CN113800242A

CN113800242A - Single-drive double-action linkage structure and transplanting mechanism

Info

Publication number: CN113800242A
Application number: CN202010553254.1A
Authority: CN
Inventors: 郑青君; 杨永满
Original assignee: Zhangzhou Lanqiya Intelligent Equipment Co Ltd
Current assignee: Zhangzhou Lanqiya Intelligent Equipment Co Ltd
Priority date: 2020-06-17
Filing date: 2020-06-17
Publication date: 2021-12-17

Abstract

The invention discloses a single-drive double-action linkage structure and a transplanting mechanism, and belongs to the field of automation equipment. The single-drive double-action linkage structure comprises a support, and a first drive element, a first actuating part, a second actuating part and a linkage assembly which are arranged on the support, wherein the linkage assembly comprises a rocking rod, a steering tension spring and a reset tension spring. When the invention works, the first driving element drives the first actuating part to move in a first direction to complete a first action; when the first action is finished, the swinging rod is switched from the initial position to the finished position through the linkage assembly, and the second action part is driven to move in the second direction under the driving of the reset tension spring to finish the second action; the two actions are finished in sequence, the operation is smooth and stable, only one power element is used in the whole process, the structure and the control are simpler, the hardware cost is reduced, and the applicability of the invention can be improved.

Description

Single-drive double-action linkage structure and transplanting mechanism

Technical Field

The invention relates to the field of automation equipment, in particular to a single-drive double-action linkage structure and a transplanting mechanism.

Background

In the design process of the existing automatic equipment, two actions are commonly used as a chain reaction: after one action is completed, the other action is completed immediately. Such as a material returning structure in a box disassembling mechanism, a destacking plate mechanism and a transplanting mechanism. After the material returning mechanism pushes the whole material out, the material returning mechanism carries out and simultaneously finishes the lifting action, so that a gap is formed between the material and the bottom surface, and a forklift or other transfer mechanisms can be conveniently inserted to transfer the material away; or in other cases, the material is adhered to the bottom surface due to its viscosity, which is not conducive to cleaning and transferring, and in such cases, the material is also lifted to a certain height, so that a gap is formed between the material and the bottom surface. The structure is characterized in that: the two actions are in tandem, are sequential and unchangeable linkage actions, and the stroke is fixed and has no specificity in most cases.

In the existing automation equipment, the most common solution is to control one of the actions by two cylinders respectively, and finally complete the linkage. The disadvantages of this solution are: 1. two cylinders need two sets of control systems, so that the structure is more complex, and the hardware cost is increased; 2. the sequence of the two control systems needs to be accurately adjusted so as to ensure the smoothness of the chain reaction and improve the control difficulty.

In view of the above, a new technical solution is needed to solve the above technical problems.

Disclosure of Invention

The present invention is directed to solve the above problems in the prior art, and provides a single-drive double-action linkage structure and a transplanting mechanism, which have the advantages of simple structure, stable operation, simple control, and wide applicability.

In order to achieve the purpose, the invention adopts the following technical means:

a single-drive double-action linkage structure comprises a bracket, a first drive element, a first actuating part, a second actuating part and a linkage assembly, wherein the first drive element, the first actuating part, the second actuating part and the linkage assembly are arranged on the bracket;

the first driving element is connected with the first actuating part and used for pushing the first actuating part to move back and forth in a first direction;

the second actuating part is movably arranged on the first actuating part and can move back and forth in a second direction relative to the first actuating part;

the linkage assembly is arranged among the first actuating part, the second actuating part and the bracket and comprises a swinging rod, a steering tension spring and a reset tension spring;

the support is provided with two limiting points, the swing rod can be pivoted on the support in a vertically swinging mode, the pivoting point of the swing rod is not collinear with the two limiting points, and the two limiting points are used for respectively limiting the upper limiting position and the lower limiting position of the swing rod;

a toggle salient point is convexly arranged at the end part of the rocking rod far away from the limiting point downwards, one end of the steering tension spring is connected to the toggle salient point, and the other end of the steering tension spring is connected to the limiting point which is arranged on the upper side;

the upper end of the reset tension spring is connected to the first actuating part, the other end of the reset tension spring is connected to the second actuating part, and the reset tension spring is used for providing a tension force for enabling the second actuating part to move upwards;

and one end of the second actuating part, which is close to the bracket, is provided with a poking wheel which always abuts against the bottom edge of the swinging rod.

