CN111891733A - Conveying device and conveying equipment with same - Google Patents
Conveying device and conveying equipment with same Download PDFInfo
- Publication number
- CN111891733A CN111891733A CN202010872698.1A CN202010872698A CN111891733A CN 111891733 A CN111891733 A CN 111891733A CN 202010872698 A CN202010872698 A CN 202010872698A CN 111891733 A CN111891733 A CN 111891733A
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- Prior art keywords
- guide
- driving piece
- mounting plate
- handling device
- rack
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/82—Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
Abstract
The invention provides a conveying device and conveying equipment with the same. The carrying device comprises: the rotating module comprises an installation seat and a first driving piece, the first driving piece is fixedly installed on the external base, and the first driving piece can drive the installation seat to rotate; and the telescopic module comprises a second driving piece, a bearing seat and a transmission mechanism, the second driving piece is fixedly arranged on the mounting seat, the bearing seat is slidably arranged on the mounting seat, and the second driving piece can drive the bearing seat to do reciprocating linear motion relative to the mounting seat through the transmission mechanism. The carrying device solves the problem that the structure of the carrying device in the prior art is complex.
Description
Technical Field
The invention relates to the field of manipulators, in particular to a conveying device and conveying equipment with the same.
Background
In engineering practice, due to the limitation of space and site, a carrying device capable of realizing linear motion and regular rotary motion is needed. In order to realize the function of quickly transmitting linear reciprocating motion and rotary motion, commonly adopted mechanisms comprise a crank slide bar mechanism, an electromagnetic clutch mechanism, a ball screw mechanism and a cam slide bar mechanism; meanwhile, a power supply, a pneumatic structure of a compressed air source, a linear rotary type servo motor structure, and the like are required.
However, the common disadvantages of the above mechanisms are that the mechanisms for simultaneously transmitting the linear reciprocating motion and the rotary motion are large in size, complicated in mechanical structure design, and require both electric and pneumatic power sources.
Disclosure of Invention
The invention mainly aims to provide a conveying device and conveying equipment with the same, and aims to solve the problem that the structure of the conveying device in the prior art is complex.
In order to achieve the above object, according to one aspect of the present invention, there is provided a carrying device including: the rotating module comprises an installation seat and a first driving piece, the first driving piece is fixedly installed on the external base, and the first driving piece can drive the installation seat to rotate; and the telescopic module comprises a second driving piece, a bearing seat and a transmission mechanism, the second driving piece is fixedly arranged on the mounting seat, the bearing seat is slidably arranged on the mounting seat, and the second driving piece can drive the bearing seat to do reciprocating linear motion relative to the mounting seat through the transmission mechanism.
Further, the transmission mechanism comprises a rack and a gear, and the rack is connected with the bearing seat; the gear is meshed with the rack, and the second driving piece is in driving connection with the gear to drive the gear to rotate.
Further, the mount includes: the driving end of the first driving piece is connected with the first mounting plate; the second mounting plate is connected with the first mounting plate, and a preset included angle is formed between the second mounting plate and the first mounting plate; the second driving piece is installed on the second mounting panel, and the drive end of second driving piece passes second mounting panel and gear connection.
Furthermore, the bearing seat comprises a connecting assembly and a guide rod connected with the connecting assembly, and the rack is connected with the connecting assembly; the first mounting plate is provided with a guide hole, and the guide rod is inserted into the guide hole and moves along the extension direction of the guide hole; wherein, the extending direction of the guide hole is parallel to the extending direction of the rack.
Furthermore, the connecting assembly comprises a first connecting part and a second connecting part which are arranged at intervals, one end of the guide rod is connected with the first connecting part, and the other end of the guide rod penetrates through the guide hole and then is connected with the second connecting part; the rack is connected with the first connecting part and the second connecting part.
Further, the carrying device also comprises a guide component arranged on the first mounting plate, and the guide hole is arranged on the guide component.
Further, the carrying device comprises at least two guide components, and the at least two guide components are arranged at intervals along the direction perpendicular to the extending direction of the guide holes; the bearing seat comprises at least two guide rods, the at least two guide rods and the at least two guide parts are arranged in a one-to-one correspondence mode, and each guide rod is inserted into a guide hole of the corresponding guide part.
Furthermore, the first driving piece and the second driving piece are arranged on two opposite sides of the first mounting plate along a first preset direction, and the guide component and the second mounting plate are arranged on two opposite sides of the first mounting plate along the first preset direction; wherein the guide member and the first driving member are located on the same side of the first mounting plate.
Further, the rack is provided with an installation part, and the installation part is used for being connected with the bearing platform.
According to another aspect of the present invention, there is provided a handling apparatus comprising a robot arm and a handling device mounted at a distal end of the robot arm, wherein the handling device is the above-mentioned handling device and the distal end of the robot arm is an external base.
