Multi-connecting-rod synchronous execution device

Abstract

The invention discloses a multi-connecting-rod synchronous execution device, and relates to the technical field of material conveying devices, a first transfer part and a second transfer part have a bearing state and a release state: when the first transfer part and the second transfer part are in the bearing state, the first transfer part and the second transfer part are matched to form a bearing area; when the first transfer part and the second transfer part are in a release state, a channel is formed between the first transfer part and the second transfer part; the bearing area and the limiting part prevent the materials from falling off, so that the materials are prevented from falling off, and wrinkles caused by falling are avoided; the channel is arranged towards the set area, so that the materials can fall into the set area, the first transfer part and the second transfer part can apply first acting force to the materials in the transfer process, and deformation displacement generated by the materials under the first acting force is not larger than reset displacement of the materials. And the time consumed for carrying out posture arrangement on the folded materials again is saved, and the production efficiency of the device adopting the transfer mechanism is further improved.

Description

Technical Field

[0001] The invention relates to the technical field of material conveying devices, and in particular to a multi-link synchronous execution device. Background Art

[0002] After bedding, sheets, curtains and other materials are folded, they are very likely to fall off or wrinkle during the transportation process. This results in operators having to pick up the bedding, sheets, curtains and other materials, reposition them, or even fold them again after transportation, which greatly reduces the production efficiency of the above products.

[0003] Therefore, how to avoid the problems of bedding, bed sheets, curtains and other materials falling off and wrinkling during the transportation process after folding as much as possible, and thus improve the production efficiency of the above materials has become a technical problem that technical personnel in this field need to solve urgently. Summary of the invention

[0004] The purpose of the present invention is to provide a multi-link synchronous execution device to solve the problems existing in the above-mentioned prior art, reduce the problems of falling, wrinkling, etc. of materials such as bedding, sheets, curtains, etc. during the transportation process after folding, and thereby improve the production efficiency of materials such as bedding, sheets, curtains, etc.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] The present invention provides a multi-link synchronous execution device, the multi-link synchronous execution device comprises a transfer mechanism, and the transfer mechanism comprises:

[0007] A first transfer part and a second transfer part, wherein the first transfer part and the second transfer part have a supporting state and a releasing state: when the first transfer part and the second transfer part are in the supporting state, the first transfer part and the second transfer part cooperate to form a bearing area for supporting materials; when the first transfer part and the second transfer part are in the releasing state, a channel for materials to fall is formed between the first transfer part and the second transfer part, and the channel is arranged toward a set area;

[0008] A limiting portion, the limiting portion is arranged on the first transfer portion and / or the second transfer portion, and the limiting portion is used to prevent the material from falling from the carrying area;

[0009] Among them, the first transfer part and the second transfer part can apply a first force to the material during the material transfer process, and the first force causes the material to produce a deformation displacement, and the deformation displacement is not greater than the reset displacement of the material. After the material separates from the first transfer part and the second transfer part, the first force disappears.

[0010] Preferably, the transfer mechanism includes a first drive component; the first drive component can apply a second force to the first transfer part and the second transfer part, and the second force causes the first transfer part and the second transfer part to move synchronously in opposite directions to achieve switching of the first transfer part and the second transfer part between a supporting state and a released state.

[0011] Preferably, the first driving assembly includes a first driving member and a second driving member, the first driving member is drivingly connected to the first transfer part, and the second driving member is drivingly connected to the second transfer part.

[0012] Preferably, the first drive assembly includes a third drive member, a first transmission member and a second transmission member, the third drive member is connected to the first transfer member via the first transmission member, and the third drive member is connected to the second transfer member via the second transmission member.

[0013] Preferably, the angle between the load-bearing area and the horizontal plane is not greater than the repose angle of the material. In this case, the first transfer portion and the second transfer portion constitute the limiting portion;

[0014] And / or, the limiting portion includes a limiting piece provided on the first transfer portion and the second transfer portion.

[0015] Preferably, areas on the first transfer part and the second transfer part that are in contact with the material are both provided with a coating for reducing friction.

[0016] Preferably, the transfer mechanism further includes:

[0017] A monitoring unit, which is used to monitor the deformation and displacement of materials during the transfer process;

[0018] A controller, wherein the controller is signal-connected to the monitoring unit and the first driving component;

[0019] Wherein, the monitoring unit can output a first signal to the controller when detecting that the deformation displacement exceeds a threshold range, and the controller can adjust the operating state of the first driving component according to the first signal, thereby reducing the deformation displacement.

