CN110950077A

CN110950077A - Material adsorbs mobile device

Info

Publication number: CN110950077A
Application number: CN201911339035.7A
Authority: CN
Inventors: 卓奇周; 郑礼仁; 康亿
Original assignee: Guangzhou Zhuoyi Precision Machinery Co ltd
Current assignee: Guangzhou Zhuoyi Precision Machinery Co ltd
Priority date: 2019-12-23
Filing date: 2019-12-23
Publication date: 2020-04-03

Abstract

The invention relates to a material adsorption moving device which comprises an X-axis transmission mechanism, a Y-axis transmission mechanism and a Z-axis transmission mechanism, wherein the Z-axis transmission mechanism comprises an adsorption structure arranged at the lower end of the Z-axis transmission mechanism, the Z-axis transmission mechanism is fixed on the X-axis transmission mechanism, the X-axis transmission mechanism is fixed on the Y-axis transmission mechanism, the adsorption structure is used for adsorbing materials, and the adsorption structure moves to a specific position through the X-axis transmission mechanism, the Y-axis transmission mechanism and the Z-axis transmission mechanism. According to the invention, any workpiece in the material frame can be moved to a required position through the cooperation of the X, Y, Z shaft transmission mechanism, and meanwhile, the adsorption structure adsorbs a disc-shaped magnetic workpiece, so that full-automatic material adsorption operation is realized, and meanwhile, the workpiece is firmly adsorbed and does not slide off; when the adsorption structure is in different load states, the sensing structure and the sensing structure are matched to generate different sensing signals, so that the device can accurately and stably complete the material adsorption work.

Description

Material adsorbs mobile device

Technical Field

The invention relates to the technical field of machining equipment of mechanical components, in particular to a material adsorption moving device.

Background

In the production process of mechanical components, disc-shaped magnetically permeable workpieces, such as disc components used in automobile engines, often need to be machined. The material to be processed is usually located in the material frame, the material frame has a certain distance from the production line of the next process, an operator needs to move the material from the material frame to the production line, and due to the circular appearance characteristics of the workpiece, the workpiece is grabbed by the common claw-shaped mechanical arm to move or feed, the circular workpiece easily slips off, if the workpiece is moved or fed by a worker, the workload of the worker is too large and the efficiency of the whole production line is low due to the large mass of the workpiece. If workpieces with different sizes or weights are produced by using the same production line, different mechanical arms are required to be installed for matching in order to achieve the grabbing accuracy and stability. Therefore, the material adsorption moving device has good practical significance in the process of producing the disc-shaped magnetic conductivity workpiece, can adsorb and move materials from the material frame to a production line, can adapt to disc workpieces of various sizes and models, realizes full-automatic operation, is firmly adsorbed, and prevents the workpieces from sliding off.

Disclosure of Invention

The invention aims to overcome at least one defect of the prior art, provides a material adsorption moving device which can adsorb and move materials from a material frame to a production line, is suitable for magnetic conductivity workpieces with various sizes and weights, can perform full-automatic operation and can adsorb firmly, and is used for solving the problems that a mechanical arm is easy to slip off when grabbing a disc workpiece or the workload of manual loading is large and the efficiency is low.

The technical scheme adopted by the invention is as follows:

the utility model provides a material adsorbs mobile device, contains X axle drive mechanism, Y axle drive mechanism, Z axle drive mechanism contains the adsorption structure of installing at Z axle drive mechanism lower extreme, Z axle drive mechanism is fixed in on the X axle drive mechanism, X axle drive mechanism is fixed in on the Y axle drive mechanism, adsorption structure is used for adsorbing the material, and adsorption structure passes through X axle drive mechanism, Y axle drive mechanism, Z axle drive mechanism and removes specific position.

In the technical scheme, in order to adsorb workpieces at different positions in the material frame, the adsorption structure needs to be moved to any position in the frame, after the materials are adsorbed, the adsorption structure needs to be moved to a specific position to unload the materials, and the movement of the adsorption structure depends on the driving of the X-axis transmission mechanism, the Y-axis transmission mechanism and the Z-axis transmission mechanism. The adsorption structure is arranged at the lower end of the Z-axis transmission mechanism, and when the Z-axis transmission mechanism moves, the workpiece adsorbed on the adsorption structure is driven to move up and down along the Z axis; the Z-axis transmission mechanism is fixed on the X-axis transmission mechanism, and when the X-axis transmission mechanism moves, the Z-axis transmission mechanism and the workpiece adsorbed on the adsorption structure are driven to move along the X-axis direction; the X-axis transmission mechanism is fixed on the Y-axis transmission mechanism, and when the Y-axis transmission mechanism moves, the X-axis transmission mechanism, the Z-axis transmission mechanism and the workpiece adsorbed on the adsorption structure are driven to move along the Y-axis direction. The adsorbed workpiece is moved to any position in a certain space through the matching of an X, Y, Z shaft transmission mechanism.

In this technical scheme, Z axle drive mechanism still contains Z axle gear, Z axle motor, Z axostylus axostyle, Z axle clamping structure and fixed knot construct, Z axostylus axostyle side is equipped with Z axle rack, and Z axle gear is connected with the motor shaft of Z axle motor, and Z axle gear and the meshing of Z axle rack, adsorption structure connects at Z axostylus axostyle lower extreme, Z axle motor and Z axle clamping structure install on fixed knot construct, and fixed knot construct and X axle drive mechanism are fixed continuous, and Z axle clamping structure slides centre gripping Z axostylus axostyle.