The carrying device comprises a rotating module and a telescopic module, wherein the rotating module comprises an installation seat and a first driving piece in driving connection with the installation seat, the telescopic module is arranged on the installation seat, and the first driving piece drives the installation seat and the telescopic module to rotate; the second driving piece of the telescopic module drives the bearing seat to do reciprocating linear motion relative to the mounting seat through the transmission mechanism. The carrying device is characterized in that the first driving part, the second driving part and the transmission mechanism drive the bearing seat to do reciprocating linear motion, so that linear and rotary compound motion can be rapidly and accurately transmitted, synchronous or alternate regular rotary and linear reciprocating motion is generated, a mechanical transmission chain does not exist in the middle, the mechanical structure is simple, and the problems of large size, complex mechanical structure design and high manufacturing difficulty of the carrying device are solved; thereby reducing the processing cost, saving energy and reducing consumption.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 shows a schematic view of an angle of an embodiment of a handling device according to the invention;
fig. 2 shows a schematic structural view of another angle of an embodiment of a handling device according to the invention;
fig. 3 is a schematic view showing an angle structure of a rotating module and a carrier seat of a carrying device according to the present invention;
fig. 4 is a schematic structural view showing another angle of the rotating module and the carrier seat of the carrying device according to the present invention;
fig. 5 shows a schematic view of an angle of the second drive member, the gear and the rack of the handling device according to the invention;
fig. 6 shows a schematic view of another angle of the second drive, the gear and the rack of the handling device according to the invention;
fig. 7 shows a schematic structural view of an embodiment of the handling device according to the invention;
fig. 8 shows a partial enlarged view of the embodiment of the handling device in fig. 7.
Wherein the figures include the following reference numerals:
10. a mounting seat; 11. a first mounting plate; 12. a second mounting plate; 13. a guide member; 131. a guide block; 20. a first driving member; 40. a bearing seat; 41. a connecting assembly; 411. a first connection portion; 412. a second connecting portion; 42. a guide bar; 50. a rack; 51. an installation part; 60. a gear; 70. a second driving member;
1. a carrying device; 2. a mechanical arm; 30. and a bearing platform.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The present invention provides a carrying device, please refer to fig. 1 to fig. 6, including: the rotating module comprises an installation seat 10 and a first driving part 20, the first driving part 20 is fixedly installed on the external base, and the first driving part 20 can drive the installation seat 10 to rotate; and the telescopic module comprises a second driving element 70, a bearing seat 40 and a transmission mechanism, the second driving element 70 is fixedly installed on the installation seat 10, the bearing seat 40 is slidably installed on the installation seat 10, and the second driving element 70 can drive the bearing seat 40 to do reciprocating linear motion relative to the installation seat 10 through the transmission mechanism.
The carrying device comprises a rotating module and a telescopic module, wherein the rotating module comprises an installation seat 10 and a first driving piece 20 in driving connection with the installation seat 10, the telescopic module is arranged on the installation seat 10, and the first driving piece 20 drives the installation seat 10 and the telescopic module to rotate; the second driving member 70 of the telescopic module drives the carrier 40 to perform a reciprocating linear motion relative to the mounting base 10 through a transmission mechanism. The carrying seat 40 is driven by the first driving part 20, the second driving part 70 and the transmission mechanism to do reciprocating linear motion, so that linear and rotary compound motion can be rapidly and accurately transmitted, synchronous or alternate regular rotary and linear reciprocating motion is generated, a mechanical transmission chain does not exist in the middle of the carrying device, the mechanical structure is simpler, and the problems of large size, complex mechanical structure design and large manufacturing difficulty of the carrying device are solved; thereby reducing the processing cost, saving energy and reducing consumption.
Specifically, the transmission mechanism comprises a rack 50 and a gear 60, wherein the rack 50 is connected with the bearing seat 40; the gear 60 is engaged with the rack 50, and the second driving member 70 is drivingly connected to the gear 60 to rotate the gear 60. Wherein, the gear 60 drives the rack 50 and the bearing seat 40 to do reciprocating linear motion together, and the transmission mode of the rack 50 and the gear 60 is simple and reliable.
Specifically, the gear 60 is secured to the drive end of the second driver 70 by a set screw.
As shown in fig. 3 and 4, the mounting base 10 includes a first mounting plate 11 and a second mounting plate 12, and the driving end of the first driving member 20 is connected to the first mounting plate 11; the second mounting plate 12 is connected with the first mounting plate 11, and the second mounting plate 12 and the first mounting plate 11 are arranged at a preset included angle; the second drive member 70 is mounted on the second mounting plate 12 and the drive end of the second drive member 70 is connected to the gear 60 through the second mounting plate 12.
Specifically, the preset included angle is preferably 90 °, and other angles are also possible.
