CN217894339U

CN217894339U - Moving mechanism and take-and-place equipment with same

Info

Publication number: CN217894339U
Application number: CN202220682667.4U
Authority: CN
Inventors: 罗坚; 林瑜均; 吴汉森; 郑茂鸿
Original assignee: Maider Medical Industry Equipment Co Ltd
Current assignee: Maider Medical Industry Equipment Co Ltd
Priority date: 2022-03-25
Filing date: 2022-03-25
Publication date: 2022-11-25
Anticipated expiration: 2032-03-25

Abstract

The utility model provides a moving mechanism and have its get and put equipment, moving mechanism are used for removing and treat the moving part, include: a fixed part; a first sliding part movably disposed on the fixing part in a first predetermined direction; the second sliding part is movably arranged on the first sliding part along a second preset direction and is connected with the component to be moved; each transmission assembly comprises a cam and a swing arm which is in contact with the cam so as to drive the swing arm to swing through the rotation of the cam; the swing arms of the two transmission assemblies are in transmission connection with the first sliding part and the second sliding part respectively so as to drive the first sliding part and the second sliding part to move respectively; wherein, the cam of each transmission component is a conjugate cam. The utility model discloses a moving mechanism has solved the comparatively complicated problem of moving mechanism of the manipulator among the prior art.

Description

Moving mechanism and take-and-place equipment with same

Technical Field

The utility model relates to a manipulator removes technical field, particularly, relates to a moving mechanism and have its get and put equipment.

Background

The manipulator in the prior art is mostly a pneumatic manipulator, and the motion of the manipulator in all directions is completed through the linear motion of a plurality of lifting cylinders. However, complex electrical control systems are costly for relatively simple repetitive operations. In addition, the precision of the pneumatic manipulator is low, the acceleration and the speed are difficult to be accurately controlled, and particularly, when the pneumatic manipulator is stopped, actions are hard, impact vibration is large, and the use is limited. In view of the above, the following technical solutions are proposed:

(1) Adopt conjugate cam and cambered surface cam complex in order to realize the technical scheme of the motion action of manipulator, but the processing of cambered surface cam and the assembly degree of difficulty are all higher, and conjugate cam is crisscross perpendicularly with the transmission shaft of cambered surface cam, so both make the transmission become complicated, make the structure of this manipulator too huge again, be unfavorable for engineering application, also do not do benefit to standardized and modular design.

(2) The technical scheme that the movement action of the manipulator is realized by adopting the double-cambered-surface cam is difficult to process and manufacture, high in assembly difficulty and the like, and the whole mechanism is large in size and not beneficial to engineering application.

(3) The technical scheme that the plane cam is adopted to realize the motion action of the manipulator is adopted, but the plane cam and the roller are meshed through external force such as a spring and the like to enable the plane cam and the roller to be close to each other, so that when the cam rotates to a high position, the spring can apply larger force to the cam and the roller due to the stretching or compressing action, and accelerated abrasion of the cam and the roller is caused; when the rotating speed of the cam is slightly high or the load of the manipulator is slightly heavy, the engagement between the cam and the roller is disengaged, so that the shaking of the manipulator and the impact between the cam and the roller are caused, and the damage to the cam and the roller is further accelerated.

(4) The technical scheme of adopting the groove plane cam or the groove cylindrical cam to realize the motion action of the manipulator is characterized in that a gap is inevitably generated in the processing and use of the groove structure, the gap is amplified by a cam swing rod, a connecting rod and other components, the motion precision of the manipulator is reduced, and due to the existence of the gap, when the roller begins to turn from a high position to a low position or from the low position to the high position in the cam groove, the roller can impact the other side from one side of the cam groove to generate strong impact, so that the damage of the cam and the roller is accelerated while vibration is caused.

SUMMERY OF THE UTILITY MODEL

A primary object of the present invention is to provide a moving mechanism and a pick-and-place apparatus having the same, which solve the problem of complex moving mechanism of the manipulator in the prior art.

In order to achieve the above object, according to an aspect of the present invention, there is provided a moving mechanism for moving a member to be moved, comprising: a fixed part; a first sliding part movably disposed on the fixing part in a first predetermined direction; the second sliding part is movably arranged on the first sliding part along a second preset direction and is connected with the component to be moved; each transmission assembly comprises a cam and a swing arm which is in contact with the cam so as to drive the swing arm to swing through the rotation of the cam; the swing arms of the two transmission assemblies are in transmission connection with the first sliding part and the second sliding part respectively so as to drive the first sliding part and the second sliding part to move respectively; wherein, the cam of each transmission assembly is a conjugate cam.