As a further improvement, one end of the swing rod close to the limiting point is bent downwards to form a bent part, when the swing rod is located at the upper limit position, the upper limiting point is just accommodated in the concave part of the bent part, and at the moment, the center line of the steering tension spring is located below the rotation point of the swing rod.

As a further refinement, the first drive element comprises a cylinder.

As a further improvement, a first guide element is also included, on which the first actuating element is mounted so as to be movable back and forth.

As a further improvement, the first guiding element comprises a sliding rail and a sliding block, the sliding rail is fixedly mounted on the bracket, and the sliding block is mounted on the sliding rail in a reciprocating manner;

the first actuating part is fixedly connected to the sliding block.

As a further improvement, the bracket comprises a bottom plate and two vertical plates fixed on two sides of the bottom plate, and a movable space is formed between the two vertical plates and the bottom plate;

the first actuating part comprises a bearing part and walking parts positioned on two sides of the bearing part, and the bearing part is formed by sinking the middle part of a rectangular plate;

during assembly, the bearing part is positioned in the movable space, and the walking part is arranged at the top of the corresponding vertical plate.

As a further improvement, the second actuating element is plate-shaped and is arranged in the bearing part in parallel; a second guide element is arranged between the first actuating part and the second actuating part, and the second guide element is used for ensuring that the second actuating part moves back and forth in the second direction.

As a further improvement, the first direction and the second direction are perpendicular to each other;

the second guide element comprises a plurality of guide posts perpendicular to the bottom wall of the bearing part, the second actuating part is provided with a plurality of guide holes, and the guide holes correspond to the guide posts one by one.

As a further improvement, two side walls of the bearing part are respectively provided with a stroke avoidance hole, and two ends of the second actuating part are respectively provided with a poking wheel; the poking wheel penetrates through the corresponding stroke avoidance hole and is abutted against the lower edge of the swing rod.

A transplanting mechanism comprises the single-drive double-linkage structure.

Compared with the prior art, the invention has the following technical effects:

when the invention works, the first driving element drives the first actuating part to move in the first direction, and then the first action can be completed; when the first action is finished, the swing rod is switched from the initial position to the finished position through the transmission action of the linkage assembly, and the second action part is driven to move in the second direction under the driving of the reset tension spring, so that the second action is finished; the two actions are finished in sequence, and the operation is smooth and stable; compared with the prior art which adopts two power elements, the whole process only uses one power element, so that the structure and the control are simpler, the hardware cost is reduced, and the applicability of the invention in the field of automation equipment is greatly improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a perspective view of a single-drive double-action linkage structure according to a first embodiment (only one side is cut out for illustration because of the symmetry of the structure);

FIG. 2 is a structural diagram of a rocking beam of a single-drive double-action linkage structure according to a first embodiment;

fig. 3 is a side view of the single-drive double-action linkage structure according to the first embodiment.