[0020] Preferably, the first transfer portion includes a first fixed area and a first movable area, the first movable area is located on a side of the first fixed area away from the second transfer portion, and the first movable area is slidably matched with the first fixed area;

[0021] The transfer mechanism also includes a second drive component, which is connected to the controller signal and transmission-connected to the first movable area, and is used to drive the first movable area to move away from and toward the first fixed area.

[0022] Compared with the prior art, the present invention has achieved the following technical effects:

[0023] When the folded material needs to be transferred from the previous area to the next area, the first transfer part and the second transfer part are switched to a supporting state, and the material is supported by the load-bearing area to prevent the material from falling directly through the load-bearing area, and the material is limited by the limiting part to prevent the material from falling from the periphery of the load-bearing area, thereby avoiding the material from falling during the transfer process and the wrinkles caused by falling, saving the operator from picking up the material and the time spent on secondary adjustment of the material posture, so that the device using the transfer mechanism of the present invention has higher production efficiency; and the first transfer part and the second transfer part can be switched from a supporting state to a released state, and the channel is set toward the set area, which enables the material to fall from the channel between the first transfer part and the second transfer part to the set area, realizing the transfer of the material from the load-bearing area to the set area, and avoiding the material from falling during the transfer from the load-bearing area to the set area. Furthermore, the first transfer part and the second transfer part of the present invention are in the transfer process A first force can be applied to the material, so that the deformation displacement of the material under the first force is smaller than the reset displacement of the material itself. In this way, even if the material produces deformation displacements such as wrinkles when supported by the load-bearing area and when it leaves the load-bearing area, the first force disappears after ① the material falls into the set area, and the material no longer continues to produce deformation displacement, and because ② the material has a certain elasticity, ③ there is a gap between the area where the material produces wrinkles and the set area (the above three points lay the foundation for the material to produce reset displacement), which enables the area where the material produces wrinkles to produce reset displacement in the opposite direction of the deformation displacement under the action of the material's own gravity and elasticity, thereby reducing or even eliminating deformation displacements such as wrinkles, so that the folded material hardly produces wrinkles after being transferred from the previous area to the next area, thereby saving the time spent on re-adjusting the posture of the folded material, and further improving the production efficiency of the device using the transfer mechanism of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 It is a schematic diagram of the structure of the transfer mechanism;

[0026] Figure 2 It is a structural schematic diagram of a multi-link synchronous actuator;

[0027] Figure 3 It is a schematic diagram of the structure of the first transfer part and the second transfer part;

[0028] Figure 4 for Figure 3 A partial enlarged view of the first transfer part and the second transfer part;

[0029] Among them, 1. the first transfer part; 2. the second transfer part; 3. the first rotating shaft; 4. the second rotating shaft; 5. the first arc rod; 6. the second arc rod; 7. the third connecting rod; 8. the fourth connecting rod; 9. the slider; 10. the slide rail; 11. the third driving member; 12. the fourth driving member; 13. the fifth driving member; 14. the first frame; 15. the second frame; 16. the lifting slide rail; 17. the slide seat; 18. the driving gear; 19. the driven gear; 20. the column. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] like Figure 1 to Figure 4 As shown, the present invention discloses a multi-link synchronous execution device, which includes a transfer mechanism, which includes: a first transfer part 1 and a second transfer part 2, wherein the first transfer part 1 and the second transfer part 2 have a supporting state and a releasing state: when the first transfer part 1 and the second transfer part 2 are in the supporting state, the first transfer part 1 and the second transfer part 2 cooperate to form a bearing area for supporting materials; when the first transfer part 1 and the second transfer part 2 are in the releasing state, a channel for the falling of materials is formed between the first transfer part 1 and the second transfer part 2, and the channel is arranged toward a set area; a limiting part, which is arranged on the first transfer part 1 and / or the second transfer part 2, and is used to prevent the material from falling from the bearing area; wherein the first transfer part 1 and the second transfer part 2 can apply a first force to the material during the material transfer process, and the first force causes the material to produce a deformation displacement, and the deformation displacement is not greater than the reset displacement of the material, and the first force disappears after the material is separated from the first transfer part 1 and the second transfer part 2.