Further, the cam of one transmission assembly is detachably connected with the cam of the other transmission assembly; and/or the first predetermined direction and the second predetermined direction are perpendicular to each other.

Further, the moving mechanism comprises a gear assembly, and the gear assembly is connected with the cam of at least one transmission assembly so as to drive the corresponding cam to rotate through the movement of the gear assembly.

Further, the gear assembly includes a driving gear and a driven gear engaged with each other, the driving gear is used for connecting with the driving component, the driven gear is used for connecting with the cam of at least one transmission assembly, so that the driving component drives the corresponding cam to rotate through the gear assembly.

Furthermore, the two transmission assemblies respectively comprise a first transmission assembly and a second transmission assembly, the first transmission assembly is connected with the first sliding part, and the second transmission assembly is connected with the second sliding part; the first transmission assembly further comprises a connecting rod, one end of the connecting rod is hinged with the swing arm of the first transmission assembly, and the other end of the connecting rod is hinged with the first sliding part; and/or one end of the swing arm of the second transmission assembly is hinged with the second sliding part; and/or the swing arm shaft of the swing arm of the first transmission assembly and the swing arm shaft of the swing arm of the second transmission assembly are parallel to each other and arranged at intervals; and/or the cam shaft of the cam of the first transmission assembly and the cam shaft of the cam of the second transmission assembly are integrally formed or fixedly connected; and/or the axis of rotation of the cam of the first transmission assembly and the axis of rotation of the cam of the second transmission assembly are collinear.

Further, the cam comprises a cam shaft and a first cam part and a second cam part which are fixedly connected with the cam shaft; the first cam portion and the second cam portion are arranged at intervals along the axial direction of the camshaft; the swing arm comprises a swing arm shaft, a first swing arm section and a second swing arm section, wherein the first swing arm section and the second swing arm section are fixedly connected with the swing arm shaft; the first swing arm section is in transmission contact with the first cam part, and the second swing arm section is in transmission contact with the second cam part; the cam rotates to cause the first cam portion to drive the swing arm to rotate in a forward direction about the axis of the swing arm shaft, or to cause the second cam portion to drive the swing arm to rotate in a reverse direction about the axis of the swing arm shaft, so that the swing arm swings in a reciprocating manner.

Further, a first roller for contacting with the first cam part is arranged on the first swing arm section, and the rotating axis of the first roller and the swing arm shaft are parallel to each other and are arranged at intervals; the second swing arm section is provided with a second roller which is used for being in contact with the second cam part, and the rotating axis of the second roller and the swing arm shaft are parallel to each other and are arranged at intervals; wherein, the axis of rotation of first roller and the axis of rotation of second roller are parallel to each other and interval arrangement.

Furthermore, first swing arm section and second swing arm section are the bar, and the value range of the contained angle between the extending direction of first swing arm section and the extending direction of second swing arm section is 60 degrees to 120 degrees.

Furthermore, the two transmission assemblies are respectively a first transmission assembly and a second transmission assembly, the first transmission assembly is connected with the first sliding part, the second transmission assembly is connected with the second sliding part, the first swing arm section and the second swing arm section of the swing arm of each transmission assembly are both in a strip shape, in the first transmission assembly, one end, far away from a swing arm shaft, of the first swing arm section of the swing arm is in transmission connection with the first sliding part, and the length of the first swing arm section is greater than that of the second swing arm section; and/or in the second transmission assembly, one end, far away from the swing arm shaft, of the first swing arm section of the swing arm is hinged to the second sliding part, and the length of the first swing arm section is larger than that of the second swing arm section.

According to the utility model discloses an on the other hand provides a get and puts equipment, including manipulator and moving mechanism, moving mechanism is foretell moving mechanism, and moving mechanism is connected with the manipulator to drive the manipulator motion.