Description of the main element symbols:

1-a scaffold; 11-a base plate; 12-a riser; 2-a first drive element; 21-a piston rod; 3-a first actuating element; 31-a support; 32-a walking part; 35-a guide post; 36-a travel avoidance hole; 4-a second actuating element; 41-poking wheel; 51-a slide rail; 52-a slide block; 61-a rocking beam; 611-poking the convex points; 612-a bend; 62-a steering tension spring; 63-a reset tension spring; q1-upper limit site; q2-lower limit site; s-pivot point; a-a depressed portion; b-a concave upper portion; m-midline.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

The invention provides a single-drive double-action linkage structure and a transplanting mechanism, wherein the single-drive double-action linkage structure is applied to automatic equipment, such as a material returning structure in a box disassembling mechanism, a stacking plate disassembling mechanism and the transplanting mechanism, and is used for completing two action linkage reactions: after the material is moved in place in one direction, a second action, such as lifting, is performed to coordinate with other processes, such as material cutting. The present invention will be described in detail below with reference to specific embodiments.

Example one

Referring to fig. 1 to fig. 3, the present embodiment discloses a single-driving double-action linkage structure, which is applied to an automation apparatus for completing two linkage actions. The single-drive double-action linkage structure comprises a support 1, and a first drive element 2, a first actuating part 3, a second actuating part 4 and a linkage assembly which are arranged on the support 1.

The support 1 comprises a bottom plate 11 and two vertical plates 12 fixed on two sides of the bottom plate 11, and a movable space is formed between the two vertical plates 12 and the bottom plate 11.

The first actuating element 3 is formed by bending a rectangular plate, and specifically includes a supporting portion 31 and traveling portions 32 located on both sides of the supporting portion 31, the supporting portion 31 is formed by sinking the middle portion of the rectangular plate, and a section of horizontally extending traveling portion 32 is respectively left on both sides of the supporting portion 31.

During assembly, the supporting part 31 is located in the movable space, the walking part 32 is installed on the top of the corresponding vertical plate 12, and the assembled first actuating part 3 can horizontally move back and forth in the movable space.

Specifically, in this embodiment, the first driving element 2 is an air cylinder, a piston rod 21 of the air cylinder is connected to the first actuating element 3, and a cylinder body of the air cylinder is fixed on the bracket 1, so that the air cylinder can drive the first actuating element 3 to horizontally move back and forth in the moving space.

Furthermore, a first guide element is arranged between the first drive element 2 and the first actuating element 3, on which the first actuating element 3 is mounted so as to be movable back and forth. Specifically, the first guiding element includes a sliding rail 51 and a sliding block 52, the sliding rail 51 is fixedly mounted on the bracket 1, and the sliding block 52 is mounted on the sliding rail 51 in a manner of moving back and forth; more specifically, in the present embodiment, one first guiding element is disposed on the top of each of the two vertical plates 12, each first guiding element includes a sliding rail 51 and two sliding blocks 52, the sliding rail 51 is fixed on the top edge of the vertical plate 12, the extending direction of the sliding rail 51 is the same as the extending direction of the top edge of the vertical plate 12, and the traveling part 32 of the first actuating part 3 is fixedly connected to the two sliding blocks 52; therefore, when the first driving element 2 works, the first actuating component 3 can be driven to move horizontally and stably in the moving space.

In this embodiment, the second actuating element 4 is movably mounted on the first actuating element 3 and can move back and forth in a second direction relative to the first actuating element 3, specifically: the second actuating element 4 is plate-shaped and is arranged in the bearing part 31 in parallel; a second guide element is arranged between the first actuating element 3 and the second actuating element 4, which second guide element is used to ensure that the second actuating element 4 moves back and forth in the second direction.

Specifically, in this embodiment, the first direction and the second direction are perpendicular to each other, specifically: the first direction is the X direction, and the second direction is the Y direction. The second guiding element comprises a plurality of guiding posts 35 perpendicular to the bottom wall of the supporting portion 31, and the second actuating part 4 is provided with a plurality of guiding holes (not marked in the figure) corresponding to the guiding posts 35 one by one. The second guide member is movable up and down in the Y direction, as defined by guide posts 35.

More specifically, two side walls of the supporting portion 31 are respectively provided with a stroke avoiding hole 36, and two ends of the second actuating component 4 are respectively provided with a toggle wheel 41 extending outwards; during assembly, the dial wheel 41 passes through the corresponding travel avoiding hole 36 and extends to the inner side of the first actuating part 3.