[0033] When the folded material needs to be transferred from the previous area to the next area, the first transfer part 1 and the second transfer part 2 are switched to a supporting state, and the material is supported by the load-bearing area to prevent the material from falling directly through the load-bearing area, and the material is limited by the limiting part to prevent the material from falling from the periphery of the load-bearing area, thereby avoiding the material from falling during the transfer process or wrinkling due to falling, saving the time spent by the operator to pick up the material and adjust the material posture for the second time, so that the device using the transfer mechanism of the present invention has higher production efficiency; and the first transfer part 1 and the second transfer part 2 can be switched from a supporting state to a released state, and the channel is set toward the set area, so that the material can fall from the channel between the first transfer part 1 and the second transfer part 2 to the set area, realizing the transfer of the material from the load-bearing area to the set area, and avoiding the material from falling during the transfer from the load-bearing area to the set area. Furthermore, the first transfer part 1 and the second transfer part 2 of the present invention can apply a first force to the material during the transfer process, so that the material under the first force The deformation displacement generated under the load area is smaller than the reset displacement of the material itself. In this way, even if the material produces deformation displacements such as wrinkles when it is supported by the load-bearing area and when it leaves the load-bearing area, because ① after the material falls into the set area, the first force disappears and the material no longer continues to produce deformation displacement, and because ② the material has a certain elasticity, ③ there is a gap between the area where the material produces wrinkles and the set area. The gap refers to the height difference between the area supporting the material and the area where the material falls. The height difference provides sufficient time for the material to produce reset displacement (the above three points lay the foundation for the material to produce reset displacement), which enables the area where the material produces wrinkles to produce reset displacement in the opposite direction of the deformation displacement under the action of the material's own gravity and elasticity, reducing or even eliminating deformation displacements such as wrinkles, so that the folded material hardly produces wrinkles after being transferred from the previous area to the next area, thereby saving the time spent on re-adjusting the posture of the folded material, and further improving the production efficiency of the device using the transfer mechanism of the present invention.

[0034] Among them, the materials in the present invention refer to bedding (quilts and clothing), towels, sheets, etc. that can be folded, have a certain elasticity, and after falling into the set area, no longer produce deformation displacement due to the first force. At the same time, there is a gap between the area where the material produces wrinkles and the set area. The reset displacement generated by the material's own gravity and elasticity can reduce or even eliminate the wrinkles generated by the material during the transfer process, and the material has not yet been bundled and packaged; the materials include bedding, towels, sheets, but are not limited to the above products. Products that can meet the above conditions belong to the materials referred to in the present invention.

[0035] The transfer mechanism is used to transfer materials from one area to another. For example, the transfer mechanism can transfer materials folded by the folding equipment from the folding station to the packaging station; but this does not mean that the transfer mechanism itself must move as a whole in the space (the overall movement refers to the displacement of the entire structure of the transfer mechanism relative to a certain point in the space). For example, when the folding station and the packaging station are arranged in sequence from top to bottom, the transfer mechanism does not need to move as a whole in the space. It is only necessary to switch the first transfer part 1 and the second transfer part 2 from a supporting state to a released state to realize the transfer of materials between the folding station and the packaging station. The transfer mechanism plays the role of "connecting and disconnecting" the folding station and the packaging station in the movement path of the material. At this time, the transfer mechanism is similar to the role of a "valve"; and when the folding station and the packaging station are arranged in a horizontal direction, the transfer mechanism can be driven by a driving device to realize the transfer of materials between the folding station and the packaging station by rotation or movement.

[0036] The first transfer part 1 and the second transfer part 2 can exert a first force on the material during the transfer process, so that the deformation displacement of the material under the first force is smaller than the reset displacement of the material itself. Among them, "the deformation displacement of the material under the first force is smaller than the reset displacement of the material itself", which includes three aspects: ① after the material falls to the set area, the first force no longer acts on the material, and the material no longer continues to produce deformation displacement; ② the material has a certain elasticity; ③ there is a gap between the area where the material produces wrinkles and the set area. The deformation displacement includes the first wrinkles produced by the friction force when the material is supported by the first transfer part 1 and the second transfer part 2, and the second wrinkles produced by the friction force and extrusion force when the material is separated from the first transfer part 1 and the second transfer part 2. The reset displacement includes the displacement produced by the material under the gravity and elasticity of the material itself when the material falls to the set area and does not produce deformation displacement under the first force. When the deformation displacement is not greater than the reset displacement, the wrinkles of the material caused by the deformation displacement can be reduced or even eliminated by the reset displacement, so that there are almost no wrinkles and other problems after the material falls to the set area.

