. The use of a parallel four-bar linkage to replace the current gear structure can eliminate the "shaking" caused by the meshing gap of the gear teeth. In addition, the parallel four-bar linkage has strong anti-fouling ability and is not prone to jamming.

[0012] Second, since parallel four-bar assembly one is arranged horizontally and parallel four-bar assembly two is arranged vertically, they are connected to the left and right, and up and down of the four-bar pendulum frame, limiting the left and right and up and down directions of the four-bar pendulum frame, which can ensure the balance of the four-bar pendulum frame, and thus ensure the stability of the entire mechanism. At the same time, since parallel four-bar assembly one has two connection points with the rotary platform, it cooperates with the connection points between the rotary platform and the rotating arm to achieve a stable triangular support relationship. Moreover, since the two connection points of parallel four-bar assembly one with the rotary platform are located on both sides of the rotary platform, it can stably support the rotary platform and ensure the stability and safety of the rotary platform. Attached Figure Description

[0013] The accompanying drawings are intended only to illustrate and explain the present invention and do not limit the scope of the present invention.

[0014] Figure 1 This is a structural schematic diagram of an embodiment of the present utility model;

[0015] Figure 2 This is a side view of an embodiment of the present utility model;

[0016] Figure 3 This is a front view of an embodiment of the present utility model;

[0017] Figure 4 This is a schematic diagram of the swing before and after the present invention embodiment;

[0018] Figure 5 This is a structural diagram of the background technology;

[0019] In the diagram: 1-base; 2-bracket; 3-rotating shaft; 4-rotating swing arm; 5-four-bar swing frame; 6-link one; 7-link two; 8-link three; 9-link four; 10-motor; 11-reducer; 12-mounting platform; 13-lower bracket. Detailed Implementation

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the following detailed description, only certain exemplary embodiments of the present invention are described by way of illustration. Undoubtedly, those skilled in the art will recognize that various modifications can be made to the described embodiments without departing from the spirit and scope of the present invention. Therefore, the drawings and description are illustrative in nature and not intended to limit the scope of the claims.

[0021] like Figures 1 to 3 As shown, the parallel rotary drive mechanism for the bag-loading robot of the packaging machine includes a base 1. A bracket 2 is provided on one side of the base 1. A rotating shaft 3 is rotatably mounted on the bracket 2. One end of the rotating shaft 3 is connected to a power mechanism. A rotating swing arm 4 is fixed outside the rotating shaft 3. A sleeve fixedly fitted outside the rotating shaft 3 can be provided on the rotating swing arm 4. The other end of the rotating swing arm 4 is rotatably connected to a rotary platform. The top of the rotary platform is provided with a connecting plane for mounting the bag-loading robot. A double parallel four-bar linkage is connected between the rotary platform and the base 1 on the other side of the base 1. The double parallel four-bar linkage constrains the rotary platform to maintain the same posture and move around the rotating shaft 3.

[0022] This device serves as the mounting base for the bag-loading robot, enabling it to extend and retract in the same posture. The bag-loading robot includes two opening and closing arms and a drive structure that drives these arms to open and close; this is prior art and will not be described further here.

[0023] This device uses a double parallel four-bar linkage to constrain the rotary platform and the bag-loading robot on it to maintain the same posture and rotate parallel to the rotation axis 3. The use of a parallel four-bar linkage to replace the current gear structure can eliminate the "shaking" caused by the meshing gap of the gear teeth. In addition, the parallel four-bar linkage has strong anti-fouling ability and is not prone to jamming.

[0024] The double parallel four-bar mechanism includes a four-bar pendulum frame 5, a horizontally arranged parallel four-bar assembly 1 is connected between the four-bar pendulum frame 5 and the rotary platform, and a vertically arranged parallel four-bar assembly 2 is connected between the four-bar pendulum frame 5 and the base 1. The parallel four-bar assembly 1 and the parallel four-bar assembly 2 are located on both sides of the four-bar pendulum frame 5. In this embodiment, the use of parallel four-bar assembly one and parallel four-bar assembly two has several advantages. The combination of the two sets of parallel four-bar assemblies increases the length of the linkage, better accommodating the up-and-down rotation and swing of the rotary platform. Furthermore, since parallel four-bar assembly one is horizontally arranged and parallel four-bar assembly two is vertically arranged, connecting to the left-right and up-down sides of the four-bar swing frame 5, it limits the left-right and up-down directions of the four-bar swing frame 5, ensuring its balance and thus the stability of the entire mechanism. Simultaneously, since parallel four-bar assembly one has two connection points with the rotary platform, it cooperates with the connection points between the rotary platform and the rotating arm 4 to achieve a stable triangular support relationship. Moreover, since the two connection points of parallel four-bar assembly one with the rotary platform are located on both sides of the rotary platform, it can stably support the rotary platform, ensuring its stability and safety.

[0025] The parallel four-bar assembly includes a first connecting rod 6 and a second connecting rod 7. The first connecting rod 6 and the second connecting rod 7 are arranged horizontally parallel to each other, and their two ends are respectively rotatably connected to the rotary platform and the four-bar swing frame 5. The first connecting rod 6 and the second connecting rod 7 are rotatably connected to the rotary platform through pins and bearings.