Specifically, in the present embodiment, the linkage assembly is installed among the first actuating element 3, the second actuating element 4 and the bracket 1, and includes a swing rod 61, a steering tension spring 62 and a return tension spring 63.

Specifically, a set of linkage assemblies is arranged on two sides of the bracket 1, the two sets of linkage assemblies are symmetrically arranged, and one side of the linkage assemblies is taken as an example and is described as follows:

one of them riser 12 inside wall is provided with one two upper and lower limit points, is upper limit point Q1 and lower limit point Q2 respectively, rocking bar 61 specifically is rectangular shape member (as shown in fig. 2), and rocking bar 61 can pivot on the inside wall of riser 12 to the luffing motion ground, just rocking bar 61' S pivot point S and two limit points are not collinear, and two limit points are used for injecing respectively rocking bar 61 upper limit position and lower limit position when the swing.

Specifically, a toggle salient point 611 is convexly arranged at the end part of the swing rod 61, which is far away from the limit point, downwards, one end of the steering tension spring 62 is connected to the toggle salient point 611, and the other end of the steering tension spring is connected to the upper limit point Q1.

Preferably, one end of the swing lever 61 near the limit point is bent downward to form a bent portion 612, and when the swing lever 61 is located at the upper limit position, the upper limit point Q1 is just received at the recessed portion a of the bent portion 612, and at this time, the center line M of the steering tension spring 62 is located below the rotation point of the swing lever 61.

The upper end of the reset tension spring 63 is connected to the first actuating part 3, the other end of the reset tension spring 63 is connected to the second actuating part 4, and the reset tension spring 63 is used for providing a pulling force for enabling the second actuating part 4 to move upwards.

After assembly, the swing rod 61 and the steering tension spring 62 are located between the first actuating component 3 and the vertical plate 12, and the return tension spring 63 is located in the inner space of the receiver 31 (as shown in fig. 1); the two toggle wheels 41 of the second actuating element 4 always abut against the bottom edge of the swing lever 61.

The working principle of the single-drive double-action linkage structure of the embodiment is as follows:

referring to fig. 3, when the left end of the swing rod 61 swings to the position of the upper limit point Q1, the whole structure is at the initial position. At this time, the second actuating element 4 is tightly attached to the bottom wall of the supporting portion 31, and the return tension spring 63 is in a stretched state; the dial 41 of the second actuating element 4 is located at the upper recess b below the left end of the rocking lever 61.

The first driving element 2 works to drive the first actuating part 3 to move horizontally from left to right, and in the process, the second actuating part 4 moves horizontally from left to right along with the first actuating part 3 under the transverse limiting action of the guide column 35, and no relative motion exists between the two parts; at this time, the position of the rocking lever 61 is kept constant, that is, at the initial position, the extension amount of the steering tension spring 62 is L1, and the dial 41 of the second operating element 4 is also moved from left to right along the lower side of the rocking lever 61 at the same time.

When the toggle wheel 41 moves to the right end of the swing rod 61, i.e. is located at the position for toggling the protruding point 611, the toggle wheel 41 starts to push the toggling protruding point 611 upwards, and at this time, the whole structure completes the first action, i.e. the material is carried to move for a certain distance.

Then, the toggle wheel 41 continues to push the toggle button 611, so that the right end of the swing lever 61 swings upward, the swing lever 61 finally swings to the completion position, the left end of the swing lever 61 is located at the lower limit position Q2, and the extension amount of the steering tension spring 62 is L3. It should be noted that when the rocking lever 61 is switched from the initial position to the completion position, it is necessary to pass through an intermediate position corresponding to an extension amount of the steering tension spring 62 of L2, L2> L1, and L2> L3. That is, during the switching of the rocking lever 61 from the initial position to the completion position, the steering tension spring 62 needs to work against the potential energy of the intermediate position, so that the intermediate position is passed and the completion position is reached. This arrangement of the linkage assembly ensures that the entire structure does not switch the rocking beam 61 to the complete position until the first action is completed.