[0037] The first transfer part 1 and the second transfer part 2 have various settings. For example, the first transfer part 1 and the second transfer part 2 include two support plates that can move away from and toward each other (the movement includes rotation and linear movement, and a weight reduction groove may also be provided on the support plate. The first transfer part 1 and the second transfer part 2 correspond to one support plate respectively). When the two support plates are rotated to the same horizontal plane, the area formed by the two support plates is equivalent to the bearing area. When the two support plates are away from each other, the gap between the two support plates is equivalent to the channel. Moreover, the first transfer part 1 and the second transfer part 2 do not necessarily abut against each other when they are in a supporting state, as long as the material does not fall from the gap between the first transfer part 1 and the second transfer part 2, and the deformation displacement of the material is not greater than the reset displacement of the material. Furthermore, the shapes of the first transfer part 1 and the second transfer part 2 are not limited to the combination of a support plate and a support plate, but may also be a combination of a support plate and a support frame, or a combination of a support plate and a plurality of support rods arranged along the length direction of the support plate. The shapes and combinations of the first transfer part 1 and the second transfer part 2 include but are not limited to the above-mentioned shapes, as long as the first transfer part 1 and the second transfer part 2 can have a supporting state and a released state, and the first transfer part 1 and the second transfer part 2 can apply a first force to the material during the transfer process, so that the deformation displacement of the material under the first force is smaller than the reset displacement of the material itself.

[0038] The switching of the first transfer part 1 and the second transfer part 2 between the supporting state and the release state can be manually switched by an operator or automatically driven by a mechanical structure. For example, the transfer mechanism of the present invention includes a first drive component; the first drive component can apply a second force to the first transfer part 1 and the second transfer part 2, and the second force causes the first transfer part 1 and the second transfer part 2 to move in opposite directions and toward each other synchronously, so as to realize the switching of the first transfer part 1 and the second transfer part 2 between the supporting state and the release state: when the first transfer part 1 and the second transfer part 2 need to be in the supporting state, the first drive component drives the first transfer part 1 and the second transfer part 2 to move in opposite directions, so that the first transfer part 1 and the second transfer part 2 can cooperate to form a bearing area, and when the first transfer part 1 and the second transfer part 2 need to be switched to the release state, the first drive component drives the first transfer part 1 and the second transfer part 2 to move in opposite directions, so that a gap is generated between the first transfer part 1 and the second transfer part 2, i.e., a channel is formed. Furthermore, the first transfer part 1 and the second transfer part 2 move in opposite directions and towards each other synchronously, which reduces the problem that the material is deviated toward the side close to the first transfer part 1 or the second transfer part 2 when released and cannot fall into the set area due to the inconsistent movement timing and movement amplitude of the first transfer part 1 and the second transfer part 2, and reduces the wrinkles caused by the material being deviated toward the side close to the first transfer part 1 or the second transfer part 2 when released.

[0039] The first driving assembly drives the first transfer part 1 and the second transfer part 2 to move synchronously when switching between the supporting state and the releasing state. This avoids the problem of additional wrinkles caused by the first transfer part 1 and the second transfer part 2 moving asynchronously, resulting in the material being supported by the first transfer part 1 and the second transfer part 2 one above and one below in the process of falling from the channel to the set area.

[0040] The first transfer part 1 and the second transfer part 2 may not necessarily be able to switch from the supporting state to the released state, and from the released state to the supporting state under the force in the same direction: for example, when the switching between the supporting state and the released state of the first transfer part 1 and the second transfer part 2 is achieved by the movement of the first transfer part 1 and the second transfer part 2 away from or towards each other, it can be regarded as that, under the second force of the first driving component, the first transfer part 1 and the second transfer part 2 switch from the supporting state to the released state, and under the reverse second force generated by the reversal of the first driving component (the reverse second force can be regarded as the third force), the first transfer part 1 and the second transfer part 2 switch from the released state to the supporting state; and when the switching between the supporting state and the released state of the first transfer part 1 and the second transfer part 2 is achieved by the rotation of the first transfer part 1 and the second transfer part 2 away from or towards each other, the switching from the supporting state to the released state, and from the released state to the supporting state, the conversion between these two states can be achieved by the second force in the same direction.

[0041] Furthermore, when the first driving assembly drives the first transfer part 1 and the second transfer part 2 to move synchronously to realize the switching between the supporting state and the releasing state, there are also various settings. For example, the first driving assembly includes a first driving member and a second driving member, the first driving member is connected to the first transfer part 1 by transmission, and the second driving member is connected to the second transfer part 2 by transmission, the first driving member drives the first transfer part 1 to move, and the second driving member drives the second transfer part 2 to move, wherein the first driving member and the second driving member can be controlled by multiple operators at the same time to realize the synchronous movement of the first transfer part 1 and the second transfer part 2, or the first driving member and the second driving member can be connected to the controller signal, and the first driving member and the second driving member can be controlled by the controller to start synchronously, thereby realizing the synchronous movement of the first transfer part 1 and the second transfer part 2. At this time, the first driving member and the second driving member can be linear driving devices such as cylinders and electric push rods, or rotary driving devices such as rotary motors, and transmission members can be set between the first driving member and the first transfer part 1, and between the second driving member and the second transfer part 2 as needed.

