Transverse moving, lifting, overturning and moving module and motion control method thereof

Abstract

The invention discloses a transverse moving, lifting, overturning and moving module and a motion control method thereof. Multi-dimensional displacement and overturning of a workpiece are achieved through a single driving piece. The moving ring is connected with the adapter through a moving pair and is nested in a preset track track of the track plate to slide; one end of the guide rail strip is rotationally connected with the movable ring; the sliding block is slidably connected with the guide rail strip and fixes the rotating shaft seat. When the driving part operates, the moving ring is restrained by the rail to move, the guide rail strips are driven to slide relative to the sliding blocks, meanwhile, the sliding blocks are promoted to rotate around the rotating shaft seats, single rotating motion is converted into compound motion, and horizontal and vertical displacement and overturning of workpieces are completed. The module integrates the functions of transverse moving, lifting and overturning, the number of driving parts and complex synchronous logic are reduced, a transmission chain is shortened, action collaboration and displacement precision are improved, the structure is simplified, manufacturing cost is reduced, fault points are reduced, operation and maintenance difficulty and cost are reduced, and equipment economy is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automation equipment, and in particular to a transverse movement, lifting, flipping and moving module and a motion control method thereof. Background Art

[0002] In today's modern automated manufacturing processes, workpiece movement is a key step in achieving automated production. To meet diverse production demands, workpieces often need to be efficiently and accurately moved between workstations. This movement often involves height changes, horizontal displacements, and flipping to ensure the workpiece is positioned correctly for subsequent processing or assembly. At present, the existing workpiece shifting methods of automated equipment mainly have the following problems: First, most of them use multiple independent drive devices to control the lateral movement, lifting and flipping actions of the workpiece respectively, such as using linear drive parts to achieve lateral movement, cylinders to achieve lifting, and servo drive parts to cooperate with flipping mechanisms to achieve flipping. This multi-drive combination method not only increases the structural complexity and manufacturing cost of the equipment, but also makes the coordinated control between multiple drive devices difficult, and it is easy to have asynchronous movements, resulting in reduced workpiece shifting accuracy; second, although some equipment can achieve workpiece shifting, it requires multiple drive parts to work together, which has high energy consumption and is not conducive to energy conservation and emission reduction and reducing production costs; third, when flipping the workpiece, the existing shifting device is often difficult to combine closely with the lateral movement and lifting actions, and cannot simultaneously complete the changes in height, horizontal position and angle flipping in one drive process, resulting in low production efficiency and difficulty in meeting the high-speed and efficient production requirements of the automated production line. Summary of the Invention

[0003] Purpose of the invention: In order to overcome the defects of the prior art, the present invention provides a transverse, lifting and flipping mobile module and its motion control method, which can realize the movement of the workpiece between different heights and horizontal positions and complete the flipping action through only one driving component, and has a compact structure, simple control and low-cost solution.

[0004] The technical solution of the present invention is as follows: a transverse moving, lifting and flipping moving module, comprising a driving member, an adapter connected to the output end of the driving member, a moving ring, a track plate, a guide rail, a slider, a frame and a rotating shaft seat rotatably installed on the frame; the moving ring is connected to the adapter through a moving pair; a track with a preset track is provided in the track plate, and the moving ring is nested in the track of the track plate and can slide along the track; one end of the guide rail is connected to the moving ring through a rotating pair, and the other end is used to install a clamp for the target moving object; the slider and the guide rail form a sliding connection, and the slider is fixedly connected to the rotating shaft seat; when the driving member drives the adapter, the moving ring is constrained by the track of the track plate to produce displacement, driving the guide rail to slide relative to the slider, and at the same time the slider rotates around the rotating shaft seat.

[0005] With the above technical solution, in terms of power transmission, the driving part drives the moving ring through the adapter, which is constrained by the track plate trajectory and converts the single rotational motion into a composite motion of the guide rail sliding and the slider rotating around the rotating shaft seat, which drives the guide rail to slide relative to the slider, thereby realizing the horizontal or vertical position transfer of the workpiece. One driving part integrates the functions of lateral movement, lifting and flipping, simplifies the equipment layout, reduces the number of driving parts in collaborative control, eliminates the need for complex multi-drive synchronization logic, makes the transmission chain simple and efficient, and improves the coordination of actions, avoids the reduction of displacement accuracy due to collaborative errors, ensures the accuracy of the workpiece posture and position, and meets the requirements of high-precision automated production for displacement and flipping. In addition, the simplified structure reduces manufacturing costs, reduces failure points, reduces the difficulty and cost of operation and maintenance, and improves the economy of the equipment.