The Z-axis motor provides power for the Z-axis transmission mechanism to move, the Z-axis motor drives the Z-axis gear to rotate, the gear is meshed with the rack, the Z-axis rack is arranged on the side face of the Z-axis rod, namely, the Z-axis rod moves up and down along with the rotation of the Z-axis gear, and the adsorption structure connected with the lower end of the Z-axis rod and the workpiece adsorbed on the adsorption structure are driven to move up and down along the Z-axis direction. The Z-axis motor is connected with the X-axis transmission mechanism through a fixing structure, a Z-axis clamping structure is mounted on the fixing structure, protruding rail bars are arranged on two side faces of the Z-axis shaft rod, the Z-axis clamping structure is a clamping clip matched with the rail bars, and the clamping clip is fixed on the rail bars in a sliding mode. The Z-axis clamping structure clamps the Z-axis rod in a sliding manner, has the functions of sliding fixation and guiding, and enables the Z-axis rod to move only in the vertical direction.

In the technical scheme, the X-axis transmission mechanism comprises an X-axis gear, an X-axis motor and an X-axis frame, wherein an X-axis rack is arranged on the surface of the X-axis frame, the X-axis gear is connected with a motor shaft of the X-axis motor, and the X-axis gear is meshed with the X-axis rack; the X-axis motor is arranged on the fixed structure; the X-axis frame is fixed on the Y-axis transmission mechanism.

The X-axis motor provides power for the X-axis transmission mechanism to move, the X-axis motor drives the X-axis gear to rotate, the gear is meshed with the rack to enable the X-axis gear to move in a rotating mode along the X-axis rack, the X-axis rack is arranged on the surface of the X-axis rack, and the X-axis gear moves along the surface of the X-axis rack. The X-axis motor is installed on the fixed structure, and the Z-axis motor is also installed on the fixed structure, so the X-axis motor and the Z-axis motor are relatively fixed in position, the X-axis motor and the Z-axis motor do not interfere in the moving process, and meanwhile, the X-axis gear can drive the whole Z-axis transmission mechanism to move along the X-axis frame when moving, namely, the adsorption structure connected with the lower end of the Z shaft rod and the workpiece adsorbed on the adsorption structure are driven to move along the X-axis direction.

In the technical scheme, the Y-axis transmission mechanism comprises a Y-axis motor, a driving wheel belt, a driven wheel, a synchronous belt and a Y-axis frame, wherein a motor shaft of the Y-axis motor is connected with the driving wheel, the driving wheel drives the driven wheel to rotate through the driving wheel belt, and the driven wheel drives the synchronous belt to move along the Y-axis frame; the X-axis frame is fixed on the synchronous belt.

The Y axle motor provides the power that Y axle drive mechanism removed, and Y axle motor drives the action wheel and rotates, and the action wheel passes through the action wheel belt and drives the first preceding driven wheel rotation that is close to the action wheel, and the first preceding driven wheel passes through the dwang and drives the second before from the driven wheel rotation, and the first preceding driven wheel passes through first hold-in range and drives first back driven wheel rotation, and the second is preceding from the driven wheel rotation after driving the second through the second hold-in range. The X-axis frame is fixed on the synchronous belt, two ends of the X-axis frame are respectively fixed on the first synchronous belt and the second synchronous belt of the Y-axis frame, and when the Y-axis motor rotates, the two synchronous belts drive the X-axis frame to move along the Y-axis direction, namely drive the adsorption structure connected with the lower end of the Z shaft rod and the workpiece adsorbed on the adsorption structure to move along the Y-axis direction.

Furthermore, the Z-axis transmission mechanism also comprises a connecting structure, an induction structure and a sensing structure; the sensing structure is fixedly arranged at the lower end of the Z shaft rod, and the connecting structure is movably arranged at the lower end of the Z shaft rod; the sensing structure is arranged on the connecting structure, and the position of the sensing structure corresponds to the position of the sensing structure; the connecting structure is connected with the adsorption structure.

In the technical scheme, the material is a round workpiece or a workpiece with other shapes, the adsorption structure is the working part of the material adsorption device, the sensing structure and the sensing structure are combined for enabling the adsorption structure to accurately adsorb the material, the position of the adsorption structure and the material adsorption state are identified through sensing signals, and the connecting structure is used for connecting the Z shaft lever and the adsorption structure, so that each structure is combined into an integral device capable of accurately adsorbing the material. The Z-axis is a longitudinally movable rod-like structure. After the material is adsorbed, the material can be driven to a specific position by the Z shaft lever to carry out the next production procedure operation.

Furthermore, the adsorption structure is a magnetic head, the upper end of the magnetic head is connected with the connecting structure, and the lower end of the magnetic head is a smooth round head. The magnetic head is a high-strength magnet and can adsorb magnetic conductivity workpieces, the adsorption structure is designed into the magnetic head, the upper end of the magnetic head is directly connected with the connecting structure, the lower end of the magnetic head is a smooth round head, and when the magnetic head is contacted with the workpieces, the contact angle and position have no special requirements, so that the operation is facilitated. When the Z axostylus axostyle drives adsorption structure when rising, the work piece is kept away from the one end of magnetic head under the dead weight effect and is kept motionless, is mentioned with the one end of magnetic head contact, and the contact site of magnetic head and work piece is followed adsorption structure's rising and is removed towards work piece upper surface edge from work piece upper surface middle part, and final work piece is held the side by the magnetic head, and vertical the mentioning moves other positions through the drive of Z axostylus axostyle.