[0042] Alternatively, only the first driving member may be used. In this case, the two output ends of the first driving member are respectively connected to the first transfer part 1 and the second transfer part 2. The first driving component is used to realize the toward and away movements of the first transfer part 1 and the second transfer part 2, thereby realizing the switching between the supporting state and the release state. Specifically, the driving component at this time may be a cylinder with two output rods, i.e., a double-rod cylinder.

[0043] Alternatively, the above-mentioned form may not be adopted. For example, the first driving component includes a third driving member 11, a first transmission member and a second transmission member. The third driving member 11 is connected to the first transfer part 1 through the first transmission member, and the third driving member 11 is connected to the second transfer part 2 through the second transmission member; the third driving member 11 drives the first transfer part 1 and the second transfer part 2 to move toward and away from each other through the first driving member and the second driving member respectively.

[0044] Specifically, the third driving member 11 can be a linear driving device such as a cylinder or a hydraulic cylinder. At this time, the first transmission member and the second transmission member can be a first connecting rod and a second connecting rod respectively. The output ends of the third driving member 11 are connected to the first transfer part 1 and the second transfer part 2 respectively through the first connecting rod and the second connecting rod, and the two ends of the first connecting rod are rotatably connected to the third driving member 11 and the first transfer part 1 respectively, and the two ends of the second connecting rod are rotatably connected to the third driving member 11 and the second transfer part 2 respectively. The third driving member 11 is vertically arranged relative to the first transfer part 1 and the second transfer part 2 (the first transfer part 1 and the second transfer part 2 are located in a first plane, such as a horizontal plane, and the third driving member 11 is located in a second plane perpendicular to the first plane, such as a vertical plane). In this way, if the first transfer part 1 and the second transfer part 2 cooperate to form a bearing When the first transfer part 1 and the second transfer part 2 are in the loading area, the first transfer part 1 and the second transfer part 2 are both arranged horizontally. When the third driving member 11 drives the first connecting rod and the second connecting rod to move in the direction away from the horizontal plane, that is, upward and downward, the first connecting rod and the second connecting rod respectively drive the first transfer part 1 and the second transfer part 2 to gradually move away from each other, the channel is gradually opened, and the first transfer part 1 and the second transfer part 2 are gradually switched from the supporting state to the releasing state (because when the first transfer part 1 and the second transfer part 2 rotate upward, they will push the material and cause wrinkles in the material, so the first transfer part 1 and the second transfer part 2 do not rotate upward, but only rotate downward). When the third driving member 11 drives the first connecting rod and the second connecting rod to move in the direction close to the horizontal plane, the first connecting rod and the second connecting rod respectively drive the first transfer part 1 and the second transfer part 2 to approach each other, thereby forming a loading area.

[0045] The first connecting rod and the second connecting rod can be straight rods or curved rods, such as Figure 1 , Figure 2As shown, when the first transmission member is the first arc rod 5 and the second transmission member is the second arc rod 6, the third driving member 11, the first transfer part 1 and the second transfer part 2 can also be arranged in the same horizontal plane. At this time, the transfer mechanism includes a first rotating shaft 3 that drives the first transfer part 1 to rotate, the first rotating shaft 3 is fixedly connected to the first transfer part 1, and the second rotating shaft 4 that drives the second transfer part 2 to rotate, the second rotating shaft 4 is fixedly connected to the second transfer part 2, the third driving member 11 is arranged perpendicular to the first transfer part 1 and the second transfer part 2, and when the output end of the third driving member 11 is arranged in the direction of the first transfer part 1, the output end of the third driving member 11 is connected with a slider 9, the slider 9 is slidably connected to the slide rail 10, and the slide rail 10 is arranged along the width direction of the first transfer part 1, the slider 9 is connected to the first arc rod 5 through the third connecting rod 7, and is connected to the second arc rod 6 through the fourth connecting rod 8, the third connecting rod 7 is rotatably connected to the first arc rod 5, and the fourth connecting rod 8 is connected to the second arc rod 6. The rod 8 is rotationally connected to the second arc rod 6, the first arc rod 5 is rotationally connected to the first transfer part 1, and the second arc rod 6 is rotationally connected to the second transfer part 2. In this way, when the third driving member 11 drives the slider 9 to move in the direction close to the first transfer part 1, the third connecting rod 7 drives the first arc rod 5 and the first rotating shaft 3 to rotate in the direction close to the second transfer part 2, and the fourth connecting rod 8 drives the second arc rod 6 and the second rotating shaft 4 to rotate in the direction close to the first transfer part 1, thereby making the first transfer part 1 and the second transfer part 2 in a supporting state; conversely, when the third driving member 11 drives the slider 9 to move in the direction away from the first transfer part 1, the third connecting rod 7 drives the first arc rod 5 and the first rotating shaft 3 to rotate in the direction away from the second transfer part 2, and the fourth connecting rod 8 drives the second arc rod 6 and the second rotating shaft 4 to rotate in the direction away from the first transfer part 1, thereby making the first transfer part 1 and the second transfer part 2 in a released state, opening the channel. The third connecting rod 7 and the fourth connecting rod 8 are not necessary structures and can be omitted, and the sliding block 9 is directly rotatably connected to the first arc rod 5 and the second arc rod 6; the specific setting method depends on the working conditions.