Specifically, the second driving member 70 is fixed to the second mounting plate 12 by a screw, a spring washer, and a nut.
Specifically, the driving end of the first driving member 20 is fixedly connected to the first mounting plate 11 through two set screws arranged at an included angle of 180 °.
As shown in fig. 3 and 4, the carrier 40 includes a connection assembly 41 and a guide rod 42 connected to the connection assembly 41, and the rack 50 is connected to the connection assembly 41; a guide hole is formed in the first mounting plate 11, and the guide rod 42 is inserted into the guide hole and moves along the extending direction of the guide hole; wherein the extending direction of the guide hole is parallel to the extending direction of the rack 50. With such an arrangement, the connecting assembly 41 plays a role in supporting the rack and limiting, and the guide rod 42 plays a role in guiding and limiting.
Specifically, the rack 50 is fixed to the connecting member 41 by a screw or a spring washer.
As shown in fig. 3 and 4, the connecting assembly 41 includes a first connecting portion 411 and a second connecting portion 412 which are arranged at an interval, one end of the guide rod 42 is connected to the first connecting portion 411, and the other end of the guide rod 42 passes through the guide hole and then is connected to the second connecting portion 412; the rack 50 is connected to both the first connecting portion 411 and the second connecting portion 412. The first and second connection portions 411 and 412 function to limit the moving stroke of the rack 50.
Specifically, the first connecting portion 411 and the guide bar 42 are connected by a set screw or by welding; the second connecting portion 412 is connected to the guide bar 42 by a set screw or by welding.
Optionally, the handling device further comprises a guide member 13 provided on the first mounting plate 11, and a guide hole is provided on the guide member 13.
Specifically, the carrying device includes at least two guide members 13, the at least two guide members 13 being disposed at intervals in a direction perpendicular to the extending direction of the guide holes; the carrying seat 40 includes at least two guide rods 42, the at least two guide rods 42 are disposed in one-to-one correspondence with the at least two guide members 13, and each guide rod 42 is inserted into a guide hole of the corresponding guide member 13. Such an arrangement provides a better guiding effect.
Preferably, the carrying device comprises two guide members 13, the two guide members 13 are arranged at intervals along the direction perpendicular to the extending direction of the guide hole, and a first avoidance gap is formed between the two guide members 13, so that the arrangement is convenient for installing other parts.
Specifically, the guide member 13 includes at least two guide blocks 131, the at least two guide blocks 131 are disposed at intervals along the extending direction of the guide rod 42, each guide block 131 is provided with a guide hole, and the guide rod 42 sequentially penetrates through the guide holes of the guide blocks 131.
Preferably, the guide member 13 includes two guide blocks 131, the two guide blocks 131 are spaced apart from each other along the extending direction of the guide rod 42, and a second escape gap is formed between the two guide blocks 131, so that the arrangement facilitates the installation of other components.
As shown in fig. 1 and 2, the first driving member 20 and the second driving member 70 are disposed at opposite sides of the first mounting plate 11 in the first preset direction, and the guide member 13 and the second mounting plate 12 are disposed at opposite sides of the first mounting plate 11 in the first preset direction; wherein the guide member 13 and the first drive member 20 are located on the same side of the first mounting plate 11. The arrangement makes the layout of the carrying device more reasonable, and further reduces the volume of the carrying device.
Specifically, the first preset direction is a vertical direction.
As shown in fig. 8, the rack 50 is provided with a mounting portion 51, and the mounting portion 51 is used for connecting with the bearing platform 30. In particular, the load-bearing platform 30 is used to bear heavy objects.
Optionally, the first drive member 20 is a servo motor; alternatively, the second driving member 70 is a servo motor; or the first driving piece and the second driving piece are both servo motors.
Specifically, when first driving piece and second driving piece are servo motor, the power supply is the electricity, has guaranteed single power supply, convenient to use. And the operation of the two servo motors is not influenced mutually, and the linear motion and the rotary motion synchronously or alternately regularly operate by controlling corresponding parameters of the two servo motors during operation so as to achieve the purpose of quickly and accurately transmitting the compound motion.
The present invention also provides a handling apparatus, please refer to fig. 7 and 8, which includes a robot arm 2 and a handling device 1, wherein the handling device 1 is installed at the end of the robot arm 2, the handling device is the handling device in the above embodiment, and the end of the robot arm 2 is an external base.
Specifically, the load bearing platform 30 is connected to a mounting portion 51 provided on the rack 50.