Further, magnetic force head includes the sleeve and installs the magnetic force piece in the sleeve, sleeve upper end opening, connection structure passes telescopic connection magnetic force piece, and sleeve lower extreme bottom is smooth button head. The magnetic head is composed of a sleeve and a magnetic block, wherein the magnetic block is installed in the sleeve and mainly provides suction for a workpiece, the upper end of the sleeve is open, and the lower end of the connecting structure penetrates through the opening in the upper end of the sleeve to be connected with the magnetic block in the sleeve, so that the connecting structure is more firmly connected with the adsorption structure. The bottom of the sleeve is a smooth round head, and due to the action of magnetic force, the contact moment force of the magnetic head and the workpiece is larger, and the contact surface of the smooth round head can play a certain protection role in the magnetic head and the surface of the workpiece. The round head is larger than the tip, so that the contact area is larger, and the firm adsorption of the magnetic head and the workpiece is more facilitated.

In the technical scheme, the connecting structure comprises a connecting rod, a connecting rod guide sleeve and a spring; the connecting rod guide sleeve is fixed at the lower end of the Z shaft lever, the sensing structure is arranged at the upper end of the connecting rod, the spring is sleeved in the middle of the connecting rod, and the top end of the spring is fixed on the connecting rod; the lower end of the connecting rod penetrates through the connecting rod guide sleeve, and the lower end of the connecting rod is connected with the adsorption structure. The connecting rod is used for connecting Z axostylus axostyle and magnetic head, and the connecting rod uide bushing provides the guide effect for the motion of connecting rod, makes the connecting rod can drive the magnetic head and vertically mention the overhead adsorbed work piece of magnetic head. The connecting rod is connected with the magnetic head and the induction structure simultaneously, the magnetic head is connected with the lower end of the connecting rod, the induction structure is arranged at the upper end of the connecting rod, and the magnetic head drives the induction structure to move through the connecting rod when moving, so that the induction structure can be induced with the induction structure fixed on the Z shaft rod to generate different position signals. When the magnetic head adsorbs a workpiece, the connecting rod is driven to move downwards, the spring sleeved in the middle of the connecting rod and fixed at the upper end and the lower end of the connecting rod is pressed against the connecting rod guide sleeve to generate elastic force, and after the adsorbed workpiece is unloaded, the connecting rod pulls the spring to move downwards, and the elastic force of the spring is used for providing reset power for the induction structure because the induction structure is arranged above the spring, so that the induction structure returns to the original position.

Furthermore, the end part of the lower end of the Z shaft lever is provided with a mounting plate, the mounting plate is provided with a through hole, and the connecting rod guide sleeve penetrates through the through hole and is fixed on the mounting plate. The mounting panel of Z axostylus axostyle lower extreme is used for connecting Z axostylus axostyle and connection structure, and the connecting rod uide bushing passes the through-hole on the mounting panel and fixes on the mounting panel, fixes the connecting rod activity in the connecting rod uide bushing on the Z axostylus axostyle, makes the direction of motion of connecting rod inject vertical direction.

In this technical scheme, the sensing structure is the sensor, the sensor contains position sensor and work piece weight sensor, establishes 4 altogether, and position sensor is first sensor and second sensor respectively, and work piece weight sensor is third sensor and fourth sensor respectively, the left side is located to first sensor and second sensor, and second sensor top is located to first sensor, the right side is located to third sensor and fourth sensor, and fourth sensor top is located to the third sensor, first sensor is located third sensor top, just interval between first sensor and second sensor with interval between third sensor and the fourth sensor is the same.

The induction structure comprises a first induction block and a second induction block, the first induction block is installed on the top end of the connection structure, the second induction block is installed on the upper end of the connection structure and located below the first induction block, and the distance between the first induction block and the second induction block is smaller than the distance between the first sensor and the second sensor.

In the material adsorption moving device, when the sensor corresponds to the sensing structure, the sensor can sense and generate a signal. The number of the workpiece weight sensors arranged on the right side can also be 3 or more, and the number of the workpiece weight sensors can be flexibly selected according to the right side installation position and the weight of the workpiece. Every work piece weighing sensor's function is all similar, when placing the work piece of treating of equidimension and weight in same material frame, according to the difference of work piece dead weight, different to the pulling force of connecting rod, then the response piece descends highly different, locates not co-altitude sensor and responds to the structure correspondingly, and the work piece of adsorbing different weight can be judged out to the system, makes things convenient for follow-up different work piece processing that carries on.

In the technical scheme, the first sensing block can correspond to the first sensor to generate an electric signal; the first sensing block can also correspond to the third sensor and generate an electric signal; the second sensing block can correspond to the second sensor and generate an electric signal; the second sensing block may also correspond to the fourth sensor to generate an electrical signal. The first sensor and the third sensor do not generate electric signals when corresponding to the second sensing block, and the second sensor and the fourth sensor do not generate electric signals when corresponding to the first sensing block. Therefore, the induction block and the sensor have four working induction states, which correspond to four different adsorption states of the magnetic head.

In the technical scheme, the position and the state of a magnetic head in the material adsorption device are determined by the mutual induction of the sensor and the induction block to generate signals. When the magnetic head does not adsorb a workpiece, the second sensor senses the second sensing block to generate a no-load signal. The material adsorption equipment begins to work, the Z axostylus axostyle drives the connecting rod, first response piece, the slow downstream of second response piece and magnetic force head, the material in the material frame is close to the magnetic force head, the magnetic force head drops behind the take the altitude, suction effect between magnetic force head and the work piece makes the magnetic force head drive connecting rod and response structure move down, until sleeve lower extreme and work piece surface contact and extrusion, the magnetic force head moves the connecting rod and fixes the response structure change moving direction on the connecting rod this moment, upward movement, make first sensor sense first response piece, produce the signal, system perception adsorbs the action and has been accomplished this moment, need pull-up work piece, therefore the Z axostylus axostyle provides upwards power for the connecting rod, pull magnetic force head and work piece. When the Z shaft lever drives the adsorption structure to ascend, one end of the workpiece, which is far away from the magnetic head, is kept still under the action of self weight, one end of the workpiece, which is in contact with the magnetic head, is lifted, the contact part of the magnetic head and the workpiece moves from the middle of the upper surface of the workpiece to the edge of the upper surface of the workpiece along with the ascending of the adsorption structure, and finally, the workpiece is sucked to the side surface by the magnetic head and is vertically lifted.