[0046] In addition, the first transmission member, the second transmission member and the third driving member 11 can also be set in other forms. For example, the transfer mechanism includes a first transmission rod that drives the first transfer part 1 and the second transfer part 2 to move away from and toward each other. The first transmission rod has a first thread segment and a second thread segment. The thread rotation directions of the first thread segment and the second thread segment are opposite. A first slider is sleeved on the first thread segment, and the first thread segment is threadedly connected to the first slider. The first slider is fixedly connected to the first transfer part 1. A second slider is sleeved on the second thread segment, and the second thread segment is threadedly connected to the second slider. The second slider is fixedly connected to the second transfer part 2. A first guide rod is also commonly inserted in the first slider and the second slider. The first guide rod is arranged parallel to the first transmission rod. The first transmission The rod is connected to the output end of the third driving member 11. At this time, the third driving member 11 can specifically be a rotating driving device such as a rotating motor. In this way, when the third driving member 11 drives the first transmission rod to rotate, because the first thread segment and the second thread segment rotate in opposite directions, the first transfer part 1 and the second transfer part 2 will rotate in opposite directions driven by the first slider and the second slider respectively. At the same time, due to the existence of the first guide rod, the first slider and the second slider cannot rotate, that is, the first guide rod enables the first slider and the second slider to move toward or away from each other only under the drive of the first transmission rod, thereby realizing the toward and away movement of the first transfer part 1 and the second transfer part 2, and then realizing the switching between the supporting state and the release state of the first transfer part 1 and the second transfer part 2.

[0047] Furthermore, in the present invention, the angle between the load-bearing area and the horizontal plane is not greater than the angle of repose of the material. At this time, the first transfer section 1 and the second transfer section 2 constitute a limiting section, which means that the first transfer section 1 and the second transfer section 2 are arranged horizontally, and the inclination angle when they are inclined is not greater than the angle of repose of the material, so that the material cannot slide along the first transfer section 1 or the second transfer section 2. Among them, when the first transfer section 1 and the second transfer section 2 are in the same plane, the angle between the plane and the horizontal plane is the angle between the load-bearing area and the horizontal plane. When the first transfer section 1 and the second transfer section 2 are not in the same plane, that is, there is an angle between the first transfer section 1 and the second transfer section 2, the angle between the load-bearing area and the horizontal plane includes the angle between the first transfer section 1 and the horizontal plane, and the angle between the second transfer section 2 and the horizontal plane.

[0048] And / or, the limiting part includes a limiting member arranged on the first transfer part 1 and / or the second transfer part 2, and the limiting member is used to prevent the material from falling from the load-bearing area. At this time, the limiting member can specifically be a railing arranged on the first transfer part 1 and / or the second transfer part 2. When the first transfer part 1 and the second transfer part 2 are in a supporting state, the first transfer part 1 and the second transfer part 2 are horizontally arranged, and the railing can be arranged along the circumference of the first transfer part 1 and the second transfer part 2. When the first transfer part 1 and the second transfer part 2 are in a supporting state, the first transfer part 1 and the second transfer part 2 are inclined, and the railing can be arranged in the lower area of ​​the load-bearing area.

[0049] In addition, in the present invention, the areas on the first transfer part 1 and the second transfer part 2 that are in contact with the material are provided with a coating for reducing friction. The coating reduces or even eliminates the friction between the first transfer part 1, the second transfer part 2 and the material, thereby reducing the wrinkles generated by the material on the load-bearing area and when passing through the channel; and, the coating may not be provided, and the first transfer part 1 and the second transfer part 2 may be made of a material with a smooth surface.