By applying the technical scheme of the utility model, the moving mechanism of the utility model is provided with a fixed part, a first sliding part, a second sliding part and two transmission components, wherein the first sliding part is movably arranged on the fixed part along a first predetermined direction, the second sliding part is movably arranged on the first sliding part along a second predetermined direction and is connected with a part to be moved, the two transmission components respectively comprise a cam and a swing arm, and the two transmission components are respectively used for driving the first sliding part and the second sliding part to move; when the first sliding part moves along a first preset direction, the second sliding part and the part to be moved are driven to move together along the first preset direction; when the second sliding part moves along the second preset direction, the part to be moved is driven to move along the second preset direction relative to the first sliding part. When the part to be moved is a mechanical arm, the mechanical arm is connected with the second sliding part, so that the movement in two directions, namely a first preset direction and a second preset direction, can be realized under the driving of the first sliding part and the second sliding part, the quick assembly, disassembly and replacement of the mechanical arm are facilitated, and the mechanical arm is suitable for mechanical arms of different models; the whole moving mechanism is a module, the modularization and the standardization design of the mechanical arm and the moving mechanism can be realized, the universality is higher, compared with the moving mechanism of the pneumatic mechanical arm in the prior art, the moving mechanism has the advantages of long service life, high working speed, simple structure, low processing and manufacturing cost, stable and reliable working process and the like, and the problem that the moving mechanism of the mechanical arm in the prior art is complex is solved.

Drawings

The accompanying drawings, which form a part of the specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the scope of the invention. In the drawings:

fig. 1 shows a schematic structural view of an embodiment of a moving mechanism according to the invention in one direction;

FIG. 2 is a schematic view of the moving mechanism of FIG. 1 in another orientation;

FIG. 3 illustrates a front view of the shifting mechanism shown in FIG. 1; and

fig. 4 shows a rear view of the moving mechanism shown in fig. 1.

Wherein the figures include the following reference numerals:

10. a member to be moved; 20. a moving mechanism; 1. a fixed part; 2. a first sliding section; 3. a second sliding part;

4. a transmission assembly; 401. a first transmission assembly; 402. a second transmission assembly; 41. a cam; 410. a camshaft; 411. a first cam portion; 412. a second cam portion; 42. swinging arms; 420. a swing arm shaft; 421. a first swing arm segment; 422. a second swing arm section; 43. a connecting rod; 441. a first roller; 442. a second roller;

5. a gear assembly; 51. a driving gear; 52. a driven gear.

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 accompanying drawings in conjunction with embodiments.

As shown in fig. 1 to 4, the present invention provides a moving mechanism for moving a to-be-moved member 10, including: a fixed part 1; a first sliding part 2 movably provided on the fixed part 1 in a first predetermined direction; a second sliding portion 3 movably provided on the first sliding portion 2 in a second predetermined direction and connected with the member to be moved 10; two transmission assemblies 4, each transmission assembly 4 including a cam 41 and a swing arm 42 for contacting the cam 41 to drive the swing arm 42 to swing by the rotation of the cam 41; the swing arms 42 of the two transmission assemblies 4 are in transmission connection with the first sliding part 2 and the second sliding part 3 respectively so as to drive the first sliding part 2 and the second sliding part 3 to move respectively; wherein the cam 41 of each transmission assembly 4 is a conjugate cam.

The moving mechanism of the utility model is provided with a fixed part 1, a first sliding part 2, a second sliding part 3 and two transmission components 4, wherein the first sliding part 2 is movably arranged on the fixed part 1 along a first predetermined direction, the second sliding part 3 is movably arranged on the first sliding part 2 along a second predetermined direction and is connected with a part 10 to be moved, the two transmission components 4 respectively comprise a cam 41 and a swing arm 42, and the two transmission components 4 are respectively used for driving the first sliding part 2 and the second sliding part 3 to move; when the first sliding part 2 moves along the first preset direction, the second sliding part 3 and the part 10 to be moved are driven to move together along the first preset direction; when the second sliding part 3 moves along the second predetermined direction, the component 10 to be moved is driven to move along the second predetermined direction relative to the first sliding part 2. When the part 10 to be moved is a manipulator, the manipulator is connected with the second sliding part 3, so that the movement in two directions, namely a first preset direction and a second preset direction, can be realized under the driving of the first sliding part 2 and the second sliding part 3, the quick disassembly and the replacement of the manipulator are facilitated, and the manipulator is suitable for manipulators of different models; the whole moving mechanism is a module, the modularization and the standardization design of the mechanical arm and the moving mechanism can be realized, the universality is higher, compared with the moving mechanism of the pneumatic mechanical arm in the prior art, the moving mechanism has the advantages of long service life, high working speed, simple structure, low processing and manufacturing cost, stable and reliable working process and the like, and the problem that the moving mechanism of the mechanical arm in the prior art is complex is solved.