[0006] In a possible design, the track of the track plate is a curved cam groove.

[0007] With the above design, the trajectory of the curved cam groove is customized according to the motion path of the target moving object. In this way, the curved profile of the cam groove is used to provide a continuous and smooth curve, which can accurately plan the motion trajectory of the moving ring, so that the displacement of the guide bar and the rotation of the slider are accurately executed according to the preset rules, providing stable and precise trajectory constraints for the complex motion of the target moving object, ensuring motion accuracy and action consistency.

[0008] In one possible design, the track includes a starting section, a curved connecting section, and an ending section. The starting section is arranged horizontally, the curved connecting section connects the starting section and the ending section, and the ending section is arranged vertically to the starting section.

[0009] The above design clarifies the horizontal layout of the track's starting section and the vertical layout of the end section, allowing the target moving object to present a 90° flipped posture at the starting and ending positions. This adapts to the flipping posture requirements of most workpieces in automated production lines, makes the module movement and workstation connection more precise, and improves the adaptability of the production line and the continuity of operations.

[0010] In a possible design, the movable ring and the guide rail are hinged via a pin, so that the guide rail can rotate freely relative to the movable ring.

[0011] The above design releases the rotational freedom of the guide rail relative to the moving ring, avoiding motion interference. When the moving ring changes direction and speed along the track, the guide rail can adaptively adjust its angle to ensure smooth connection between sliding and rotation movements, thereby improving the module's motion stability and reliability.

[0012] In a possible design, a detection piece is fixedly mounted on the guide rail, and detection sensors adapted to the detection piece are respectively mounted on the frame at the starting position and the end position of the track.

[0013] The above design can monitor the starting and ending positions of the target moving object. On the one hand, it can realize the detection of movement arrival and ensure the accuracy of the movement. On the other hand, it can provide feedback signals for automatic control, facilitating the precise scheduling of the production line control system, such as triggering subsequent processes and determining whether the movement is abnormal, thereby improving the intelligence and automation level of the module.

[0014] In one possible design, a guide strip hole is opened in the adapter, and the guide strip hole is arranged along the radial direction of the output end of the driving member. The movable ring and the guide strip hole form a movable pair so that the movable ring can move along the setting direction of the guide strip hole.

[0015] With the above design, when the driving member is driven to rotate, it guides the moving ring to move along the track while also being able to adapt and adjust its position in the radial direction to drive the guide rail to shift along the preset position and provide guiding constraints for the movement of the moving ring, making the movement of the moving ring along the track more diversified and expanding the scope of application of the transmission movement.

[0016] In a possible design, the driving member is a rotary motor or a rotary cylinder.

[0017] With the above design, the rotary motor has strong controllability and can provide stable and precise power output for the module. In combination with motor control technologies such as servo control, it can accurately control the speed and direction of the adapter, and then accurately control the motion trajectory of the moving ring and the movement of the guide bar, so as to achieve precise control of the movement of the target moving object and improve the controllability of the module movement and the operation accuracy. If it is a rotary cylinder, it has a compact structure, high space utilization, fast start and stop and high-frequency response, which is suitable for use in scenarios with short strokes, low precision requirements and harsh scene environments.

[0018] Another technical solution of the present invention: a motion control method for a transverse, lifting and flipping moving module, which controls the horizontal displacement, vertical height change and flip angle of the target moving object around the rotating shaft seat by adjusting the track trajectory shape of the track plate.

[0019] By adopting the above design, the horizontal displacement, vertical height, flip angle and other motion parameters of the target moving object can be flexibly customized based on the adjustment of the track trajectory shape. The production line can adapt to various production scenarios according to the needs of different workpieces and different processes by replacing track plates with different trajectories or designing specific curved tracks, thereby improving the versatility of the module and reducing the equipment modification costs caused by changes in workpiece process. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic structural diagram of the present invention in the initial state of displacement; Figure 2 This is a structural diagram of the present invention in the shift end state; Figure 3Schematic diagram of the structure of the shifting process of the present invention; Figure 4 It is a sectional perspective view of the present invention in the final state of displacement; Figure 5 An exploded view of the present invention; Among them, 1. driving part; 2. adapter; 21. guide bar hole; 3. moving ring; 4. track plate; 41. starting section; 42. curved connecting section; 43. end section; 5. guide bar; 51. pin shaft; 52. detection part; 53. detection sensor; 6. slider; 7. shaft seat; 8. frame; 9. fixture. DETAILED DESCRIPTION