[0050] The transfer mechanism of the present invention also includes: a monitoring unit, which is used to monitor the deformation displacement of the material during the transfer process; a controller, which is signal-connected to the monitoring unit and the first drive component; wherein the monitoring unit can output a first signal to the controller when it detects that the deformation displacement exceeds a threshold range, and the controller can adjust the operating state of the first drive component according to the first signal, thereby reducing the deformation displacement and ensuring that the material will not have wrinkles as much as possible after falling into the set area. The monitoring unit may specifically be a camera, or a vertical plate arranged on the side of the first transfer part 1 and / or the second transfer part 2. The vertical plate is provided with a sensor in a set area, such as a photoelectric sensor. The photoelectric sensor includes a signal generator arranged on the vertical plate on one side of the first transfer part 1 and / or the second transfer part 2, and a signal receiver arranged on the vertical plate on the opposite side of the signal generator. When the displacement of the material during the transfer process is within a threshold range, the material does not block the photoelectric sensor, and the signal receiver can receive the signal emitted by the signal generator. When the displacement of the material during the transfer process exceeds the threshold range, the material blocks the photoelectric sensor, and the signal receiver cannot receive the signal emitted by the signal generator. The monitoring unit outputs a first signal to the controller, and the controller adjusts the first drive component, thereby regulating the motion state of the first transfer part 1 and the second transfer part 2.

[0051] Furthermore, the first transfer part 1 includes a first fixed area and a first movable area, the first movable area is located on the side of the first fixed area away from the second transfer part 2, and the first movable area is slidably matched with the first fixed area; the transfer mechanism also includes a second drive component, the second drive component is connected to the controller signal, the second drive component is connected to the first movable area in a transmission manner, and the second drive component is used to drive the first movable area to move away from and close to the first fixed area. When the controller finds that the deformation displacement of the material during the transfer process exceeds the threshold range according to the first signal fed back by the monitoring unit, the controller outputs a control signal to the second drive component, and the first movable area is driven by the second drive component to move away from the first fixed area, thereby driving part of the material to unfold and reduce the deformation displacement of the material, i.e., wrinkles. It should be noted that the first fixed area and the first movable area should be located in the same horizontal plane as much as possible to prevent the appearance of additional wrinkles of the material due to the height difference between the first fixed area and the first movable area. The second drive component can be a linear drive device such as an electric push rod.

[0052] Similarly, the second transfer part 2 includes a second fixed area and a second movable area, the second movable area is located on the side of the second fixed area away from the first transfer part 1, and the second movable area and the second fixed area are slidably matched; the transfer mechanism also includes a third drive component, the third drive component is connected to the controller signal, the third drive component is transmission-connected to the second movable area, and the third drive component is used to drive the second movable area to move away from and close to the second fixed area. The third drive component can be a linear drive device such as an electric push rod.

[0053] Furthermore, it should be noted that, in the process of opening the channel by driving the first driving component to move the first transfer part 1 and the second transfer part 2 in opposite directions, the movement speed of the first transfer part 1 and the second transfer part 2 should not be too fast, causing the material to fall, stack, and wrinkle, nor too slow, causing the material to scatter. The channel can be opened in a gradually accelerated manner, which can not only reduce the interference of the first transfer part 1 and the second transfer part 2 on the falling of the material during the initial movement, but also quickly open the channel and reduce the wrinkles caused by the friction and extrusion of the material in the first transfer part 1 and the second transfer part 2.

[0054] In addition, the multi-link synchronous execution device in the present invention also includes a fourth drive component that can drive the transfer mechanism to transfer from the previous area to the next area. The fourth drive component may include a fourth drive member 12 that can drive the transfer mechanism to move as a whole, such as a linear drive device such as a pneumatic rod and a hydraulic cylinder, and a fifth drive member 13 that drives the transfer mechanism to rotate as a whole, such as a rotating drive device such as a rotating motor. According to the working conditions, the fifth drive member 13 can also be a combination of multiple drive devices that can drive the transfer mechanism to perform multi-dimensional motion in space, such as three-dimensional motion. This is a prior art, and the specific equipment that drives the transfer mechanism to perform multi-dimensional motion will not be repeated.