The cams of the two transmission assemblies 4 are conjugate cams, and the reciprocating picking and placing actions of the manipulator can be realized by combining the actions of the two conjugate cams. The conjugate cam has the advantages of easy processing and assembly debugging of a common plane cam, high precision and high load of an arc cam, no external structural parts such as any spring are needed to enable a roller to be close to the profile surface of the cam in work, the fault tolerance of the processing and manufacturing errors of the cam is large, and the working clearance can be eliminated.

Specifically, the fixed part 1 is provided with a first limiting part extending along a first preset direction, and the first sliding part 2 is connected with the first limiting part in a sliding manner so as to slide along the first limiting part; the first sliding part 2 is provided with a second limiting part extending along a second preset direction, and the second sliding part 3 is connected with the second limiting part in a sliding mode so as to slide along the second limiting part.

In particular, the cam 41 of one transmission assembly 4 is removably connected with the cam 41 of the other transmission assembly 4; and/or the first predetermined direction and the second predetermined direction are perpendicular to each other.

Wherein, the cam 41 of one transmission assembly 4 is detachably connected with the cam 41 of the other transmission assembly 4 through a fastener. Preferably, the fastener is a screw. Thus, when the cam 41 of one transmission assembly 4 moves, the cam 41 of the other transmission assembly 4 also moves simultaneously, and two cams 41 can be driven to move simultaneously through one driving part, so that the use of the driving part is reduced, the coordination and uniformity of the movement of the two transmission assemblies 4 are improved, and the maintenance and the replacement are convenient.

In at least one embodiment of the present invention, the first predetermined direction is a vertical direction, and the second predetermined direction is a horizontal direction.

As shown in fig. 1 to 4, the moving mechanism includes a gear assembly 5, and the gear assembly 5 is connected with the cam 41 of at least one transmission assembly 4 to rotate the corresponding cam 41 by the movement of the gear assembly 5.

When the cams 41 of the two transmission assemblies 4 are detachably connected, the gear assembly 5 is connected with the cam 41 of one transmission assembly 4 to simultaneously drive the two cams 41 to move; when the cams 41 of the two transmission assemblies 4 are independently arranged, the gear assemblies 5 are respectively connected with both the cams 41 to simultaneously drive the cams 41 to move.

Wherein, the gear assembly 5 includes a driving gear 51 and a driven gear 52 engaged with each other, the driving gear 51 is used for connecting with a driving member, the driven gear 52 is used for connecting with the cam 41 of at least one transmission assembly 4, so that the driving member drives the corresponding cam 41 to rotate through the gear assembly 5.

The utility model discloses a moving mechanism is a complete independent device, and it belongs to an assembly platform, is provided with gear assembly 5 among the moving mechanism, and the driving gear 51 of gear assembly 5 is used for being connected with assembly platform's drive gear to main motor drive gear through assembly platform rotates, rotates with drive gear assembly 5, rotates with driving two cams 41, thereby realizes moving mechanism's motion.

Because unnecessary mechanical connection is not needed between the driving gear 51 and the driven gear 52, transmission can be realized as long as the tooth parts are meshed, therefore, the gear assembly 5 connected with the driving part of the assembly platform is arranged in the moving mechanism, the modularization and the standardization design of the moving mechanism can be realized, the motor driving is not needed to be installed on the moving mechanism, the cam of the moving mechanism is not needed to be installed on the transmission shaft of the assembly platform, the modularized and independent moving mechanism is directly installed on the assembly platform, the power transmission can be realized through the meshing of the driving gear 51 of the gear assembly 5 and the gear on the assembly platform, and after the moving mechanism is integrally disassembled, the power transmission of a manipulator is automatically disconnected, so that the quick connection and disconnection of the power of the moving mechanism can be realized, and the quick installation and disassembly of the moving mechanism are facilitated.

In addition, the moving mechanism of the utility model can also be provided with an independent driving part to drive the gear component 5 to move without being connected with the transmission mechanism of the assembly platform.

