CN115848990A - Parallel carrying mechanism - Google Patents

Abstract

The invention provides a parallel carrying mechanism which comprises a rack, wherein a clamp holder mounting plate is arranged on the rack, a clamp holder is mounted on the clamp holder mounting plate, the clamp holder mounting plate can freely slide on the rack along the left-right direction and the vertical direction, a follow-up roller is connected to the clamp holder mounting plate, a chute plate is mounted on the rack, a chute with the left end and the right end downwards and the middle section upwards is formed in the chute plate, the follow-up roller is in sliding fit with the chute, and the follow-up roller is driven by a driving mechanism to move back and forth along the chute of the chute plate, so that the clamp holder mounting plate and the clamp holder are driven to move together. Compared with the prior art, the invention has the advantages that: the functions of high carrying speed block, high working efficiency and cost saving are realized.

Description

Parallel carrying mechanism

Technical Field

The invention relates to the technical field of equipment grippers, in particular to a parallel carrying mechanism.

Background

In factory production, the handling of workpieces to and from a factory is often involved. Along with the higher production efficiency, the requirement on the carrying speed is higher and higher.

For the parallel transportation of workpieces, the transportation gripper needs to perform vertical lifting motion and horizontal translation motion, two sets of sliding mechanisms and two sets of driving mechanisms are generally adopted in the prior art, and the two sets of sliding mechanisms are respectively driven to respectively act through the two sets of driving mechanisms, so that the lifting motion and the horizontal motion of the transportation gripper are respectively realized, and the cost is high; and each sub-operation is paused, the time consumption is long, and the carrying speed is slow.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide a parallel conveying mechanism to achieve the purposes of high conveying speed, high working efficiency and cost saving.

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

the utility model provides a parallel transport mechanism, which comprises a frame, be equipped with the holder mounting panel in the frame, install the holder on the holder mounting panel, the holder mounting panel can freely slide along left right direction and vertical direction in the frame, be connected with the follow-up gyro wheel on the holder mounting panel, install the chute board in the frame, it has left right both ends down to open on the chute board, middle section convex spout up, follow-up gyro wheel and spout sliding fit drive the follow-up gyro wheel through actuating mechanism along the spout round trip movement of chute board to drive holder mounting panel and holder motion together.

Further, actuating mechanism includes rotatory rocking arm, the rotation axis, including a motor, an end cap, a controller, and a cover plate, the motor is installed in the frame, the axial lead of rotation axis extends and rotates along the fore-and-aft direction and installs in the frame, the coaxial fixed connection of output shaft of rotation axis and motor, the one end and the rotation axis fixed connection of rotatory rocking arm, the other end of rotatory rocking arm is opened there is the promotion groove that is the bar, the length direction in promotion groove is along the radial extension of rotation axis, the follow-up gyro wheel just can slide on the length direction in promotion groove with the promotion groove sliding fit of rotatory rocking arm, it rotates to drive the rotation axis through the motor, the rotation axis drives the swing of rotatory rocking arm, the promotion groove of rotatory rocking arm promotes the follow-up gyro wheel along the spout round trip movement of spout board.

Further, the holder mounting panel is installed in the frame through two sets of linear guide, and two sets of linear guide include two sets of horizontal linear guide and a set of vertical linear guide, and every horizontal linear guide of group includes looks sliding fit's horizontal guide and horizontal slider, and two horizontal guide are arranged from top to bottom and fix in the frame, and vertical linear guide includes a vertical guide and two vertical sliders, and two vertical slider subsection fixed mounting are on two horizontal sliders, vertical guide and two vertical slider sliding fit, holder mounting panel fixed mounting is on vertical guide.

Furthermore, the follow-up roller is rotatably installed on a roller fixing block, and the roller fixing block is fixedly installed on the vertical guide rail.

Furthermore, the frame is provided with a limit stop block below the left end and the right end of the sliding groove, and the top end of the limit stop block is provided with a soft pad.

Furthermore, the sliding groove of the sliding groove plate is an inverted U-shaped groove.

Further, the regulating plate is installed to the frame bottom, and the regulating plate bottom is installed on the bottom plate, realizes dismantling through first bolt and the first kidney slot that is vertical extension between frame and the regulating plate to be connected, realizes dismantling through second bolt and the second kidney slot that is left right extension between regulating plate and the bottom plate to be connected.

Compared with the prior art, the invention has the beneficial effects that:

according to the parallel carrying mechanism provided by the invention, the follow-up roller is ingeniously arranged to be matched with the sliding groove of the sliding groove plate, and the follow-up roller can be driven to move along the track of the sliding groove through a set of driving mechanism, so that the mounting plate of the clamp holder and the clamp holder can move along the track of the sliding groove, the whole action process of parallel carrying is continuously and continuously carried out, the carrying speed is high, the working efficiency is high, and the cost is effectively saved.