This technical scheme's material adsorption equipment drives the work piece at the Z axostylus axostyle and rises the in-process, if the material is lighter work piece, the gravity pulling connecting rod of material is downward, makes the spring compression, drives the response piece and moves down, and the third sensor senses first response piece, produces the signal, and the work piece of system perception this moment is lighter work piece. When the workpiece on the magnetic head reaches a specific position and is then dismounted, the load on the magnetic head disappears, the sensing structure resets under the action of the elastic force of the spring, the position of the second sensor senses the second sensing block to generate a no-load signal, and the system can adsorb the next workpiece and drive the Z shaft rod to move downwards.

This technical scheme's material adsorption equipment drives the work piece at the Z axostylus axostyle and rises the in-process, if the material is heavier work piece, the gravity pulling connecting rod of material is downward, makes the spring compression, drives the response piece and moves down, and the fourth sensor senses the second response piece, produces the signal, and the work piece of system perception this moment is heavier work piece. When the workpiece on the magnetic head reaches a specific position and is then dismounted, the load on the magnetic head disappears, the sensing structure resets under the action of the elastic force of the spring, the position of the second sensor senses the second sensing block to generate a no-load signal, and the system can adsorb the next workpiece and drive the Z shaft rod to move downwards.

Furthermore, the side edge of the lower end of the Z shaft rod is provided with a first sensing structure mounting plate and a second sensing structure mounting plate which are separated by a certain distance, the first sensing structure mounting plate is provided with a first sensor and a second sensor, and the second sensing structure mounting plate is provided with a third sensor and a fourth sensor. The sensor is fixed at the lower end of the Z shaft rod through the sensing structure mounting plate, the first sensor and the second sensor are arranged on the left side, and the first sensor and the second sensor are fixed on the Z shaft rod through the first sensing structure mounting plate; the third sensor and the fourth sensor are arranged on the right side and fixed on the Z shaft rod through a second sensing structure mounting plate. The sensor is sensing assembly, fixes on the Z axostylus axostyle, can reduce the shake at the removal in-process, improves the accuracy and the stability of response.

Compared with the prior art, the invention has the beneficial effects that: any workpiece in the material frame can be moved to a required position through the matching of an X, Y, Z shaft transmission mechanism, and meanwhile, the adsorption structure adsorbs a disc-shaped magnetic workpiece, so that full-automatic material adsorption operation is realized, and meanwhile, the workpiece is firmly adsorbed and does not slide; when the adsorption structure is in different load states, the sensing structure and the sensing structure are matched to generate different sensing signals, so that the device can accurately and stably complete the material adsorption work.

Drawings

Fig. 1 is a schematic view of a material adsorbing and moving device according to the present invention.

FIG. 2 is a schematic diagram of the magnetic head of the present invention adsorbing material from a material frame.

Fig. 3 is a schematic view of an adsorption part of the material adsorption moving device of the present invention.

Fig. 4 is a cross-sectional view of the adsorption portion of the material adsorption moving device of the present invention.

The figure includes: 1-Z-axis transmission mechanism; 10-an adsorption structure; 11-Z axis gears; a 12-Z axis motor; 13-Z shaft; 14-Z axis rack; 15-Z axis clamping structure; 16-a fixed structure; 2-X axis transmission mechanism; 21-X axis gear; 22-X axis motor; 23-X shaft bracket; a 24-X axis rack; 3-Y axis transmission mechanism; a 31-Y axis motor; 32-a driving wheel; 33-driving wheel belt; 341-first front driven wheel; 351-a first rear driven wheel; 361-a first synchronous belt; 362-a second synchronous belt; 37-Y axis frame; 38-rotating rods; 101-mounting plate; 102-a magnetic head; 103-a sleeve; 104-a magnetic block; 105-a connecting rod; 106-connecting rod guide sleeve; 107-spring; 108-a first sensor; 109-a second sensor; 110-a third sensor; 111-a fourth sensor; 112-a first sensing block; 113-a second sensing block; 114-a first sensing structure mounting plate; 115-a second sensing structure mounting plate.

Detailed Description

The drawings are only for purposes of illustration and are not to be construed as limiting the invention. For a better understanding of the following embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.

Example 1

As shown in fig. 1, the material adsorbing and moving device according to this embodiment includes an X-axis transmission mechanism 2, a Y-axis transmission mechanism 3, and a Z-axis transmission mechanism 1, where the Z-axis transmission mechanism 1 includes an adsorbing structure 10 installed at a lower end of the Z-axis transmission mechanism 1, the Z-axis transmission mechanism 1 is fixed on the X-axis transmission mechanism 2, the X-axis transmission mechanism 2 is fixed on the Y-axis transmission mechanism 3, the adsorbing structure 10 is used for adsorbing a material, and the adsorbing structure 10 moves to a specific position through the X-axis transmission mechanism 2, the Y-axis transmission mechanism 3, and the Z-axis transmission mechanism 1.