As shown in fig. 1 to 4, the two transmission assemblies 4 are a first transmission assembly 401 and a second transmission assembly 402, respectively, the first transmission assembly 401 is connected with the first sliding portion 2, and the second transmission assembly 402 is connected with the second sliding portion 3; wherein, the first transmission assembly 401 further comprises a connecting rod 43, one end of the connecting rod 43 is hinged with the swing arm 42 of the first transmission assembly 401, and the other end of the connecting rod 43 is hinged with the first sliding part 2; and/or one end of the swing arm 42 of the second transmission assembly 402 is hinged with the second sliding part 3; and/or the swing arm shaft 420 of the swing arm 42 of the first transmission assembly 401 and the swing arm shaft 420 of the swing arm 42 of the second transmission assembly 402 are parallel to each other and are arranged at intervals; and/or the cam shaft 410 of the cam 41 of the first transmission assembly 401 and the cam shaft 410 of the cam 41 of the second transmission assembly 402 are integrally formed or fixedly connected; and/or the axis of rotation of the cam 41 of the first transmission assembly 401 and the axis of rotation of the cam 41 of the second transmission assembly 402 are collinear.

When the cam shaft 410 of the cam 41 of the first transmission assembly 401 and the cam shaft 410 of the cam 41 of the second transmission assembly 402 are integrally formed or fixedly connected, and the rotation axis of the cam 41 of the first transmission assembly 401 and the rotation axis of the cam 41 of the second transmission assembly 402 are collinear, the two cams 41 can be coaxially mounted; the gear assembly 5 is connected to an end of the cam shaft 410 of the cam 41 of the first transmission assembly 401 to drive the cam 41 of the first transmission assembly 401 and the cam 41 of the second transmission assembly 402 to rotate simultaneously, and can reduce the volume of the moving mechanism, so that the space occupied by the moving mechanism and the robot as a whole is smaller, thereby enabling a large stroke and a large load movement.

As shown in fig. 1 to 4, the cam 41 includes a cam shaft 410 and a first cam portion 411 and a second cam portion 412 fixedly connected to the cam shaft 410; the first cam portion 411 and the second cam portion 412 are arranged at intervals in the axial direction of the camshaft 410; the swing arm 42 comprises a swing arm shaft 420 and a first swing arm section 421 and a second swing arm section 422 which are fixedly connected with the swing arm shaft 420; the first swing arm segment 421 is in driving contact with the first cam portion 411, and the second swing arm segment 422 is in driving contact with the second cam portion 412; the cam 41 rotates to cause the first cam portion 411 to drive the swing arm 42 to rotate around the axis of the swing arm shaft 420 in the forward direction through the first swing arm section 421, or to cause the second cam portion 412 to drive the swing arm 42 to rotate around the axis of the swing arm shaft 420 in the reverse direction through the second swing arm section 422, thereby achieving the reciprocating swing of the swing arm 42.

Preferably, the first swing arm segment 421 is provided with a first roller 441 for contacting the first cam portion 411, and a rotation axis of the first roller 441 and a rotation axis of the swing arm shaft 420 are parallel to each other and spaced apart; the second swing arm segment 422 is provided with a second roller 442 for contacting the second cam portion 412, and the rotation axis of the second roller 442 and the rotation axis of the swing arm shaft 420 are parallel to each other and are arranged at intervals; wherein the rotation axis of the first roller 441 and the rotation axis of the second roller 442 are parallel to each other and spaced apart from each other, the first roller 441 and the second roller 442 are respectively located at opposite sides of the swing arm 42, and the first cam portion 411 and the second cam portion 412 of the corresponding cam 41 are also respectively located at opposite sides of the swing arm 42.

Specifically, one end of the first swing arm segment 421 for being connected to the swing arm shaft 420 and one end of the second swing arm segment 422 for being connected to the swing arm shaft 420 are both fixedly sleeved on the swing arm shaft 420, the first roller 441 is located between the end of the first swing arm segment 421 for being connected to the swing arm shaft 420 and the end of the first sliding portion 2 or the second sliding portion 3, and the second roller 442 is located at one end of the second swing arm segment 422 away from the swing arm shaft 420.

In this way, by providing the first and

second rollers

441 and 442 to be in contact with the respective first and

second cam portions

411 and 412, respectively, sliding friction between the cam 41 and the swing arm 42 can be replaced with rolling friction between the cam 41 and the rollers to reduce friction loss between the swing arm 42 and the cam 41 while ensuring reliable movement of the swing arm 42.