[0021] like Figures 1 to 5 The illustrated transverse, lift, and flipping module includes a driver 1, an adapter 2, a moving ring 3, a track plate 4, a guide rail 5, a slider 6, a rotating shaft seat 7, and a frame 8. Driver 1, serving as a power source, is preferably a rotary motor, such as a servo motor. This motor offers strong controllability and precise power output, providing stable rotational power for module movement. Its output end is connected to adapter 2 to transmit rotational motion. One end of the adapter 2 is connected to the output end of the driving member 1 to receive the rotational power transmitted by the driving member 1, and the other end is connected to the moving ring 3 through a moving pair; a track with a preset track is provided in the track plate 4, and its track is customized according to the movement requirements of the target moving object. The moving ring 3 is nested in the track of the track plate 4 and can slide along the track. The track constrains the movement path of the moving ring 3 and guides the moving ring 3 to produce a specific displacement; one end of the guide bar 5 is connected to the moving ring 3 through a rotating pair, so that the guide bar 5 can rotate freely relative to the moving ring 3. When the moving ring 3 moves along the track, it drives the guide bar 5 to move synchronously; the other end of the guide bar 5 is used for clamping the target moving object 9, and the displacement of the guide bar 5 means the displacement of the target moving object. The slider 6 forms a sliding connection with the guide bar 5, and the slider 6 provides a guide support for the movement of the guide bar 5, and the slider 6 is fixedly connected to the rotating shaft seat 7, and the rotating shaft seat 7 is rotatably installed on the frame 8, so that the slider 6 can rotate around the central axis of the rotating shaft seat 7; when the driving member 1 drives the adapter 2, the moving ring 3 is constrained by the trajectory of the track plate 4 to produce displacement, driving the guide bar 5 to slide relative to the slider 6, and at the same time the slider 6 rotates around the rotating shaft seat 7.

[0022] From the perspective of power transmission, the output power of the driving member 1 is transmitted to the moving ring 3 through the adapter 2. The moving ring 3 is constrained by the preset trajectory of the track plate 4, which converts the single rotational motion of the driving member 1 into a compound motion, which not only drives the guide bar 5 to slide relative to the slider 6 to realize the horizontal or vertical position transfer of the workpiece; but also uses the rotation of the slider 6 around the rotating shaft seat 7 to realize the flipping action of the workpiece. Only one driving member 1 is used to integrate the horizontal movement, lifting and flipping functions, which greatly simplifies the equipment layout compared with the complicated structure of the traditional multi-drive solution; at the collaborative control level, due to the reduction in the number of driving members 1, there is no need for complex multi-drive synchronous control logic. The driving member 1, adapter 2, moving ring 3 and other components form a simple and efficient transmission chain, and the action coordination is significantly improved. Compared with the action delay and asynchrony problems that are prone to occur in multi-drive devices, this module can make each motion link cooperate accurately to avoid the problems caused by collaborative errors. The accuracy of workpiece displacement is reduced, ensuring that the workpiece always maintains precise posture and position during complex trajectory movement, meeting the requirements of high-precision automated production for displacement and flipping; from the perspective of cost and maintenance, structural simplification directly reduces equipment manufacturing costs, reduces the purchase and assembly investment of drive parts and complex control modules. At the same time, the number of components is reduced and the transmission logic is clear, which makes the equipment have fewer failure points. Later maintenance does not need to spend a lot of energy on multi-drive collaborative debugging, reducing the difficulty and cost of operation and maintenance, and improving the economy of the equipment throughout its life cycle; in terms of production efficiency, integrated motion integration allows the workpiece to complete the compound actions of lateral movement, lifting, and flipping with one drive, without the need for step-by-step driving like traditional solutions. This greatly shortens the time consumption of workpiece displacement, adapts to the high-speed flow requirements of automated production lines, helps the production line improve the overall production rhythm, and can significantly enhance the production efficiency advantage in large-scale continuous production scenarios.