In this embodiment, in order to adsorb workpieces at different positions in the material frame, the adsorption structure 10 needs to be moved to any position in the frame, after the materials are adsorbed, the adsorption structure 10 needs to be moved to a specific position to unload the materials, and the movement of the adsorption structure 10 depends on the driving of the X-axis transmission mechanism 2, the Y-axis transmission mechanism 3, and the Z-axis transmission mechanism 1. The adsorption structure 10 is arranged at the lower end of the Z-axis transmission mechanism 1, and when the Z-axis transmission mechanism 1 moves, the workpiece adsorbed on the adsorption structure 10 is driven to move up and down along the Z axis; the Z-axis transmission mechanism 1 is fixed on the X-axis transmission mechanism 2, and when the X-axis transmission mechanism 2 moves, the Z-axis transmission mechanism 1 and the workpiece adsorbed on the adsorption structure 10 are driven to move along the X-axis direction; the X-axis transmission mechanism 2 is fixed on the Y-axis transmission mechanism 3, and when the Y-axis transmission mechanism 3 moves, the X-axis transmission mechanism 2, the Z-axis transmission mechanism 1 and the workpiece adsorbed on the adsorption structure 10 are driven to move along the Y-axis direction. The adsorbed workpiece is moved to any position in a certain space through the matching of an X, Y, Z shaft transmission mechanism.

In this embodiment, the X-axis transmission mechanism 2 includes an X-axis gear 21, an X-axis motor 22, and an X-axis frame 23, wherein an X-axis rack 24 is disposed on the surface of the X-axis frame 23, the X-axis gear 21 is connected with a motor shaft of the X-axis motor 22, and the X-axis gear 21 is engaged with the X-axis rack 24; the X-axis motor 22 is mounted on the fixed structure 16; the X-axis frame 23 is fixed on the Y-axis transmission mechanism 3.

The X-axis motor 22 provides power for moving the X-axis transmission mechanism 2, the X-axis motor 22 drives the X-axis gear 21 to rotate, the gear is meshed with the rack, so that the X-axis gear 21 can move in a rotating mode along the X-axis rack 24, the X-axis rack 24 is arranged on the surface of the X-axis frame 23, and the X-axis gear 21 moves along the surface of the X-axis frame 23. The X-axis motor 22 is installed on the fixing structure 16, and the Z-axis motor 12 is also installed on the fixing structure 16, so that the positions of the X-axis motor 22 and the Z-axis motor 12 are relatively fixed, the two do not interfere in the moving process, and meanwhile, the X-axis gear 21 can drive the whole Z-axis transmission mechanism 1 to move along the X-axis frame 23 when moving, namely, the adsorption structure 10 connected with the lower end of the Z-axis rod 13 and a workpiece adsorbed on the adsorption structure 10 are driven to move along the X-axis direction.

In this embodiment, the Y-axis transmission mechanism 3 includes a Y-axis motor 31, a driving wheel 32, a driving wheel belt 33, a driven wheel, a synchronous belt, and a Y-axis frame 37, a motor shaft of the Y-axis motor 31 is connected to the driving wheel 32, the driving wheel 32 drives the driven wheel to rotate through the driving wheel belt 33, and the driven wheel drives the synchronous belt to move along the Y-axis frame 37; the X-axis carriage 23 is fixed to the timing belt.

The Y-axis motor 31 provides power for moving the Y-axis transmission mechanism 3, the Y-axis motor 31 drives the driving wheel 32 to rotate, the driving wheel 32 drives the first front driven wheel 341 close to the driving wheel 32 to rotate through the driving wheel belt 33, the first front driven wheel 341 drives the second front driven wheel (not shown) to rotate through the rotating rod 38, the first front driven wheel 341 drives the first rear driven wheel 351 to rotate through the first synchronous belt 361, and the second front driven wheel (not shown) drives the second rear driven wheel (not shown) to rotate through the second synchronous belt 362. The X-axis frame 23 is fixed on the synchronous belt, two ends of the X-axis frame 23 are respectively fixed on the first synchronous belt 361 and the second synchronous belt 362 of the Y-axis frame 37, and when the Y-axis motor 31 rotates, the two synchronous belts drive the X-axis frame 23 to move along the Y-axis direction, that is, the adsorption structure 10 connected with the lower end of the Z-axis 13 and the workpiece adsorbed on the adsorption structure 10 are driven to move along the Y-axis direction.

As shown in fig. 2, the Z-axis transmission mechanism 1 further includes a Z-axis gear 11, a Z-axis motor 12, a Z-axis shaft 13, a Z-axis clamping structure 15 and a fixing structure 16, a Z-axis rack 14 is disposed on a side surface of the Z-axis shaft 13, the Z-axis gear 11 is connected to a motor shaft of the Z-axis motor 12, the Z-axis gear 11 is engaged with the Z-axis rack 14, the adsorption structure 10 is connected to a lower end of the Z-axis shaft 13, the Z-axis motor 12 and the Z-axis clamping structure 15 are mounted on the fixing structure 16, the fixing structure 16 is fixedly connected to the X-axis transmission mechanism 2, and the Z-axis clamping structure 15 slidably clamps the Z.

Z axle motor 12 provides the power that Z axle drive mechanism 1 removed, and Z axle motor 12 drives Z axle gear 11 and rotates, and the gear meshes with the rack, and Z axle rack 14 is located Z axostylus axostyle 13 side, and Z axostylus axostyle 13 reciprocates along with Z axle gear 11's rotation promptly, drives adsorption structure 10 and the adsorption structure 10 that the lower extreme of Z axostylus axostyle 13 is connected and goes up absorbent work piece and reciprocate along the Z axle direction. The Z-axis motor 12 is connected with the X-axis transmission mechanism 2 through a fixing structure 16, a Z-axis clamping structure 15 is installed on the fixing structure 16, protruding rails are arranged on two side faces of the Z-axis shaft 13, the Z-axis clamping structure 15 is a clamp matched with the rails, and the clamp is fixed on the rails in a sliding mode. The Z-axis clamping structure 15 slidably clamps the Z-axis 13, and has a sliding fixing function and a guiding function, so that the Z-axis 13 only moves in the vertical direction.