Preferably, the first swing arm segment 421 and the second swing arm segment 422 are bar-shaped, and the range of the included angle between the extending direction of the first swing arm segment 421 and the extending direction of the second swing arm segment 422 is 60 degrees to 120 degrees.

Specifically, the extending direction of the first swing arm segment 421 and the extending direction of the second swing arm segment 422 are arranged at a predetermined included angle, and the portion of the cam 41 is located between the first swing arm segment 421 and the second swing arm segment 422, when the cam 41 rotates in the predetermined direction, the swing arm 42 will rotate around the axis of the swing arm shaft 420 in the forward direction under the driving of the first cam portion 411 of the cam 41, and rotate around the axis of the swing arm shaft 420 in the reverse direction under the driving of the second cam portion 412 of the cam 41, so as to realize the reciprocating motion of the swing arm 42.

In the embodiment of the present invention, based on fig. 3, the forward movement of the swing arm 42 of the first transmission assembly 401 is the movement that drives the first sliding portion 2 to move upward, and the reverse movement of the swing arm 42 of the first transmission assembly 401 is the movement that drives the first sliding portion 2 to move downward; the forward movement of the swing arm 42 of the second transmission assembly 402 is to drive the second sliding part 3 to move leftward, and the reverse movement of the swing arm 42 of the second transmission assembly 402 is to drive the second sliding part 3 to move rightward.

As shown in fig. 1 to 4, the two transmission assemblies 4 are respectively a first transmission assembly 401 and a second transmission assembly 402, the first transmission assembly 401 is connected with the first sliding portion 2, the second transmission assembly 402 is connected with the second sliding portion 3, the first swing arm segment 421 and the second swing arm segment 422 of the swing arm 42 of each transmission assembly 4 are both in a bar shape, in the first transmission assembly 401, one end of the first swing arm segment 421 of the swing arm 42, which is far away from the swing arm shaft 420, is in transmission connection with the first sliding portion 2, and the length of the first swing arm segment 421 is greater than that of the second swing arm segment 422; and/or in the second transmission assembly 402, the end of the first swing arm segment 421 of the swing arm 42 far away from the swing arm shaft 420 is hinged with the second sliding part 3, and the length of the first swing arm segment 421 is greater than that of the second swing arm segment 422.

In the first transmission assembly 401, since one end of the first swing arm segment 421 of the swing arm 42, which is far away from the swing arm shaft 420, is in transmission connection with the first sliding part 2, and the second swing arm segment 422 is only used for contacting with the second cam part 412 of the corresponding cam 41 and is not connected with other parts, the length of the first swing arm segment 421 is set to be greater than that of the second swing arm segment 422, so as to ensure the connection between the swing arm 42 and the first sliding part 2 and avoid unnecessary material waste.

In the second transmission assembly 402, since the end of the first swing arm segment 421 of the swing arm 42 away from the swing arm shaft 420 is hinged to the second sliding portion 3, and the second swing arm segment 422 is only used for contacting with the second cam portion 412 of the corresponding cam 41 and is not connected with other components, the length of the first swing arm segment 421 is set to be greater than that of the second swing arm segment 422, so as to ensure the connection between the swing arm 42 and the second sliding portion 3 and avoid unnecessary material waste.

The utility model also provides a get and put equipment, including manipulator and moving mechanism 20, moving mechanism 20 is foretell moving mechanism, and moving mechanism 20 is connected with the manipulator to drive the manipulator motion.

Specifically, the manipulator in the pick-and-place device is the above-mentioned component 10 to be moved.

The utility model discloses a moving mechanism's motion process as follows:

vertical movement: the gear assembly 5 drives the cam 41 of the first transmission assembly 401 to rotate, so that the swing arm 42 of the first transmission assembly 401 swings, and the swing arm 42 drives the connecting rod 43 to rotate and move through swinging, so as to drive the first sliding part 2 to realize vertical reciprocating motion.

Horizontal movement: the gear assembly 5 drives the cam 41 of the second transmission assembly 402 to rotate, so that the swing arm 42 of the second transmission assembly 402 swings, and the swing arm 42 drives the second sliding part 3 to reciprocate left and right along the horizontal direction through swinging.

