Rectangular array and hexagonal array mechanical conversion device

Abstract

The rectangular array and hexagonal array mechanical conversion device comprises a rotating disc and a conversion control plate which are coaxially and rotatably installed on a center shaft, three hinge rod sets are evenly distributed below the conversion control plate in the circumferential direction, and the top of each hinge rod set is provided with a first sliding pin and a second sliding pin which are arranged diagonally; the first sliding pins are arranged in the first guide grooves of the corresponding rotating discs and the first sliding grooves of the conversion control plates in a sliding mode at the same time, and the second sliding pins are arranged in the second guide grooves of the corresponding rotating discs and the second sliding grooves of the conversion control plates in a sliding mode at the same time. The conversion control panel is driven by a second driving mechanism to rotate, so that the three hinge rod groups are in a parallelogram array and close up to form a hexagonal array, or in a rectangular array and unfolded outwards; the rotating disc, the conversion control board and the hinge rod set are integrally driven by a first driving mechanism to rotate, and rectangular array switching is achieved. The device has the advantages of being simple in structure and small in transformation space.

Description

Technical Field

[0001] The invention relates to a part array transformation device, in particular to a mechanical transformation device for a rectangular array and a hexagonal array. Background Art

[0002] In the fields of packaging, assembly, and production, there is a need to convert a rectangular array into a hexagonal array. Taking the production of firecrackers as an example, the process of arranging the barrels into a hexagonal combination relies on automatic equipment to assemble the barrels into a hexagonal array row by row, which is very inefficient. The mechanical conversion device for rectangular arrays and hexagonal arrays disclosed in CN116002133A considers the conversion between the hexagonal array and the long rectangular array in one step during design, resulting in the device having defects such as multiple motion mechanisms, multiple driving elements, complex overall structure, and large conversion space. Summary of the invention

[0003] Purpose of the invention: The purpose of the present invention is to provide a mechanical transformation device for rectangular arrays and hexagonal arrays with a simple structure and a small transformation space.

[0004] Technical solution: A mechanical transformation device for a rectangular array and a hexagonal array of the present invention comprises a central axis, a rotating disk, a conversion control board, a first driving mechanism and a second driving mechanism. The rotating disk and the conversion control board are respectively coaxially rotatably mounted on the central axis, and the conversion control board is located below the rotating disk; three first guide grooves and three second guide grooves are alternately and evenly distributed along the circumference on the rotating disk, and three first slide grooves and three second slide grooves are alternately and evenly distributed along the circumference on the conversion control board;

[0005] Three articulated rod groups are evenly distributed along the circumferential direction below the conversion control plate. The top of the articulated rod group has a first sliding pin and a second sliding pin arranged diagonally. The first sliding pin is slidably arranged in the corresponding first guide groove and the first slide groove at the same time, and the second sliding pin is slidably arranged in the corresponding second guide groove and the second slide groove at the same time; each fixing seat at the bottom of the articulated rod group is used to install a parts grabbing mechanism;

[0006] The second driving mechanism is arranged on the turntable, and is used to drive the conversion control plate to rotate, so that each sliding pin moves to the near-center end of the corresponding guide groove and the slide groove, so that the three articulated rod groups are in a parallelogram array and close together to form a hexagonal array; or, each sliding pin moves to the far-center end of the corresponding guide groove and the slide groove, so that the three articulated rod groups are in a rectangular array and spread outward; the first driving mechanism is arranged on the central axis, and is used to drive the turntable, the conversion control plate and the articulated rod group as a whole to make an intermittent rotation of 120 degrees when the three articulated rod groups are in a rectangular array, so as to switch the rectangular array.

[0007] Furthermore, the first driving mechanism includes a first motor and a large gear, the first motor is fixedly mounted on the central axis through a motor mounting plate; the large gear is coaxially arranged with the central axis and fixedly mounted with the turntable; a first small gear is installed at the output end of the first motor, and the first small gear is meshed with the large gear.

[0008] Furthermore, the second driving mechanism includes a second motor and a sector rack, the second motor is fixedly mounted on the turntable and its output shaft passes downward through the turntable; the sector rack is fixed on the conversion control board and meshes with a second pinion fixedly mounted on the output shaft of the second motor.