[0026] The second parallel four-bar assembly includes a third link 8 and a fourth link 9, which are arranged vertically in parallel. The two ends of each link are rotatably connected to the four-bar swing frame 5 and the base 1, respectively. The links 8 and 9 are indirectly connected to the base 1 via side supports. A first link 6 and a second link 7 are rotatably connected to the rotary platform via pins and bearings.

[0027] The four-bar pendulum frame 5 is a cross-shaped pendulum frame. The left and right ends of the cross-shaped pendulum frame are connected to the first parallel four-bar assembly, and the top and bottom ends of the cross-shaped pendulum frame are connected to the second parallel four-bar assembly. Link 1 6 and Link 2 7 are horizontally parallel, and Link 3 8 and Link 4 9 are vertically parallel. Links 1 6, 2 7, 3 8, and 4 9 are perpendicular to the limiting direction of the cross-shaped pendulum frame, ensuring its stability.

[0028] The power mechanism includes a motor 10, the output end of which is connected to a reducer 11, and the output end of the reducer 11 is connected to the rotating shaft 3. To reduce the pressure of the device on the reducer 11, a counterweight is provided on the side of the rotating arm 4 away from the rotating platform.

[0029] The rotary platform includes an installation platform 12 with the connecting plane at the top, a lower support 13 at the bottom of the installation platform 12 near the rotating arm 4, a support connecting ear on the lower support 13, and a swing arm shaft rotatably connected to the support connecting ear at the end of the rotating arm 4.

[0030] The working principle of this embodiment is as follows:

[0031] See Figure 4 When motor 10 moves, it drives the rotating shaft 3 to rotate counterclockwise, causing the rotating arm 4 to rotate upward. The rotating arm 4 pulls the lower support 13 and the mounting platform 12 on it to move upward. Under the constraint of the double parallel four-bar linkage, the mounting platform 12 always maintains a horizontal posture and moves upward around the rotating shaft 3. When motor 10 drives the rotating shaft 3 to rotate clockwise in the opposite direction, it causes the rotating arm 4 to rotate downward. The rotating arm 4 pulls the lower support 13 and the mounting platform 12 on it to move downward. Under the constraint of the double parallel four-bar linkage, the mounting platform 12 always maintains a horizontal posture and moves downward around the rotating shaft 3. During the upward and downward movement of the mounting platform 12, it drives the upper bag robot arm on it to extend and retract.

[0032] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A parallel rotary drive mechanism for a bag-loading robot in a packaging machine, characterized in that: The device includes a base, a support on one side of which a rotating shaft is rotatably mounted. One end of the rotating shaft is connected to a power mechanism, and a rotating arm is fixed to the outside of the rotating shaft. The other end of the rotating arm is rotatably connected to a rotary platform. The top of the rotary platform has a connecting plane for mounting a bag-loading robot. On the other side of the base, a double parallel four-bar linkage is connected between the rotary platform and the base. The double parallel four-bar linkage constrains the rotary platform to maintain the same posture and move around the rotating shaft. The double parallel four-bar linkage includes a four-bar frame. A horizontally arranged parallel four-bar assembly 1 is connected between the four-bar frame and the rotary platform. A vertically arranged parallel four-bar assembly 2 is connected between the four-bar frame and the base. The first and second parallel four-bar assemblies are located on both sides of the four-bar frame.

2. The parallel rotary drive mechanism for the bag-loading robot of the packaging machine as described in claim 1, characterized in that: The parallel four-bar assembly includes a first link and a second link. The first link and the second link are arranged horizontally and parallel to each other. The two ends of the first link and the second link are respectively rotatably connected to the rotary platform and the four-bar swing frame.

3. The parallel rotary drive mechanism for the bag-loading robot of the packaging machine as described in claim 1, characterized in that: The parallel four-bar assembly includes a third link and a fourth link. The third link and the fourth link are arranged in parallel vertically, and the two ends of the third link and the fourth link are respectively rotatably connected to the four-bar swing frame and the base.

4. The parallel rotary drive mechanism for the bag-loading robot of the packaging machine as described in claim 1, characterized in that: The four-bar pendulum frame is a cross-shaped pendulum frame. The left and right ends of the cross-shaped pendulum frame are connected to the first parallel four-bar assembly, and the upper and lower ends of the cross-shaped pendulum frame are connected to the second parallel four-bar assembly.

5. The parallel rotary drive mechanism for the bag-loading robot of a packaging machine as described in claim 1, characterized in that: The power mechanism includes a motor, the output end of which is connected to a speed reducer, and the output end of the speed reducer is connected to the rotating shaft.

6. The parallel rotary drive mechanism for the bag-loading robot of a packaging machine as described in claim 1, characterized in that: The rotary platform includes an installation platform with the connecting plane at the top, a lower support at the bottom of the installation platform near the rotating arm, a support connecting lug on the lower support, and a swing arm shaft rotatably connected to the support connecting lug at the end of the rotating arm.

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