[0023] The track of track plate 4 is a curved cam groove, meaning the track forms a continuously extending curved trajectory. The groove channel machined into track plate 4 has an inverted trapezoidal or rectangular cross-section, slightly wider than the diameter of moving ring 3 to create a sliding fit. The groove walls are polished to reduce friction. The curved profile is customized to the target moving object's motion path. The trajectory is precisely designed based on the target moving object's required complex motion of lateral movement, elevation, and flipping. This provides a continuous and smooth trajectory for moving ring 3, precisely planning its movement and ensuring that the guide rail 5 displacement and slider 6 rotation follow a pre-set pattern.

[0024] The track consists of a starting section 41, a curved connecting section 42, and an ending section 43. Starting section 41 is horizontally arranged, allowing the workpiece to start in a horizontal position. Ending section 43 is perpendicular to starting section 41 and ends the workpiece in a vertical position, meaning it is flipped 90°. The intersection of the straight lines between starting section 41 and ending section 43 is located on the rotating shaft seat 7. This adapts to the workpiece flipping requirements of most automated production lines, such as the transition from a horizontal loading position to a vertical assembly position in electronic component assembly lines. The curved connecting section 42 is designed based on the required lateral movement and lifting distances, as well as the transition requirements between starting section 41 and ending section 43.

[0025] The movable ring 3 and the guide rail 5 are hingedly connected by a pin 51, allowing the guide rail 5 to rotate freely relative to the movable ring 3. When the movable ring 3 changes direction or speed along the track, the guide rail 5 can adaptively adjust its angle to avoid motion interference and ensure smooth transition between sliding and rotating movements. If the track curvature changes, the guide rail 5 can still stably drive the workpiece, improving the module's motion stability.

[0026] A detection element 52 is also fixedly mounted on the guide rail 5. Detection sensors 53, such as photoelectric sensors, compatible with these detection elements 52 are mounted on the frame 8 at the starting and ending points of the track. Upon reaching the starting and ending points of the track, the corresponding detection sensors 53 on the frame 8 are triggered. This not only detects whether the movement is in place, ensuring precision, but also provides feedback to the production line control system, which is used to schedule subsequent processes (such as activating the assembly robot after it is in place) and detect movement anomalies (initiating an alarm if no signal is detected).

[0027] A guide bar hole 21 is provided in the adapter 2 and is arranged in the radial direction of the output end of the driver 1. The movable ring 3 and the guide bar hole 21 form a movable pair so that the movable ring 3 can move along the direction in which the guide bar hole 21 is arranged. When the driver 1 rotates, the movable ring 3 is guided to move along the track while adjusting its position radially, making the movement of the movable ring 3 more flexible and expanding the applicable range of the transmission. When the movable ring 3 moves along the curved cam groove, the change in the curvature of the track will generate a radial displacement demand. The track trajectory will differ from the path formed by the rotation of the adapter 2. The movable ring 3 will be squeezed by the groove wall and will be offset. The guide bar hole 21 provides a certain radial movement space, so that the movable ring 3 can adapt to the radial offset to avoid getting stuck.

[0028] When the usage scenario is cramped, the environment is harsh, and the explosion-proof requirements are high, the driving part 1 can also choose a rotary cylinder, which is suitable for workpiece flipping at standard angles such as 90° and 180°. The rotary cylinder can control the flipping angle through mechanical limits, does not require complex programming, has low precision, and can meet the needs of cost-sensitive automatic production lines.

[0029] The operating principle of the lateral movement, lifting, and flipping module is as follows: when the rotary motor is activated, its output shaft drives the adapter 2 to rotate at a constant speed. At this point, the guide bar hole 21 within the adapter 2, with the connecting shaft of the moving ring 3 nested within this radial bar hole, converts the adapter 2's rotational motion into two sub-motions: one, pushing the moving ring 3 radially along the guide bar hole 21 to adapt to the changing trajectory; the other, driving the moving ring 3 to slide along the curved cam groove of the track plate 4. In the horizontal starting section 41, the moving ring 3 is constrained by the groove walls to maintain horizontal movement, driving the guide rail 5 to slide purely laterally relative to the slider 6, completing the horizontal displacement of the workpiece. When entering the curved connecting section 42, the torsional profile of the track forces the moving ring 3 to simultaneously lift and deflect. This causes the guide rail 5 to slide diagonally within the slider 6, while the slider 6 rotates around the rotating shaft seat 7. These two forces work together to simultaneously lift and flip the workpiece. Upon reaching the vertical ending section 43, the groove walls lock the moving ring 3 in its vertical position, and the slider 6 rotates to its 90° limit, flipping the guide rail 5 and the workpiece. In this way, the single rotational motion of the driving member 1 is converted into a composite motion of the sliding of the guide rail 5 and the rotation of the slider 6 through the cooperation of various components. Only one driving member 1 is used to integrate the functions of lateral movement, lifting and flipping of the workpiece.