[0009] The driving mechanism of the present invention adopts two small motors to realize intermittent driving control without noise.

[0010] Furthermore, the hinged rod group is composed of a group of first rods arranged in parallel and another group of second rods arranged in parallel, which are cross-arranged and hinged by hinge pins; a fixing seat is arranged at the lower end of each hinge pin.

[0011] Furthermore, the part grasping mechanism includes a pneumatic suction cup and a clamp.

[0012] Furthermore, the turntable and the conversion control board are connected to the central shaft through a bearing seat and a bearing respectively.

[0013] Furthermore, the length of the first guide groove is greater than that of the second guide groove.

[0014] Furthermore, the fixing seats at the bottom of the hinged rod assembly are arranged in a 5×6 array.

[0015] Furthermore, the central axis is fixed on the robot arm.

[0016] Furthermore, the central axis is connected to the robot arm via a flange.

[0017] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages: the present invention switches the rectangular array, grabs parts in three steps, and then changes to a hexagonal array, with fewer parts, simpler structure, lower cost, and smaller transformation space. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic diagram of a hexagonal array state of a mechanical transformation device in an embodiment of the present invention;

[0019] Figure 2 yes Figure 1 Schematic diagram of the structure behind the hidden turntable;

[0020] Figure 3 yes Figure 1 The main view;

[0021] Figure 4 yes Figure 1Bottom view of

[0022] Figure 5 is a structural schematic diagram of an articulated rod group in an embodiment of the present invention;

[0023] Figure 6 is a schematic diagram of a mechanical transformation device according to an embodiment of the present invention being transformed into three rectangular array states;

[0024] Figure 7 yes Figure 6 Bottom view of . DETAILED DESCRIPTION

[0025] The present invention will be further described below in conjunction with the accompanying drawings.

[0026] Attached Figures 1 to 7 The reference numerals in the figures are as follows:

[0027] 1. Central axis; 2. Motor mounting plate; 3. Turntable; 31. First guide groove; 32. Second guide groove; 4. Large gear; 5. First motor; 6. First pinion; 7. Conversion control plate; 71. First slide groove; 72. Second slide groove; 8. Fan-shaped rack; 9. Second motor; 10. Second pinion; 11. Articulated rod group; 111. First rod member; 112. Second rod member; 113. Articulated pin; 114. First sliding pin; 115. Second sliding pin; 116. Fixed seat.

[0028] like Figures 1 to 7 As shown, an embodiment of the present invention provides a mechanical transformation device for a rectangular array and a hexagonal array, including a central axis 1, a turntable 3, a conversion control board 7, a first driving mechanism and a second driving mechanism.

[0029] The central axis 1 is vertically arranged and connected to a mechanical arm through a flange on its top. The mechanical arm cooperates with the mechanical transformation device to move the position to carry out material picking and placing.

[0030] The turntable 3 is coaxially mounted and rotatably connected to the central axis 1 via a bearing seat and a bearing. The conversion control board 7 is also coaxially mounted and rotatably connected to the central axis 1 via a bearing seat and a bearing. The conversion control board 7 is located below the turntable 3 .

[0031] Three first guide grooves 31 and three second guide grooves 32 are evenly and alternately distributed on the turntable 3 along the circumferential direction. The first guide grooves 31 and the second guide grooves 32 are substantially arranged in a radial direction. The length of the first guide grooves 31 is greater than that of the second guide grooves 32 .

[0032] Three first slide grooves 71 and three second slide grooves 72 are evenly and alternately distributed on the conversion control plate 7 along the circumferential direction. The first slide grooves 71 and the second slide grooves 72 extend radially outward in a substantially clockwise direction.

[0033] Three hinged rod groups 11 are evenly distributed along the circumferential direction below the conversion control board 7. The hinged rod group 11 is composed of a group of parallel first rods 111 and another group of parallel second rods 112, which are cross-arranged and hinged by hinge pins 113. A fixing seat 116 is arranged at the lower end of each hinge pin 113. In this embodiment, each fixing seat 116 is arranged in a 5×6 array. The fixing seat 116 is used to install a part grasping mechanism, such as a pneumatic suction cup, a clamping claw, etc.

