A cantilever beam transmission mechanism

Abstract

The present invention discloses a cantilevered beam conveying mechanism, including a bracket, a horizontal moving mechanism, a vertical moving mechanism and a grasping mechanism. The horizontal moving mechanism is horizontally arranged on the bracket, the vertical moving mechanism is arranged on the horizontal moving mechanism, and the horizontal moving mechanism is used to drive the vertical moving mechanism to move horizontally. The grasping mechanism is arranged on the vertical moving mechanism, and the vertical moving mechanism is used to drive the grasping mechanism to move up and down, and the grasping mechanism grasps the parts. The present invention adopts a cantilevered beam structure to realize the grasping and placing of parts in a narrow environment. The vacuum generator is selected to cooperate with the suction cup, which greatly reduces the volume of the suction part compared with the clamping cylinder, so that it can adapt to a narrower space. A storage mechanism is added, and the storage mechanism is equipped with two cylinders for synchronous driving to increase the horizontal movement speed, thereby improving the production efficiency.

Description

Technical Field

[0001] The invention relates to the field of machinery, and in particular to a cantilever beam transmission mechanism. Background Art

[0002] Automation has been realized in mechanical processing, and the use of robotic arms can be seen everywhere. However, the size of the robotic arm is large, and the range of motion required is large, which is limited in many use environments. In particular, some processing equipment with very compact layout has very limited internal operable space, and often bumps against the equipment; for example, Chinese patent CN206185685U discloses a grinding machine, in which the grinding wheel, guide wheel and support plate together form a processing space for processing parts. When loading, the grinding wheel retreats to one side, and the guide wheel and support plate jointly hold the parts. It can be seen that the operating space is very narrow. If a robotic arm is used, it needs to be suspended at a higher position directly above the support plate so that the parts can fall freely into the support plate; in addition, in common mechanical equipment, a housing is set on both the grinding wheel and guide wheel sides, so that the robotic arm can enter completely as required. Summary of the invention

[0003] In view of the defects of the above-mentioned prior art, the main purpose of the present invention is to overcome the shortcomings of the prior art and discloses a cantilever beam conveying mechanism, including a bracket, a horizontal moving mechanism, a vertical moving mechanism and a grasping mechanism, wherein the horizontal moving mechanism is horizontally arranged on the bracket, the vertical moving mechanism is arranged on the horizontal moving mechanism, and the horizontal moving mechanism is used to drive the vertical moving mechanism to move horizontally, the grasping mechanism is arranged on the vertical moving mechanism, and the vertical moving mechanism is used to drive the grasping mechanism to move up and down, and the grasping mechanism grasps the parts.

[0004] Furthermore, the gripping mechanism includes a mounting plate and a suction mechanism arranged on the mounting plate, the suction mechanism includes a positioning portion and suction portions arranged on both sides of the positioning portion, and a positioning groove cooperating with the component is arranged at the bottom of the positioning portion.

[0005] Furthermore, the positioning portion includes a fixed block, a sliding block and a proximity switch, the sliding block is vertically slidably arranged on the fixed block, the positioning groove is arranged at the bottom of the sliding block, the proximity switch is arranged on the fixed block, and the sliding block is extended to arrange a sensing portion, when the position of the component is accurate, the proximity switch does not sense the sensing portion; when the component is misplaced, the sliding block moves upward so that the proximity switch senses the sensing portion.

[0006] Furthermore, the suction part includes a vacuum generator and a suction cup.

[0007] Furthermore, the horizontal moving mechanism includes a toothed belt electric cylinder.

[0008] Furthermore, the vertical moving mechanism includes a cylinder bracket, a guide column, a first cylinder and a connecting piece, the first cylinder is arranged on the first cylinder bracket, a guide hole is arranged on the cylinder bracket, the guide column is slidably arranged in the guide hole, the connecting piece is arranged on the guide column and the first cylinder, and the connecting piece is used to install the grasping mechanism.

[0009] Furthermore, it also includes a material storage mechanism, which includes a second cylinder, a third cylinder, a mounting plate and a material storage part arranged on the mounting plate, the third cylinder is arranged on the second cylinder, and the mounting plate is arranged on the third cylinder, and the second cylinder and the third cylinder are used to synchronously drive the mounting plate to move horizontally.

[0010] Furthermore, two material storage mechanisms are provided, and the horizontal movement directions of the two material storage mechanisms are back-to-back movements.