The utility model discloses a get and put equipment belongs to an assembly platform, and assembly platform includes: a frame; the conveying mechanism is arranged on one side of the rack, and part of the conveying mechanism is movably arranged along a first horizontal direction so as to convey a carrier carrying a workpiece; the manipulator of each picking and placing device faces the conveying mechanism so as to perform corresponding operation on the workpieces on the corresponding carriers; the transmission assembly comprises a first transmission shaft and a second transmission shaft, wherein the first transmission shaft is positioned in the rack and is in transmission connection with the conveying mechanism, and the second transmission shaft is in transmission connection with the pick-and-place equipment; the main motor is in transmission connection with the first transmission shaft, and the first transmission shaft is in transmission connection with the second transmission shaft; wherein the main motor is located within the housing.

Therefore, the main motor of the assembling platform is in driving connection with the moving mechanism of each taking and placing device to drive each taking and placing device to act simultaneously, each taking and placing device is installed on the rack of the assembling platform as a whole, modularization and standardization design of the taking and placing devices can be achieved, and installation and disassembly are facilitated.

From the above description, it can be seen that the above-mentioned embodiments of the present invention achieve the following technical effects:

the moving mechanism of the utility model is provided with a fixed part 1, a first sliding part 2, a second sliding part 3 and two transmission components 4, wherein the first sliding part 2 is movably arranged on the fixed part 1 along a first predetermined direction, the second sliding part 3 is movably arranged on the first sliding part 2 along a second predetermined direction and is connected with a part 10 to be moved, the two transmission components 4 respectively comprise a cam 41 and a swing arm 42, and the two transmission components 4 are respectively used for driving the first sliding part 2 and the second sliding part 3 to move; when the first sliding part 2 moves along the first preset direction, the second sliding part 3 and the part 10 to be moved are driven to move together along the first preset direction; when the second sliding part 3 moves along the second predetermined direction, the component 10 to be moved is driven to move along the second predetermined direction relative to the first sliding part 2. When the component 10 to be moved is a manipulator, the manipulator is connected with the second sliding part 3, so that the movement in two directions, namely a first preset direction and a second preset direction, can be realized under the driving of the first sliding part 2 and the second sliding part 3, the rapid disassembly, assembly and replacement of the manipulator are facilitated, and the manipulator is suitable for manipulators of different models; the whole moving mechanism is a module, the modularization and the standardization design of the mechanical arm and the moving mechanism can be realized, the universality is higher, compared with the moving mechanism of the pneumatic mechanical arm in the prior art, the moving mechanism has the advantages of long service life, high working speed, simple structure, low processing and manufacturing cost, stable and reliable working process and the like, and the problem that the moving mechanism of the mechanical arm in the prior art is complex is solved.

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 relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be discussed further in subsequent figures.

In the description of the present application, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the case of not making a reverse description, these directional terms do not indicate and imply that the device or element being referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore, should not be considered as limiting the scope of the present application; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

For ease of description, spatially relative terms such as "above … …", "above … …", "above … … upper surface", "above", etc. may be used herein to describe the spatial positional relationship of one device or feature to other devices or features as shown 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 … …" may include both orientations 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.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of protection of the present application is not to be construed as being limited.

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

1. A moving mechanism for moving a part (10) to be moved, comprising:

a fixed part (1);

a first sliding part (2) movably arranged on the fixed part (1) along a first preset direction;

a second sliding part (3) movably arranged on the first sliding part (2) along a second preset direction and connected with the component (10) to be moved;

two transmission assemblies (4), wherein each transmission assembly (4) comprises a cam (41) and a swing arm (42) contacted with the cam (41) so as to drive the swing arm (42) to swing through the rotation of the cam (41); the swing arms (42) of the two transmission assemblies (4) are in transmission connection with the first sliding part (2) and the second sliding part (3) respectively so as to drive the first sliding part (2) and the second sliding part (3) to move respectively;

wherein the cam (41) of each transmission assembly (4) is a conjugate cam.

2. The movement mechanism of claim 1,

the cam (41) of one transmission assembly (4) is detachably connected with the cam (41) of the other transmission assembly (4); and/or

The first predetermined direction and the second predetermined direction are perpendicular to each other.

3. The moving mechanism according to claim 1 or 2, characterized in that it comprises a gear assembly (5), said gear assembly (5) being connected to a cam (41) of at least one of said transmission assemblies (4) so as to bring into rotation the corresponding cam (41) by means of the movement of said gear assembly (5).