[0034] The top of the hinge rod group 11 has a first sliding pin 114 and a second sliding pin 115 arranged diagonally. The first sliding pin 114 is slidably arranged in the corresponding first guide groove 31 and the first slide groove 71 at the same time, and the second sliding pin 115 is slidably arranged in the corresponding second guide groove 32 and the second slide groove 72 at the same time.

[0035] The first driving mechanism includes a first motor 5 and a large gear 4, which is coaxially arranged with the central axis 1 and fixedly mounted with the turntable 3. The first motor 5 is fixedly mounted with the central axis 1 through a motor mounting plate 2, which is located above the large gear 4 and fixedly connected with the central axis 1. A first pinion 6 is mounted on the output end of the first motor 5, which meshes with the large gear 4. The first motor 5 drives the large gear 4 through the first pinion 6, so that the turntable 3, the conversion control board 7 and the articulated rod group 11 make an intermittent rotation of 120 degrees as a whole.

[0036] The second driving mechanism includes a second motor 9 and a sector rack 8. The second motor 9 is fixedly mounted on the turntable 3 and its output shaft passes downward through the turntable 3. The sector rack 8 is fixed on the conversion control board 7 and meshes with a second pinion 10 fixedly mounted on the output shaft of the second motor 9. The installation position of the second motor 9 needs to avoid interference with the motor mounting plate 2. The second motor 9 drives the conversion control board 7 to rotate forward (45 degrees counterclockwise in this embodiment) and reversely rotate to reset relative to the turntable 3 through the second pinion 10 and the sector rack 8.

[0037] The working principle of the present invention is as follows:

[0038] In the initial state, each sliding pin on the three hinged rod groups 11 is located at the near-center end of each guide groove on the rotating disk 3 (see Figure 1 ) and the near-center end of each chute on the conversion control plate 7 (see Figure 2 The rods of the three articulated rod groups 11 are parallelogram-shaped, and the fixing base 116 at the bottom of the articulated rod group 11 is a parallelogram array. The three articulated rod groups 11 are close together to form a hexagonal array (see Figure 4 ).

[0039] The second motor 9 drives the conversion control board 7 to rotate forwardly by an angle (45 degrees counterclockwise in this embodiment) relative to the turntable 3 through the second pinion 10 and the sector rack 8, so that each sliding pin on the three hinge rod groups 11 slides outward to the far center end of each guide groove on the turntable 3 (see Figure 6 ), and at the same time, each sliding pin also slides to the far center end of each sliding groove on the conversion control plate 7. The rods of the three articulated rod groups 11 are transformed from parallelograms to rectangles, and the fixed seats 116 are transformed from parallelogram arrays to rectangular arrays and spread outward, with a circumferential distribution of 120 degrees (see Figure 6 , 7 ).

[0040] The mechanical conversion device is moved as a whole to the top of the conveyor belt (the objects transported by the conveyor belt are in a rectangular array) by the mechanical arm, and the mechanical conversion device is driven by the mechanical arm to move downward as a whole, grab the material and then move upward. The first motor 5 drives the large gear 4 through the first small gear 6, so that the turntable 3, the conversion control board 7 and the articulated rod group 11 rotate 120 degrees as a whole, and the mechanical arm drives the mechanical conversion device to move downward as a whole again, grab the material and then move upward. The above actions are repeated twice, and the various parts grabbing mechanisms under the fixed seat 116 grab the material.

[0041] The mechanical conversion device is moved and reset as a whole by the mechanical arm. During the process of resetting the mechanical conversion device as a whole, the second motor 9 is reversed to drive the conversion control board 7 to reverse and reset, so that each sliding pin on the three hinged rod groups 11 slides inward to the near-center end of each guide groove on the turntable 3 (see Figure 1 ) and the near-center end of each chute on the conversion control plate 7 (see Figure 2 The fixing seats 116 at the lower ends of the hinged rod groups 11 are formed into a parallelogram array, forming a hexagonal array as a whole.

[0042] The mechanical arm drives the mechanical conversion device to move downward as a whole, and moves upward after releasing the material.