[0011] Beneficial effects achieved by the present invention:

[0012] The present invention adopts a cantilever beam structure to realize the grabbing and placing of parts in a narrow environment. The vacuum generator is selected to cooperate with the suction cup, which greatly reduces the volume of the suction part compared with the clamping cylinder, so that it can adapt to a narrower space. The storage mechanism is added, and the storage mechanism is equipped with two cylinders for synchronous driving to increase the horizontal movement speed, thereby improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the structure of the parts;

[0014] Figure 2 It is a structural schematic diagram of a cantilever beam transmission mechanism of the present invention;

[0015] Figure 3 is a schematic diagram of the grasping mechanism;

[0016] Figure 4 It is a structural schematic diagram of the positioning part;

[0017] Figure 5 It is a structural schematic diagram of the suction part;

[0018] Figure 6 It is a structural schematic diagram of the horizontal moving mechanism;

[0019] Figure 7 It is a structural schematic diagram of the vertical moving mechanism;

[0020] Figure 8 It is a structural schematic diagram of the storage mechanism. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0022] A cantilever beam conveying mechanism includes a support 1, a horizontal moving mechanism 2, a vertical moving mechanism 3 and a grabbing mechanism 4. The horizontal moving mechanism 2 is horizontally arranged on the support 1, the vertical moving mechanism 3 is arranged on the horizontal moving mechanism 2, and the horizontal moving mechanism 2 is used to drive the vertical moving mechanism 3 to move horizontally along the X axis. The grabbing mechanism 4 is arranged on the vertical moving mechanism 3, and the vertical moving mechanism 3 is used to drive the grabbing mechanism 4 to move up and down along the Y axis, and the grabbing mechanism 4 grabs the parts 5. In the above mechanism, the horizontal moving mechanism 2 and the vertical moving mechanism 3 are installed above the equipment to avoid direct contact with the equipment, and the grabbing mechanism 4 is driven into the equipment only by the vertical moving mechanism 3.

[0023] In one embodiment, if Figure 3 As shown, the grasping mechanism 4 includes a mounting plate 41 and a suction mechanism 42 arranged on the mounting plate 41. The suction mechanism 42 grasps the component 5. Arranging multiple suction mechanisms 42 can simultaneously attract multiple components 5, thereby improving the grasping efficiency. The suction mechanism 42 includes a positioning portion 421 and suction portions 422 arranged on both sides of the positioning portion 421. The bottom of the positioning portion 421 is provided with a positioning groove 423 that matches the component 5. Figure 1 , which is a schematic diagram of the structure of the component, and its structure is cylindrical, so the positioning groove 423 is an arc-shaped structure that matches the side wall of the component 5. The vertical moving mechanism 3 drives the grasping mechanism 4 to move downward, so that the component 5 is placed in the positioning groove 423, and the component 5 is positioned, and then the component 5 is grasped by the suction mechanism 42.

[0024] In the above embodiment, if Figure 2-4As shown, if the position deviation of component 5 is large and component 5 cannot be forked into positioning groove 423, then the bottom of positioning portion 421 directly impacts component 5, which may damage positioning portion 421. Therefore, in a preferred embodiment, positioning portion 421 includes fixed block 4211, sliding block 4212 and proximity switch 4213, sliding block 4212 is vertically slidably arranged on fixed block 4211, positioning groove 423 is arranged at the bottom of sliding block 4212, proximity switch 4213 is arranged on fixed block 4211, and sensing portion 4214 is extended from sliding block 4212; when in use, sliding block 4212 is always at the bottom due to its own weight; when vertical moving mechanism 3 drives grasping mechanism 4 to move downward If the position of component 5 is accurate or there is a slight deviation, the sliding block applies downward pressure to component 5, so that component 5 is adjusted along the positioning groove 423, and the proximity switch 4213 does not sense the sensing part 4214; when the position deviation of component 5 is large, the sliding block 5 is blocked by component 5, and the sliding block 4212 cannot continue to move downward, and at the same time, the fixed block 4211 continues to move downward, so that the proximity switch 4213 is close to the sensing part 4214, and then the proximity switch 4213 senses the sensing part 4214.

[0025] In a preferred embodiment, if Figure 3 and 5 As shown, the suction part 422 includes a vacuum generator 4221 and a suction cup 4222. The electromagnetic valve is opened by PLC control, so that negative pressure is generated in the vacuum generator 4221, and the suction cup 4222 is attached to the surface of the component 5 to achieve the attraction of the component 5. Through the mutual cooperation of the vacuum generator 4221 and the suction cup 4222, the width of the grasping part 422 is reduced, thereby making the grasping mechanism 4 suitable for more compact processing equipment.

[0026] In one embodiment, the horizontal moving mechanism 2 includes a toothed belt electric cylinder 21, which is driven by a servo motor 22 to achieve horizontal movement of the vertical moving mechanism 3. Choosing to use a toothed belt electric cylinder can make the horizontal movement more stable.

[0027] In one embodiment, the vertical moving mechanism 3 includes a cylinder support 31, a guide column 32, a first cylinder 33 and a connecting member 34. The first cylinder 33 is arranged on the first cylinder support 31, and its output end is connected to the grabbing mechanism 4 through the connecting member 34. A guide hole is arranged on the cylinder support 31, and the guide column 32 is slidably arranged in the guide hole, and one end thereof is fixedly arranged on the connecting member 34. By adding the guide column 32, the shaking of the grabbing mechanism 4 during the up and down movement is reduced, thereby providing the stability of the driving of the vertical moving mechanism 3. Usually, two guide columns 32 are arranged, and correspondingly, two guide holes are also arranged, and the guide columns 32 are arranged parallel and symmetrically on both sides of the connecting member 34.