[0030] A motion control method for a transverse, lift, and flip module controls the motion parameters of a target moving object by adjusting the track shape of a track plate 4. In actual production line applications, the track plate 4 is designed or replaced to match the workpiece's horizontal displacement, vertical height change, and flip angle around the pivot seat 7, depending on the workpiece's size and shape and the process requirements (e.g., loading, assembly, and testing).

[0031] When the moving ring 3 runs from the starting section 41 to the end section 43 in the track, the angle formed by the positions of the starting section 41 and the end section 43 and the rotating shaft seat 7 directly determines the rotation angle of the slider 6 around the rotating shaft seat 7, thereby realizing the flipping action of the target moving object. For example, if the starting section 41 and the end section 43 of the track are arranged at a 45° angle relative to the rotating shaft seat 7, when the moving ring 3 completes its movement along the track, the slider 6 will drive the target moving object to flip 45° synchronously. In addition, the distance between the position of the end section 43 and the rotating shaft seat 7 is also critical. This distance parameter works together with the horizontal and vertical extension of the track to determine the final displacement of the target object. When the end section 43 is far away from the rotating shaft seat 7, the height change and horizontal movement of the track can achieve a larger range of spatial displacement of the target object; conversely, shortening the distance between the end section 43 and the rotating shaft seat 7 is suitable for small-scale precision positioning needs.

Claims

1. A transverse, lifting, and flipping mobile module, characterized by: It includes a driving member (1), an adapter (2) connected to the output end of the driving member (1), a moving ring (3), a track plate (4), a guide rail (5), a slider (6), a frame (8), and a rotating shaft seat (7) rotatably mounted on the frame (8); The movable ring (3) is connected to the adapter (2) via a movable pair; A track with a preset track is provided in the track plate (4), and the movable ring (3) is nested in the track of the track plate (4) and can slide along the track; One end of the guide rail (5) is connected to the moving ring (3) via a rotating pair, and the other end is used to mount a fixture (9) for the target moving object; The slider (6) is in sliding connection with the guide rail (5), and the slider (6) is fixedly connected to the rotating shaft seat (7); When the driving member (1) drives the adapter (2), the moving ring (3) is constrained by the track of the track plate (4) to generate displacement, driving the guide rail (5) to slide relative to the slider (6), while the slider (6) rotates around the rotating shaft seat (7).

2. The lateral movement, lifting, flipping and moving module according to claim 1 is characterized in that: The track of the track plate (4) is a curved cam groove.

3. The lateral movement, lifting, flipping and moving module according to claim 2 is characterized in that: The track comprises a starting section (41), a curved connecting section (42) and an end section (43); the starting section (41) is arranged horizontally; the curved connecting section (42) connects the starting section (41) and the end section (43); and the end section (43) is arranged vertically to the starting section (41).

4. The lateral movement, lifting, flipping and moving module according to claim 1 is characterized in that: The movable ring (3) and the guide rail (5) are hinged via a pin (51), so that the guide rail (5) can rotate freely relative to the movable ring (3).

5. The lateral movement, lifting, flipping and moving module according to claim 1 is characterized in that: A detection member (52) is also fixedly mounted on the guide rail (5), and detection sensors (53) adapted to the detection member (52) are respectively mounted on the frame (8) at the starting position and the end position of the track.

6. The lateral movement, lifting, flipping and moving module according to claim 1 is characterized in that: A guide strip hole (21) is provided in the adapter (2), and the guide strip hole (21) is arranged along the radial direction of the output end of the driving member (1). The movable ring (3) and the guide strip hole (21) form a movable pair so that the movable ring (3) can move along the direction in which the guide strip hole (21) is arranged.

7. The lateral movement, lifting, flipping and moving module according to claim 1 is characterized in that: The driving member (1) is a rotary motor or a rotary cylinder.

8. A motion control method based on the mobile module according to any one of claims 1 to 7, characterized in that: By adjusting the shape of the track track of the track plate (4), the displacement of the target moving object in the horizontal direction, the height change in the vertical direction, and the flip angle around the rotating shaft seat (7) are controlled.

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