Meanwhile, in the process that the toggle wheel 41 pushes the right end of the swing rod 61 to swing upwards, the return tension spring 63 contracts to provide an upward elastic driving force, so that the second actuating part 4 moves upwards relative to the first actuating part 3, and further the second action is completed, namely the material is carried to move upwards for a certain distance.

As described above, according to the invention, by virtue of the ingenious design of the linkage assembly, the first actuating part 3 and the second actuating part 4 are subjected to linkage reaction, and the two parts share one power element to complete two actions, so that the structure and the control are simpler than those of the prior art, and the hardware cost is reduced; when the first action is finished, the swing rod 61 is switched from the initial position to the finished position through the transmission action of the linkage assembly, and the second actuating part 4 is driven to move in the second direction under the driving of the reset tension spring 63, so that the second action is finished; the two actions are finished in sequence, the operation is smooth and stable, and the applicability of the invention in the field of automation equipment is greatly improved.

Example two

The embodiment discloses a transplanting mechanism comprising a single-drive double-action linkage structure, which is applied to silicon rubber automatic loading and unloading equipment.

The transplanting mechanism has the main function that the silicon rubber materials are translated to the material cutting station, then the material cutting device completes the material cutting action, and in the process, the transplanting mechanism needs to lift the materials by a certain height so as to ensure that the silicon rubber materials are not bonded with the bottom surface.

According to the first embodiment, the single-drive double-action linkage structure is assembled on the transplanting mechanism, so that the functions can be smoothly completed, and the problem that silicon rubber is bonded with the bottom surface is solved.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims

1. A single-drive double-action linkage structure is characterized by comprising a bracket, a first drive element, a first actuating part, a second actuating part and a linkage assembly, wherein the first drive element, the first actuating part, the second actuating part and the linkage assembly are arranged on the bracket;

2. The single-drive double-action linkage structure as claimed in claim 1, wherein one end of the rocking bar near the limiting point is bent downwards to form a bent portion, when the rocking bar is at the upper limit position, the upper limiting point is just received in the concave portion of the bent portion, and at this time, the midline of the steering tension spring is located below the rotation point of the rocking bar.

3. The single drive double action linkage structure according to claim 1, wherein the first drive element comprises a cylinder.

4. A single drive double action linkage according to any one of claims 1 to 3 further comprising a first guide element on which the first actuating part is mounted for reciprocal movement.

5. The single-drive double-action linkage structure according to claim 4, wherein the first guide element comprises a slide rail and a slide block, the slide rail is fixedly mounted on the bracket, and the slide block is mounted on the slide rail in a manner of moving back and forth;

the first actuating part is fixedly connected to the sliding block.

6. The single-drive double-action linkage structure as claimed in claim 1, wherein the support comprises a bottom plate and two vertical plates fixed on two sides of the bottom plate, and a movable space is formed between the two vertical plates and the bottom plate;

7. The single-drive double-action linkage structure as claimed in claim 6, wherein the second actuating component is plate-shaped and is installed in the supporting portion in parallel; a second guide element is arranged between the first actuating part and the second actuating part, and the second guide element is used for ensuring that the second actuating part moves back and forth in the second direction.

8. The single-drive double-action linkage structure according to claim 7, wherein the first direction and the second direction are perpendicular to each other;

9. The single-drive double-action linkage structure as claimed in claim 7 or 8, wherein two side walls of the bearing portion are respectively provided with a stroke avoiding hole, and two ends of the second actuating part are respectively provided with the toggle wheel; the poking wheel penetrates through the corresponding stroke avoidance hole and is abutted against the lower edge of the swing rod.

10. A transplanting mechanism, comprising the single-drive double-linkage interlocking structure according to any one of claims 1 to 9.