From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects:
the carrying device comprises a rotating module and a telescopic module, wherein the rotating module comprises an installation seat 10 and a first driving piece 20 in driving connection with the installation seat 10, the telescopic module is arranged on the installation seat 10, and the first driving piece 20 drives the installation seat 10 and the telescopic module to rotate; the second driving member 70 of the telescopic module drives the carrier 40 to perform a reciprocating linear motion relative to the mounting base 10 through a transmission mechanism. The carrying seat 40 is driven by the first driving part 20, the second driving part 70 and the transmission mechanism to do reciprocating linear motion, so that linear and rotary compound motion can be rapidly and accurately transmitted, synchronous or alternate regular rotary and linear reciprocating motion is generated, a mechanical transmission chain does not exist in the middle of the carrying device, the mechanical structure is simpler, and the problems of large size, complex mechanical structure design and large manufacturing difficulty of the carrying device are solved; thereby reducing the processing cost, saving energy and reducing consumption.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A handling device, comprising:
the rotating module comprises an installation seat and a first driving piece, the first driving piece is fixedly installed on the external base, and the first driving piece can drive the installation seat to rotate; and
the telescopic module comprises a second driving piece, a bearing seat and a transmission mechanism, the second driving piece is fixedly installed on the mounting seat, the bearing seat can be installed on the mounting seat in a sliding mode, and the second driving piece can drive the bearing seat to move linearly in a reciprocating mode relative to the mounting seat through the transmission mechanism.
2. The handling device of claim 1, wherein the transmission mechanism comprises a rack and a pinion, the rack being connected to the carrier; the gear is meshed with the rack, and the second driving piece is in driving connection with the gear to drive the gear to rotate.
3. The handling device of claim 2, wherein the mount comprises:
the driving end of the first driving piece is connected with the first mounting plate;
the second mounting plate is connected with the first mounting plate, and a preset included angle is formed between the second mounting plate and the first mounting plate; the second driving piece is installed on the second installation plate, and the driving end of the second driving piece penetrates through the second installation plate to be connected with the gear.
4. The handling device of claim 3, wherein the carriage includes a linkage assembly and a guide bar coupled to the linkage assembly, the rack being coupled to the linkage assembly;
the first mounting plate is provided with a guide hole, and the guide rod is inserted into the guide hole and moves along the extension direction of the guide hole;
wherein, the extending direction of the guide hole is parallel to the extending direction of the rack.
5. The carrying device as claimed in claim 4, wherein the connecting assembly comprises a first connecting part and a second connecting part which are arranged at intervals, one end of the guide rod is connected with the first connecting part, and the other end of the guide rod passes through the guide hole and then is connected with the second connecting part; the rack is connected with the first connecting portion and the second connecting portion.
6. The handling device according to claim 4, further comprising a guide member provided on the first mounting plate, the guide hole being provided on the guide member.
7. The handling device according to claim 6, characterized in that the handling device comprises at least two of the guide members, which are arranged at intervals in a direction perpendicular to the direction of extension of the guide holes; the bearing seat comprises at least two guide rods, the at least two guide rods and the at least two guide parts are arranged in a one-to-one correspondence mode, and each guide rod is inserted into a corresponding guide hole of each guide part.
8. The transfer device of claim 6, wherein the first and second actuators are disposed on opposite sides of the first mounting plate in a first predetermined direction, and the guide members and the second mounting plate are disposed on opposite sides of the first mounting plate in the first predetermined direction; wherein the guide member and the first drive member are located on the same side of the first mounting plate.
9. Handling device according to any of claims 2-8, where the rack is provided with a mounting for connection to a load-bearing platform.
10. A handling apparatus comprising a robot arm and a handling device mounted at the end of the robot arm, characterized in that the handling device is the handling device of any of claims 1 to 9 and the end of the robot arm is the external base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010872698.1A CN111891733A (en) | 2020-08-26 | 2020-08-26 | Conveying device and conveying equipment with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010872698.1A CN111891733A (en) | 2020-08-26 | 2020-08-26 | Conveying device and conveying equipment with same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111891733A true CN111891733A (en) | 2020-11-06 |
Family
ID=73224378
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010872698.1A Pending CN111891733A (en) | 2020-08-26 | 2020-08-26 | Conveying device and conveying equipment with same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111891733A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023284342A1 (en) * | 2021-07-13 | 2023-01-19 | 无锡先导智能装备股份有限公司 | Carrying device |
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| CN102295145A (en) * | 2011-06-02 | 2011-12-28 | 济南奥图自动化工程有限公司 | Linear servo conveying system |
| KR101493746B1 (en) * | 2013-08-26 | 2015-02-16 | 조항일 | Apparatus rotating the picker in pick and place system |
| CN203865551U (en) * | 2014-05-07 | 2014-10-08 | 华南理工大学 | Automatic feeding device for gumming shaft sleeve outer circles |
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| WO2023284342A1 (en) * | 2021-07-13 | 2023-01-19 | 无锡先导智能装备股份有限公司 | Carrying device |
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Application publication date: 20201106 |