As shown in fig. 3 and 4, the Z-axis transmission mechanism 1 further includes a connecting structure, a sensing structure and a sensing structure; the sensing structure is fixedly arranged at the lower end of the Z shaft lever 13, and the connecting structure is movably arranged at the lower end of the Z shaft lever 13; the sensing structure is arranged on the connecting structure, and the position of the sensing structure corresponds to the position of the sensing structure; the connection structure connects the adsorption structure 10.

In this embodiment, the material is circular workpiece or the work piece of other shapes, and adsorption structure 10 is material adsorption equipment's work position, for making adsorption structure 10 can accurately adsorb the material, has set up response structure and sensing structure combination, discerns adsorption structure 10's position and material adsorption state through sensing signal, and connection structure then is used for connecting Z axostylus axostyle 13 and adsorption structure 10, makes each structure combination become the integrated device that can accurately carry out material absorption. The Z-axis 13 is a longitudinally movable rod-like structure. After the material is adsorbed, the material can be driven to a specific position by the Z shaft lever 13 to carry out the next production procedure operation.

The adsorption structure 10 is a magnetic head 102, the upper end of the magnetic head 102 is connected with the connecting structure, and the lower end is a smooth round head. The magnetic head 102 is a high-strength magnet and can adsorb magnetic conductive workpieces, the adsorption structure 10 is designed into the magnetic head 102, the upper end of the magnetic head 102 is directly connected with the connecting structure, the lower end of the magnetic head 102 is a smooth round head, when the magnetic head 102 is contacted with the workpieces, the contact angle and position have no special requirements, the operation is facilitated, and when the magnetic head 102 is close to the workpieces, the magnetic head 102 is automatically contacted with the upper surfaces of the workpieces through the mutual attraction of the magnetic head 102 and the magnetic conductive workpieces, and the workpieces are adsorbed on the magnetic head 102. When the Z-axis 13 drives the adsorption structure 10 to ascend, the workpiece is kept still at the end far away from the magnetic head 102 under the action of the self-weight, the end contacting with the magnetic head 102 is lifted, the contact part of the magnetic head 102 and the workpiece moves from the middle of the upper surface of the workpiece to the edge of the upper surface of the workpiece along with the ascending of the adsorption structure 10, and finally the workpiece is sucked to the side by the magnetic head 102, lifted vertically and moved to other positions through the driving of the Z-axis 13.

The magnetic head 102 comprises a sleeve 103 and a magnetic block 104 arranged in the sleeve 103, the upper end of the sleeve 103 is open, a connecting structure penetrates through the sleeve 103 to be connected with the magnetic block 104, and the bottom of the lower end of the sleeve 103 is a smooth round head. The magnetic head 102 is composed of a sleeve 103 and a magnetic block 104, wherein the magnetic block 104 is installed in the sleeve 103 and mainly provides suction for a workpiece, the upper end of the sleeve 103 is open, and the lower end of the connecting structure penetrates through the upper end opening of the sleeve 103 and is connected with the magnetic block 104 in the sleeve 103, so that the connecting structure is more firmly connected with the adsorption structure 10. The bottom of the sleeve 103 is a smooth round head, and due to the action of magnetic force, the contact moment force of the magnetic head 102 and the workpiece is larger, and the contact surface of the smooth round head can play a certain role in protecting the magnetic head 102 and the surface of the workpiece. The round head has a larger contact area than the tip, which is more favorable for the firm adsorption of the magnetic head 102 and the workpiece.

In this embodiment, the connecting structure includes a connecting rod 105, a connecting rod guide sleeve 106, and a spring 107; a connecting rod guide sleeve 106 is fixed at the lower end of the Z shaft rod 13, an induction structure is arranged at the upper end of a connecting rod 105, a spring 107 is sleeved in the middle of the connecting rod 105, and the top end of the spring is fixed on the connecting rod 105; the lower end of the connecting rod 105 passes through the connecting rod guide sleeve 106 and the lower end thereof is connected with the magnetic head 102. The connecting rod 105 is used for connecting the Z-axis 13 and the magnetic head 102, and the connecting rod guide sleeve 106 provides a guide function for the movement of the connecting rod 105, so that the connecting rod 105 can drive the magnetic head 102 to vertically lift the workpiece adsorbed on the magnetic head 102. The connecting rod 105 is connected with the magnetic head 102 and the sensing structure at the same time, the magnetic head 102 is connected with the lower end of the connecting rod 105, the sensing structure is arranged at the upper end of the connecting rod 105, and the magnetic head 102 drives the sensing structure to move through the connecting rod 105 when moving, so that the sensing structure can sense with the sensing structure fixed on the Z shaft rod 13 to generate different position signals. When the magnetic head 102 adsorbs a workpiece, the connecting rod 105 is driven to move downwards, the spring 107 which is sleeved in the middle of the connecting rod 105 and the top end of which is fixed on the upper end and the lower end of the connecting rod 105 is pressed against the connecting rod guide sleeve 106 is compressed to generate elastic force, after the adsorbed workpiece is unloaded, the connecting rod 105 pulls the spring 107 to move downwards, and the induction structure returns to the original position because the induction structure is arranged above the spring 107 and the elastic force of the spring 107 provides reset power for the induction structure.

The end part of the lower end of the Z shaft rod 13 is provided with a mounting plate 101, the mounting plate 101 is provided with a through hole, and the connecting rod guide sleeve 106 passes through the through hole and is fixed on the mounting plate 101. The mounting plate 101 at the lower end of the Z-axis 13 is used for connecting the Z-axis 13 and the connecting structure, the connecting rod guide sleeve 106 passes through the through hole on the mounting plate 101 and is fixed on the mounting plate 101, and the connecting rod 105 in the connecting rod guide sleeve 106 is movably fixed on the Z-axis 13, so that the moving direction of the connecting rod 105 is limited to be a vertical direction.