Drawings

Fig. 1 is a schematic structural view of the present invention.

In the figure, 1 a frame; 2, mounting a clamp holder; 3, a clamp holder; 4, a follow-up roller; 5 horizontal guide rails; 6, a horizontal sliding block; 7 vertical guide rails; 8, a vertical sliding block; 9, fixing blocks of rollers; 10, a chute plate; 11 a chute; 12 limiting the stop block; 13 rotating the rocker arm; 14 a rotating shaft; 15 motor; 16 pushing the groove; 17 adjusting plate; 18 a base plate; 19 a first kidney slot; 20 second kidney slot.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.

Referring to fig. 1, the embodiment discloses a parallel carrying mechanism, which includes a frame 1, a holder mounting plate 2 is disposed on the frame 1, a holder 3 is mounted on the holder mounting plate 2, the holder mounting plate 2 can freely slide on the frame 1 along the left-right direction and the vertical direction, and a follower roller 4 is connected to the holder mounting plate 2. Holder mounting panel 2 is installed in frame 1 through two sets of linear guide, two sets of linear guide include two sets of horizontal linear guide and a set of vertical linear guide, every horizontal linear guide of group includes looks sliding fit's horizontal guide 5 and horizontal slider 6, two horizontal guide 5 are arranged from top to bottom and fix in frame 1, vertical linear guide includes a vertical guide 7 and two vertical sliders 8, two vertical slider 8 branches fixed mounting are on two horizontal sliders 6, vertical guide 7 and two vertical slider 8 sliding fit, holder mounting panel 2 fixed mounting is on vertical guide 7. The follow-up roller 4 is rotatably arranged on a roller fixing block 9, and the roller fixing block 9 is fixedly arranged on the vertical guide rail 7.

The rack 1 is provided with a chute board 10, the chute board 10 is provided with a chute 11 with a left end and a right end facing downwards and a middle section projecting upwards, the follow-up roller 4 is in sliding fit with the chute 11, and the follow-up roller 4 is driven by a driving mechanism to move back and forth along the chute 11 of the chute board 10, so that the clamp holder mounting plate 2 and the clamp holder 3 are driven to move together.

The frame 1 is provided with a limit stop block 12 below the left end and the right end of the chute 11, and the top end of the limit stop block 12 is provided with a soft pad. The follow-up rollers 4 at two ends of the sliding groove 11 can be blocked by the limiting blocking block 12, so that two movement limit positions of the follow-up rollers 4 are limited. And a soft pad is arranged at the top end of the limiting stop block 12, so that a good buffering and vibration damping effect can be achieved.

The driving mechanism comprises a rotary rocker arm 13, a rotating shaft 14 and a motor 15, the motor 15 is installed on the rack 1, the axis line of the rotating shaft 14 extends along the front-back direction and is installed on the rack 1 in a rotating mode, the rotating shaft 14 is coaxially and fixedly connected with the output shaft of the motor 15, one end of the rotary rocker arm 13 is fixedly connected with the rotating shaft 14, a strip-shaped pushing groove 16 is formed in the other end of the rotary rocker arm 13, the length direction of the pushing groove 16 extends along the radial direction of the rotating shaft 14, the follow-up roller 4 is in sliding fit with the pushing groove 16 of the rotary rocker arm 13 and can slide in the length direction of the pushing groove 16, the rotating shaft 14 is driven to rotate through the motor 15, the rotating shaft 14 drives the rotary rocker arm 13 to swing, and the pushing groove 16 of the rotary rocker arm 13 pushes the follow-up roller 4 to move back and forth along the sliding groove 11 of the sliding chute plate 10.

In this embodiment, the sliding groove 11 of the sliding groove plate 10 is an inverted U-shaped groove, which includes vertical grooves at the left and right ends and a horizontal groove located in the middle, so as to meet the motion requirements of vertical lifting movement and horizontal movement required by the translational carrying work.

An adjusting plate 17 is mounted at the bottom end of the rack 1, the bottom end of the adjusting plate 17 is mounted on a bottom plate 18, the rack 1 and the adjusting plate 17 are detachably connected through a first bolt and a first kidney-shaped groove 19 extending vertically, the adjusting plate 17 and the bottom plate 18 are detachably connected through a second bolt and a second kidney-shaped groove 20 extending leftwards and rightwards, and the vertical position of the rack 1 relative to the adjusting plate 17 can be adjusted by loosening the first bolt; by loosening the second bolt, the left and right positions of the adjusting plate 17 relative to the base plate 18 can be adjusted; therefore, the fine adjustment of the installation positions of the rack 1 and the components installed on the rack on the bottom plate 18 in the left-right direction and the vertical direction can be realized according to the working conditions.