[0028] In one embodiment, if Figure 8 As shown, it also includes a storage mechanism 6, which includes a second cylinder 61, a third cylinder 62, a mounting plate 63 and a storage part 64 arranged on the mounting plate 63, the third cylinder 62 is arranged on the second cylinder 61, the mounting plate 63 is arranged on the third cylinder 62, and the mounting plate 63 is synchronously driven to move horizontally by the second cylinder 61 and the third cylinder 62. By setting two cylinders leading to movement, the speed of horizontal movement of the mounting plate 63 is increased; in addition, the mounting plate 63 is moved to a larger space, and the parts 5 are placed in the storage part 64 by the manipulator. Preferably, two storage mechanisms 6 are provided, and the horizontal movement direction of the two storage mechanisms 6 is back-to-back movement; that is, the driving directions of the storage mechanism 6 are respectively the positive and negative directions of the Z axis.

[0029] When the present invention is used, Figure 1-8 As shown, the second cylinder 61 and the third cylinder 62 drive the mounting plate 63 to move outward along the Z axis, and then the components 5 are placed one by one in the storage part 64 through the robotic arm, and then the second cylinder 61 and the third cylinder 62 are reset, and the horizontal moving mechanism 2 drives the grasping mechanism 4 to move to just above the storage mechanism 6, and then the grasping mechanism 4 is driven downward to the lowest position by the vertical moving mechanism 3. If the position of the component 5 is accurate, the position of the sliding block 4212 and the fixed block 4211 is relatively static; if the position of the component 5 is greatly offset, the sliding block 4212 is blocked by the component 5 and moves upward, so that the proximity switch 4213 senses the sensing part 4214, and the PLC controls the solenoid valve to close the air source, so that the suction part 422 cannot attract the component 5, and other components are attracted normally.

[0030] The above are only preferred embodiments of the present invention and are not intended to limit the scope of implementation of the present invention. If the present invention is modified or replaced by equivalents without departing from the spirit and scope of the present invention, they should all be included in the protection scope of the claims of the present invention.

Claims

1. A cantilever beam transmission mechanism, characterized in that: It includes a support, a horizontal moving mechanism, a vertical moving mechanism and a grabbing mechanism, wherein the horizontal moving mechanism is horizontally arranged on the support, the vertical moving mechanism is arranged on the horizontal moving mechanism, the horizontal moving mechanism is used to drive the vertical moving mechanism to move horizontally, the grabbing mechanism is arranged on the vertical moving mechanism, the vertical moving mechanism is used to drive the grabbing mechanism to move up and down, and the grabbing mechanism grabs the parts; The grabbing mechanism includes a mounting plate and a suction mechanism arranged on the mounting plate, the suction mechanism includes a positioning part and suction parts arranged on both sides of the positioning part, and a positioning groove matching with the component is arranged at the bottom of the positioning part; the suction part includes a vacuum generator and a suction cup, and is opened by a solenoid valve controlled by a PLC; The positioning part includes a fixed block, a sliding block and a proximity switch, the sliding block is vertically slidably arranged on the fixed block, the positioning groove is arranged at the bottom of the sliding block, the proximity switch is arranged on the fixed block, and the sliding block is extended to set a sensing part. When the position of the component is accurate, the proximity switch does not sense the sensing part; when the component is misplaced, the sliding block moves upward so that the proximity switch senses the sensing part, and the PLC controls the solenoid valve to close the air source, so that the suction part cannot attract the component, and other components are attracted normally.

2. A cantilever beam transmission mechanism according to claim 1, characterized in that: The horizontal moving mechanism comprises a toothed belt type electric cylinder.

3. A cantilever beam transmission mechanism according to claim 1, characterized in that: The vertical moving mechanism includes a cylinder bracket, a guide column, a first cylinder and a connecting piece. The first cylinder is arranged on the first cylinder bracket. A guide hole is arranged on the cylinder bracket. The guide column is slidably arranged in the guide hole. The connecting piece is arranged on the guide column and the first cylinder. The connecting piece is used to install the grasping mechanism.

4. A cantilever beam transmission mechanism according to claim 1, characterized in that: It also includes a material storage mechanism, which includes a second cylinder, a third cylinder, a mounting plate and a material storage part arranged on the mounting plate, the third cylinder is arranged on the second cylinder, and the mounting plate is arranged on the third cylinder, and the mounting plate is synchronously driven by the second cylinder and the third cylinder to move horizontally.

5. A cantilever beam conveying mechanism according to claim 4, characterized in that: Two material storage mechanisms are provided, and the horizontal movement directions of the two material storage mechanisms are back-to-back movement.

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