In this embodiment, the sensing structure is a sensor, the sensor includes 4 position sensors and 4 workpiece weight sensors, the position sensors are the first sensor 108 and the second sensor 109, the workpiece weight sensors are the third sensor 110 and the fourth sensor 111, the first sensor 108 and the second sensor 109 are disposed on the left side, the first sensor 108 is disposed above the second sensor 109, the third sensor 110 and the fourth sensor 111 are disposed on the right side, the third sensor 110 is disposed above the fourth sensor 111, the first sensor 108 is disposed above the third sensor 110, and the distance between the first sensor 108 and the second sensor 109 is the same as the distance between the third sensor 110 and the fourth sensor 111.

The induction structure comprises a first induction block 112 and a second induction block 113, the first induction block 112 is installed at the top end of the connecting structure, the second induction block 113 is installed at the upper end of the connecting structure and located below the first induction block 112, and the distance between the first induction block 112 and the second induction block 113 is smaller than the distance between the first sensor 108 and the second sensor 109.

In the material adsorption moving device, when the sensor corresponds to the sensing structure, the sensor can sense and generate a signal. The number of the workpiece weight sensors arranged on the right side can also be 3 or more, and the number of the workpiece weight sensors can be flexibly selected according to the right side installation position and the weight of the workpiece. Every work piece weighing sensor's function is all similar, when placing the work piece of treating of equidimension and weight in same material frame, according to the difference of work piece dead weight, different to connecting rod 105's pulling force, then the response piece descends highly differently, locates not co-altitude sensor and response structure corresponding, and the work piece of adsorbing different weight can be judged out to the system, makes things convenient for the follow-up work piece that carries on differently to handle.

In this embodiment, the first sensing block 112 may correspond to the first sensor 108 and generate an electrical signal; the first sensing block 112 may also correspond to the third sensor 110, generating an electrical signal; the second sensing block 113 may correspond to the second sensor 109 and generate an electrical signal; the second sensing block 113 may also generate an electrical signal in response to the fourth sensor 111. The first sensor 108 and the third sensor 110 do not generate electric signals when they correspond to the second sensing block 113, and the second sensor 109 and the fourth sensor 111 do not generate electric signals when they correspond to the first sensing block 112. Therefore, the sensing blocks and the sensors have four working sensing states, which correspond to four different adsorption states of the magnetic head 102.

In this embodiment, the position and the state of the magnetic head 102 in the material adsorbing device are determined by the mutual induction of the sensor and the induction block to generate a signal. When the magnetic head 102 does not attract the workpiece, the second sensor 109 senses the second sensing block 113 and generates a no-load signal. The material adsorption device starts to work, the Z shaft rod 13 drives the connecting rod 105, the first induction block 112, the second induction block 113 and the magnetic head 102 to slowly move downwards, the magnetic head 102 is close to materials in the material frame, after the magnetic head 102 descends to a certain height, the magnetic head 102 drives the connecting rod 105 and the induction structure to move downwards under the action of suction force between the magnetic head 102 and a workpiece until the lower end of the sleeve 103 is contacted and extruded with the surface of the workpiece, at the moment, the magnetic head 102 drives the connecting rod 105 and the induction structure fixed on the connecting rod 105 to change the moving direction and move upwards, the first sensor 108 senses the first induction block 112 to generate signals, the system senses that the adsorption action is finished at the moment, the workpiece needs to be pulled upwards, and therefore the Z shaft rod 13 provides upward power for the connecting rod 105 to pull the magnetic head 102 and the workpiece. When the Z-axis 13 drives the adsorption structure 10 to ascend, one end of the workpiece far away from the magnetic head 102 is kept still under the action of the self-weight, the end contacting with the magnetic head 102 is lifted, the contact part of the magnetic head 102 and the workpiece moves from the middle of the upper surface of the workpiece to the edge of the upper surface of the workpiece along with the ascending of the adsorption structure 10, and finally the workpiece is adsorbed by the magnetic head 102 to the side surface and is lifted vertically.

The material adsorption equipment of this embodiment drives the work piece at Z axostylus axostyle 13 and rises the in-process, if the material is lighter work piece, the gravity pulling connecting rod 105 of material is downward, makes the compression of spring 107, drives the response piece and moves down, and first response piece 112 is sensed to third sensor 110, produces the signal, and the work piece of system perception this moment is lighter work piece. When the workpiece on the magnetic head 102 reaches a specific position and is then unloaded, the load on the magnetic head 102 disappears, the sensing structure resets under the action of the elastic force of the spring 107, the position of the second sensor 109 senses the second sensing block 113 to generate an idle signal, and the system can perform the adsorption of the next workpiece and drive the Z shaft 13 to move downwards.

The material adsorption equipment of this embodiment drives the work piece at Z axostylus axostyle 13 and rises the in-process, if the material is heavier work piece, the gravity pulling connecting rod 105 of material is downward, makes the compression of spring 107, drives the response piece and moves down, and fourth sensor 111 senses second response piece 113, produces the signal, and the work piece of system perception this moment is heavier work piece. When the workpiece on the magnetic head 102 reaches a specific position and is then unloaded, the load on the magnetic head 102 disappears, the sensing structure resets under the action of the elastic force of the spring 107, the position of the second sensor 109 senses the second sensing block 113 to generate an idle signal, and the system can perform the adsorption of the next workpiece and drive the Z shaft 13 to move downwards.