[0055] like Figure 1 , Figure 2 As shown, at this time, the first transfer part 1 and the second transfer part 2 are fixed on the first frame 14, the fourth driving member 12 and the transfer mechanism are fixed on the second frame 15, and the second frame 15 is provided with a lifting slide rail 16, and the second frame 15 is provided with a slide seat 17 that slidably cooperates with the lifting slide rail 16, the second frame 15 is rotatably connected with the column 20, and the top of the second frame 15 is provided with a fifth driving member 13, the fifth driving member 13 is fixed on a support plate provided on the column 20 (the fifth driving member 13 is not fixed on the second frame 15), the output end of the fifth driving member 13 is connected with a driving gear 18, and the second frame 15 is provided with a slide seat 17 that slidably cooperates with the lifting slide rail 16. The driven gear 18 is meshed with the driven gear 19; in this way, the transfer mechanism is driven to move up and down along the lifting slide rail 16 through the fourth driving member 12 (for example, when the fourth driving member 12 is a cylinder, the piston rod can be fixed on the second frame 15, and the cylinder body can be fixedly connected to the first frame 14, thereby driving the transfer mechanism to move; or, the cylinder body can be fixed on the second frame 15, and the piston rod can be fixedly connected to the first frame 14, thereby driving the transfer mechanism to move), so as to adapt to the material transfer between workstations at different heights, and the second frame 15 and the transfer mechanism can be driven to rotate through the fifth driving member 13 to realize the material transfer between different production lines.

[0056] In this article, "and / or" means that in the same sentence, the text content before "and / or" and the text content after "and / or" can exist at the same time or separately; for example, A and / or B includes the situation where A and B exist at the same time, and the situation where only A or B exists.

[0057] The present invention discloses multiple technical solutions, but does not provide any contrary technical inspiration.

[0058] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A multi-link synchronous actuator, characterized in that: The multi-link synchronous execution device includes a transfer mechanism, and the transfer mechanism includes: A first transfer part and a second transfer part, wherein the first transfer part and the second transfer part have a supporting state and a releasing state: when the first transfer part and the second transfer part are in the supporting state, the first transfer part and the second transfer part cooperate to form a bearing area for supporting materials; when the first transfer part and the second transfer part are in the releasing state, a channel for materials to fall is formed between the first transfer part and the second transfer part, and the channel is arranged toward a set area; A limiting portion, the limiting portion is arranged on the first transfer portion and / or the second transfer portion, and the limiting portion is used to prevent the material from falling from the carrying area; Among them, the first transfer part and the second transfer part can apply a first force to the material during the material transfer process, and the first force causes the material to produce a deformation displacement, and the deformation displacement is not greater than the reset displacement of the material. After the material separates from the first transfer part and the second transfer part, the first force disappears.

2. The multi-link synchronous actuator according to claim 1, characterized in that: The transfer mechanism includes a first drive component; the first drive component can apply a second force to the first transfer part and the second transfer part, and the second force causes the first transfer part and the second transfer part to move synchronously in opposite directions and toward each other, so as to realize the switching of the first transfer part and the second transfer part between a supporting state and a released state.

3. The multi-link synchronous actuator according to claim 2, characterized in that: The first driving assembly includes a first driving member and a second driving member, the first driving member is drivingly connected to the first transfer part, and the second driving member is drivingly connected to the second transfer part.

4. The multi-link synchronous actuator according to claim 2, characterized in that: The first driving assembly includes a third driving member, a first transmission member and a second transmission member. The third driving member is connected to the first transfer member through the first transmission member, and the third driving member is connected to the second transfer member through the second transmission member.

5. The multi-link synchronous actuator according to claim 1, characterized in that: The angle between the load-bearing area and the horizontal plane is not greater than the repose angle of the material. In this case, the first transfer portion and the second transfer portion constitute the limiting portion; And / or, the limiting portion includes a limiting piece provided on the first transfer portion and the second transfer portion.

6. The multi-link synchronous actuator according to claim 1, characterized in that: Areas on the first transfer part and the second transfer part that are in contact with the material are both provided with a coating for reducing friction.

7. The multi-link synchronous actuator according to claim 2, characterized in that: The transfer agency also includes: A monitoring unit, which is used to monitor the deformation and displacement of materials during the transfer process; A controller, wherein the controller is signal-connected to the monitoring unit and the first driving component; Wherein, the monitoring unit can output a first signal to the controller when detecting that the deformation displacement exceeds a threshold range, and the controller can adjust the operating state of the first driving component according to the first signal, thereby reducing the deformation displacement.

8. The multi-link synchronous actuator according to claim 7, characterized in that: The first transfer portion includes a first fixed area and a first movable area, the first movable area is located on a side of the first fixed area away from the second transfer portion, and the first movable area is slidably matched with the first fixed area; The transfer mechanism also includes a second drive component, which is connected to the controller signal and transmission-connected to the first movable area, and is used to drive the first movable area to move away from and toward the first fixed area.

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