[0043] Repeat the above steps.

Claims

1. A mechanical transformation device for a rectangular array and a hexagonal array, characterized in that: The invention comprises a central axis (1), a rotating disk (3), a conversion control plate (7), a first driving mechanism and a second driving mechanism. The rotating disk (3) and the conversion control plate (7) are respectively coaxially rotatably mounted on the central axis (1), and the conversion control plate (7) is located below the rotating disk (3). The rotating disk (3) has three first guide grooves (31) and three second guide grooves (32) alternately and evenly distributed along the circumference, and the conversion control plate (7) has three first slide grooves (71) and three second slide grooves (72) alternately and evenly distributed along the circumference. Three hinged rod groups (11) are evenly distributed along the circumferential direction below the conversion control plate (7); the top of the hinged rod group (11) has a first sliding pin (114) and a second sliding pin (115) which are diagonally arranged; the first sliding pin (114) is slidably arranged in the corresponding first guide groove (31) and the first slide groove (71) at the same time; the second sliding pin (115) is slidably arranged in the corresponding second guide groove (32) and the second slide groove (72) at the same time; each fixed seat (116) at the bottom of the hinged rod group (11) is used to install a parts grabbing mechanism; The second driving mechanism is arranged on the rotating disk (3) and is used to drive the conversion control plate (7) to rotate, so that each sliding pin moves to the near-center end of the corresponding guide groove and the slide groove, thereby making the three articulated rod groups (11) present a parallelogram array and close together to form a hexagonal array; or, so that each sliding pin moves to the far-center end of the corresponding guide groove and the slide groove, thereby making the three articulated rod groups (11) present a rectangular array and spread outward; the first driving mechanism is arranged on the central axis (1) and is used to drive the rotating disk (3) and the conversion control plate (7) and the articulated rod groups (11) to perform intermittent rotation of 120 degrees as a whole when the three articulated rod groups (11) present a rectangular array, thereby switching the rectangular array.

2. The mechanical transformation device of rectangular array and hexagonal array according to claim 1, characterized in that: The first driving mechanism comprises a first motor (5) and a large gear (4); the first motor (5) is fixedly mounted on the central axis (1) via a motor mounting plate (2); the large gear (4) is coaxially arranged with the central axis (1) and fixedly mounted on the turntable (3); a first small gear (6) is mounted on the output end of the first motor (5), and the first small gear (6) is meshed with the large gear (4).

3. The mechanical transformation device of rectangular array and hexagonal array according to claim 1, characterized in that: The second driving mechanism comprises a second motor (9) and a sector rack (8); the second motor (9) is fixedly mounted on the turntable (3) and its output shaft passes downward through the turntable (3); the sector rack (8) is fixed on the conversion control board (7) and meshes with a second pinion (10) fixedly mounted on the output shaft of the second motor (9).

4. The mechanical transformation device of rectangular array and hexagonal array according to claim 1, characterized in that: The hinged rod group (11) is composed of a group of parallel first rods (111) and another group of parallel second rods (112) which are cross-arranged and hinged via hinge pins (113); a fixing seat (116) is arranged at the lower end of each hinge pin (113).

5. The mechanical transformation device of rectangular array and hexagonal array according to claim 4, characterized in that: The parts grabbing mechanism comprises a pneumatic suction cup and a clamping claw.

6. The mechanical transformation device of rectangular array and hexagonal array according to claim 1, characterized in that: The rotating disk (3) and the conversion control board (7) are connected to the central shaft (1) through a bearing seat and a bearing respectively.

7. The mechanical transformation device of rectangular array and hexagonal array according to claim 1, characterized in that: The length of the first guide groove (31) is greater than that of the second guide groove (32).

8. The mechanical transformation device of rectangular array and hexagonal array according to claim 1, characterized in that: The fixing seats (116) at the bottom of the hinged rod group (11) are arranged in a 5×6 array.

9. The mechanical transformation device of rectangular array and hexagonal array according to claim 1, characterized in that: The central axis (1) is fixed on the robot arm.

10. The mechanical transformation device of rectangular array and hexagonal array according to claim 9, characterized in that: The central shaft (1) is connected to the mechanical arm via a flange.

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