The side edge of the lower end of the Z shaft rod 13 is provided with a first sensing structure mounting plate 114 and a second sensing structure mounting plate 115 which are separated by a certain distance, the first sensing structure mounting plate 114 is provided with a first sensor 108 and a second sensor 109, and the second sensing structure mounting plate 115 is provided with a third sensor 110 and a fourth sensor 111. The sensor is fixed at the lower end of the Z shaft 13 through a sensing structure mounting plate 101, a first sensor 108 and a second sensor 109 are arranged at the left side, and are fixed on the Z shaft 13 through a first sensing structure mounting plate 114; the third sensor 110 and the fourth sensor 111 are provided on the right side and are fixed to the Z shaft 13 by a second sensing structure mounting plate 115. The sensor is a sensing component and is fixed on the Z shaft rod 13, so that the shake can be reduced in the moving process, and the sensing accuracy and stability are improved.

It should be understood that the above-mentioned embodiments of the present invention are only examples for clearly illustrating the technical solutions of the present invention, and are not intended to limit the specific embodiments of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention claims should be included in the protection scope of the present invention claims.

Claims

1. The utility model provides a material adsorbs mobile device, its characterized in that contains X axle drive mechanism, Y axle drive mechanism, Z axle drive mechanism contains the adsorption structure of installing at Z axle drive mechanism lower extreme, Z axle drive mechanism is fixed in on the X axle drive mechanism, X axle drive mechanism is fixed in on the Y axle drive mechanism, adsorption structure is used for adsorbing the material, and adsorption structure passes through X axle drive mechanism, Y axle drive mechanism, Z axle drive mechanism and removes specific position.

2. The material adsorption moving device according to claim 1, wherein the Z-axis transmission mechanism further comprises a Z-axis gear, a Z-axis motor, a Z-axis rod, a Z-axis clamping structure and a fixing structure, wherein a Z-axis rack is arranged on a side surface of the Z-axis rod, the Z-axis gear is connected with a motor shaft of the Z-axis motor, the Z-axis gear is meshed with the Z-axis rack, the adsorption structure is connected to the lower end of the Z-axis rod, the Z-axis motor and the Z-axis clamping structure are mounted on the fixing structure, the fixing structure is fixedly connected with the X-axis transmission mechanism, and the Z-axis clamping structure slides to clamp the Z-axis rod.

3. The material adsorption moving device according to claim 2, wherein the X-axis transmission mechanism comprises an X-axis gear, an X-axis motor and an X-axis frame, an X-axis rack is arranged on the surface of the X-axis frame, the X-axis gear is connected with a motor shaft of the X-axis motor, and the X-axis gear is meshed with the X-axis rack; the X-axis motor is arranged on the fixed structure; the X-axis frame is fixed on the Y-axis transmission mechanism.

4. The material adsorption and moving device as claimed in claim 3, wherein the Y-axis transmission mechanism comprises a Y-axis motor, a driving wheel belt, a front driven wheel, a rear driven wheel, a synchronous belt and a Y-axis frame, a motor shaft of the Y-axis motor is connected with the driving wheel, the driving wheel drives the driven wheel to rotate through the driving wheel belt, and the driven wheel drives the synchronous belt to move along the Y-axis frame; the X-axis frame is fixed on the synchronous belt.

5. The material adsorbing and moving device according to claim 2, wherein the Z-axis transmission mechanism further comprises a connecting structure, a sensing structure and a sensing structure; the sensing structure is fixedly arranged at the lower end of the Z shaft rod, and the connecting structure is movably arranged at the lower end of the Z shaft rod; the sensing structure is arranged on the connecting structure, and the position of the sensing structure corresponds to the position of the sensing structure; the connecting structure is connected with the adsorption structure.

6. The material adsorbing and moving device according to claim 5, wherein the adsorbing structure is a magnetic head, the upper end of the magnetic head is connected with the connecting structure, and the lower end of the magnetic head is a smooth round head.

7. The material adsorption moving device as claimed in claim 6, wherein the magnetic head comprises a sleeve and a magnetic block arranged in the sleeve, the upper end of the sleeve is open, the connecting structure penetrates through the sleeve to connect the magnetic block, and the bottom of the lower end of the sleeve is a smooth round head.

8. The material adsorbing and moving device according to claim 5, wherein the connecting structure comprises a connecting rod, a connecting rod guide sleeve and a spring; the connecting rod guide sleeve is fixed at the lower end of the Z shaft lever, the sensing structure is arranged at the upper end of the connecting rod, the spring is sleeved in the middle of the connecting rod, and the top end of the spring is fixed on the connecting rod; the lower end of the connecting rod penetrates through the connecting rod guide sleeve, and the lower end of the connecting rod is connected with the adsorption structure.

9. The material adsorption moving device as claimed in claim 8, wherein the lower end of the Z-axis is provided with a mounting plate, the mounting plate is provided with a through hole, and the connecting rod guide sleeve passes through the through hole and is fixed on the mounting plate.

10. The material adsorption moving device according to claim 5, wherein the sensing structure is a sensor, the sensor includes 4 position sensors and 4 workpiece weight sensors, the position sensors are a first sensor and a second sensor respectively, the workpiece weight sensors are a third sensor and a fourth sensor respectively, the first sensor and the second sensor are arranged on the left side, the first sensor is arranged above the second sensor, the third sensor and the fourth sensor are arranged on the right side, the third sensor is arranged above the fourth sensor, the first sensor is arranged above the third sensor, and the distance between the first sensor and the second sensor is the same as the distance between the third sensor and the fourth sensor;

11. The material adsorbing and moving device as claimed in claim 10, wherein the lower end of the Z-axis is provided with a first sensing structure mounting plate and a second sensing structure mounting plate which are separated by a certain distance, the first sensing structure mounting plate is provided with a first sensor and a second sensor, and the second sensing structure mounting plate is provided with a third sensor and a fourth sensor.