4. The moving mechanism according to claim 3, wherein the gear assembly (5) comprises a driving gear (51) and a driven gear (52) engaged with each other, the driving gear (51) being adapted to be connected to a driving member, the driven gear (52) being adapted to be connected to a cam (41) of at least one of the transmission assemblies (4) so that the driving member drives the corresponding cam (41) to rotate through the gear assembly (5).

5. The movement mechanism according to claim 1 or 2, characterized in that the two transmission assemblies (4) comprise a first transmission assembly (401) and a second transmission assembly (402), respectively, the first transmission assembly (401) being connected with the first sliding portion (2), the second transmission assembly (402) being connected with the second sliding portion (3); wherein the content of the first and second substances,

the first transmission assembly (401) further comprises a connecting rod (43), one end of the connecting rod (43) is hinged with the swing arm (42) of the first transmission assembly (401), and the other end of the connecting rod (43) is hinged with the first sliding part (2); and/or

One end of the swing arm (42) of the second transmission assembly (402) is hinged with the second sliding part (3); and/or

The swing arm shaft (420) of the swing arm (42) of the first transmission assembly (401) and the swing arm shaft (420) of the swing arm (42) of the second transmission assembly (402) are parallel to each other and are arranged at intervals; and/or

A cam shaft (410) of the cam (41) of the first transmission assembly (401) and a cam shaft (410) of the cam (41) of the second transmission assembly (402) are integrally formed or fixedly connected; and/or

The axis of rotation of the cam (41) of the first transmission assembly (401) and the axis of rotation of the cam (41) of the second transmission assembly (402) are collinear.

6. Moving mechanism according to claim 1 or 2,

the cam (41) comprises a cam shaft (410) and a first cam part (411) and a second cam part (412) which are fixedly connected with the cam shaft (410); the first cam portion (411) and the second cam portion (412) are arranged at intervals in an axial direction of the camshaft (410);

the swing arm (42) comprises a swing arm shaft (420) and a first swing arm section (421) and a second swing arm section (422) which are fixedly connected with the swing arm shaft (420); said first swing arm segment (421) being in driving contact with said first cam portion (411), said second swing arm segment (422) being in driving contact with said second cam portion (412);

the cam (41) rotates to enable the first cam part (411) to drive the swing arm (42) to rotate around the axis of the swing arm shaft (420) in a forward direction, or enable the second cam part (412) to drive the swing arm (42) to rotate around the axis of the swing arm shaft (420) in a reverse direction, so that the swing arm (42) swings in a reciprocating manner.

7. The movement mechanism of claim 6,

a first roller (441) which is used for contacting with the first cam part (411) is arranged on the first swing arm section (421), and the rotating axis of the first roller (441) and the swing arm shaft (420) are parallel to each other and are arranged at intervals;

a second roller (442) used for being in contact with the second cam part (412) is arranged on the second swing arm section (422), and the rotating axis of the second roller (442) and the swing arm shaft (420) are parallel to each other and are arranged at intervals;

wherein the axis of rotation of the first roller (441) and the axis of rotation of the second roller (442) are parallel and spaced apart from each other.

8. The movement mechanism of claim 6,

first swing arm section (421) with second swing arm section (422) are the bar, the extending direction of first swing arm section (421) with the value range of the contained angle between the extending direction of second swing arm section (422) is 60 degrees to 120 degrees.

9. The moving mechanism according to claim 6, characterized in that two transmission assemblies (4) are respectively a first transmission assembly (401) and a second transmission assembly (402), the first transmission assembly (401) is connected with the first sliding portion (2), the second transmission assembly (402) is connected with the second sliding portion (3), the first swing arm segment (421) and the second swing arm segment (422) of the swing arm (42) of each transmission assembly (4) are both bar-shaped, and the length of the first swing arm segment (421) is greater than the length of the second swing arm segment (422); wherein, the first and the second end of the pipe are connected with each other,

in the first transmission assembly (401), one end, far away from the swing arm shaft (420), of the first swing arm segment (421) of the swing arm (42) is in transmission connection with the first sliding part (2); and/or

In the second transmission assembly (402), one end of the first swing arm segment (421) of the swing arm (42) far away from the swing arm shaft (420) is hinged with the second sliding part (3).

10. A pick-and-place device comprising a robot and a moving mechanism (20), characterized in that the moving mechanism (20) is a moving mechanism according to any one of claims 1 to 9, and the moving mechanism (20) is connected to the robot to move the robot.