When the swing type swing arm device works, the motor 15 rotates to drive the rotating shaft 14 connected with the motor to rotate, and the rotating shaft 14 drives the rotating swing arm 13 at the front end of the rotating swing arm to swing in a vertical plane. During the swinging process of the rotary rocker arm 13, the follow-up roller 4 is pushed to move along the sliding chute 11 of the sliding chute plate 10 through the pushing groove 16 at the tail end of the rotary rocker arm 13. Because the follow-up roller 4 is installed on the roller fixing block 9, and the roller fixing block 9 and the vertical line guide rail are fixed to form an integrated structure, the movement of the follow-up roller 4 drives the vertical guide rail 7 to move along the track of the chute 11 of the chute plate 10, so as to drive the gripper 3 to complete the movement. Because the lower parts of the left end and the right end of the sliding chute 11 are provided with the limiting stop blocks 12 with soft pad heads, the clamp holder 3 can flexibly complete the carrying action of back and forth taking and placing between the two limiting positions of the sliding chute 11.

This centre gripping handling has realized automated operation to need artifical the participation, it is high-efficient convenient. In addition, the workpiece can be conveyed flexibly because of the driving of the motor 15 and the limit stop of the limit stop blocks 12 with soft pad heads at two ends. Through the drive of motor 15, can realize that holder mounting panel 2 and holder 3 move along the orbit of spout 11, and then realized that the whole action process of parallel transport work piece is incessant to link up going on, and transport speed piece, work efficiency are high, and only need a motor 15 drive, have effectively saved the cost.

The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (7)

1. The utility model provides a parallel transport mechanism, includes the frame, its characterized in that: be equipped with the holder mounting panel in the frame, install the holder on the holder mounting panel, the holder mounting panel can freely slide along left right direction and vertical direction in the frame, be connected with the follow-up gyro wheel on the holder mounting panel, install the chute board in the frame, open on the chute board about both ends down, middle section convex spout up, follow-up gyro wheel and spout sliding fit drive the follow-up gyro wheel through actuating mechanism along the spout round trip movement of chute board to drive holder mounting panel and holder motion together.

2. A parallel transfer mechanism as claimed in claim 1, wherein: actuating mechanism includes rotatory rocking arm, the rotation axis, including a motor, an end cap, a controller, and a cover plate, the motor is installed in the frame, the axial lead of rotation axis extends and rotates along the fore-and-aft direction and installs in the frame, the coaxial fixed connection of output shaft of rotation axis and motor, the one end and the rotation axis fixed connection of rotatory rocking arm, the other end of rotatory rocking arm is opened has the promotion groove that is the bar, the length direction of promotion groove is along the radial extension of rotation axis, the follow-up gyro wheel just can slide on the length direction of promotion groove with the promotion groove sliding fit of rotatory rocking arm, drive the rotation axis rotation through the motor, the rotation axis drives the swing of rotatory rocking arm, the promotion groove of rotatory rocking arm promotes the follow-up gyro wheel along the spout round trip movement of spout sliding tray.

3. A parallel transfer mechanism as claimed in claim 1, wherein: the clamp holder mounting plate is mounted on the frame through two groups of linear guide rails, the two groups of linear guide rails comprise two groups of horizontal linear guide rails and a group of vertical linear guide rails, each group of horizontal linear guide rails comprises a horizontal guide rail and a horizontal slider which are in sliding fit with each other, the two horizontal guide rails are arranged and fixed on the frame from top to bottom, each vertical linear guide rail comprises a vertical guide rail and two vertical sliders, the two vertical sliders are fixedly mounted on the two horizontal sliders in a distributed mode, the vertical guide rails are in sliding fit with the two vertical sliders, and the clamp holder mounting plate is fixedly mounted on the vertical guide rails.

4. A parallel transfer mechanism as set forth in claim 3 wherein: the follow-up roller is rotatably installed on the roller fixing block, and the roller fixing block is fixedly installed on the vertical guide rail.

5. A parallel transfer mechanism as claimed in claim 1, wherein: the frame is provided with a limiting stop block below the left end and the right end of the sliding groove respectively, and the top end of the limiting stop block is provided with a soft pad.

6. A parallel transfer mechanism as claimed in claim 1, wherein: the sliding groove of the sliding groove plate is an inverted U-shaped groove.

7. A parallel transfer mechanism as claimed in claim 1, wherein: the regulating plate is installed to the frame bottom, and the regulating plate bottom is installed on the bottom plate, realizes dismantling through first bolt and the first kidney slot that is vertical extension between frame and the regulating plate to be connected, realizes dismantling through the second bolt and the second kidney slot that is left right extension between regulating plate and the bottom plate to be connected.

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