Double-head material taking mechanism

Abstract

The invention provides a double-head material taking mechanism which comprises a rack, and two sets of material taking mechanisms are arranged on the rack side by side. Each material taking mechanism comprises a lifting base arranged on the rack in a sliding mode, a cam rotationally arranged on the rack, a driving motor driving the cam to rotate, a material taking assembly arranged on the lifting base and a reset spring arranged between the lifting base and the rack, and the cam is located above the lifting base. Comprising a body part, an ejector rod extending outwards in the radial direction of the body part and a roller rotationally arranged at the end, away from the body part, of the ejector rod. The driving motor drives the cam to continuously rotate, so that the height position of the roller is periodically changed along with the rotation angle of the cam, and the lifting seat is driven to do reciprocating lifting motion. According to the double-station material taking mechanism, double-station independent material taking and independent alignment attaching can be achieved, the material taking mechanism periodically drives the lifting base to descend through rotation of the cam, the lifting base drives the material taking assembly to ascend and descend in a reciprocating mode in combination with the reset effect of the reset spring, and the double-station material taking mechanism is compact in structure and low in cost.

Description

Technical Field

[0001] This invention relates to the field of automation technology, specifically a dual-head material handling mechanism. Background Technology

[0002] In automated production, material transfer and handling are common process steps. Current technologies typically employ servo motor-driven lead screw modules or synchronous belt modules as the actuators for lifting operations. While these solutions offer high positioning accuracy and flexible control, their complex structure requires precision guide rails, lead screws, synchronous belts, and high-precision servo drive systems, resulting in high overall design and manufacturing costs. Furthermore, wear and maintenance are necessary during long-term high-speed operation, further increasing operating costs. Therefore, there is an urgent need for a simpler, lower-cost, and more reliable material handling component. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides a dual-head material handling mechanism.

[0004] To achieve the above objectives, the present invention employs the following technical solution: The dual-head material handling mechanism provided by the present invention includes a frame, on which two sets of material handling mechanisms are arranged side by side, each set of material handling mechanisms including: The lifting seat is slidably mounted on the frame in a vertical direction; A cam is rotatably mounted on the frame and located above the lifting seat. The cam includes a main body, a push rod extending radially outward along the main body, and a roller rotatably mounted on the end of the push rod away from the main body. A drive motor, the output shaft of which is connected to the main body of the cam, is used to drive the cam to rotate; A material handling assembly, mounted on the lifting base, is used for picking up and placing materials; A return spring is disposed between the lifting seat and the frame to provide an elastic force that causes the lifting seat to return to its original position. The drive motor drives the cam to rotate, so that the roller on the cam can roll and abut against the lifting seat, thereby driving the lifting seat to slide downward in the vertical direction.

[0005] Furthermore, the drive motor drives the cam to rotate continuously, causing the vertical height position of the roller to change periodically with the rotation angle of the cam, thereby driving the lifting seat to perform reciprocating lifting motion.

[0006] Furthermore, the lifting seat performs the following periodic movements as the cam rotates: a) Descent stroke: When the cam rotates to the initial contact position between the roller on it and the lifting seat, as the cam rotates, the roller gradually descends in the vertical direction, and its downward force forces the lifting seat to slide downward against the elastic force of the return spring; b) Lower dead center: When the cam rotates to the position where the push rod is vertically downward, the roller reaches the lowest point of its motion trajectory, and the lifting seat simultaneously reaches its lower dead center. c) Lifting stroke: The cam continues to rotate, and the roller gradually rises from the lowest point in the vertical direction. Under the elastic force of the return spring, the lifting seat moves upward with the displacement of the roller. d) Top dead center: When the cam rotates to the position where the roller on it stops contacting the lifting seat, the lifting seat reaches its top dead center; wherein the stop contact position and the initial contact position are vertically symmetrical about the rotation center of the cam; e) Idle phase: During the process of the cam rotating from the stop contact position to the initial contact position, the movement trajectory of the roller is above the lifting seat, and the two are disengaged. The lifting seat remains stationary at the upper stop position under the action of the return spring until the next cycle begins.

[0007] Furthermore, taking the rotation of the cam's push rod to a horizontal position as the 0° rotation angle reference of the cam, along the set rotation direction, the cam rotation angle corresponding to the initial contact position is the first preset contact angle α, and the cam rotation angle corresponding to the stop contact position is the second preset contact angle β, where β = 180° – α; the first preset contact angle α takes any angle value between 30° and 60°.

[0008] Furthermore, the lifting seat and the frame are slidably connected via guide rails.

[0009] Furthermore, the material handling assembly includes a vacuum nozzle.

[0010] Furthermore, the material handling assembly also includes a hollow rotary drive device, and the vacuum nozzle is disposed at the output end of the hollow rotary drive device.

[0011] Furthermore, the hollow rotary drive device is a hollow rotary stepper motor with a shaft.

[0012] Furthermore, the dual-head material handling mechanism provided by the present invention further includes: A positioning disk is fixedly mounted on the output shaft of the hollow rotary drive device, and at least one mechanical notch is provided on the circumferential edge of the positioning disk; An angle sensor is fixedly mounted on the frame and is opposite to the circumferential edge of the positioning disk, used to detect whether the mechanical notch has passed through; The control system is connected to the hollow rotary drive device, the angle sensor, the drive motor, and the vacuum nozzle.

[0013] Furthermore, a height sensor is installed on the frame, and the height sensor is connected to the control system.

[0014] Compared with existing technologies, the advantages of this invention are as follows: The dual-head material handling mechanism of this invention can achieve independent material handling at two workstations, with independent alignment and fitting, a compact structure, and high precision. This invention utilizes the periodic rotation of a cam to drive the lifting seat downwards, combined with a return spring to reset the lifting seat, thereby achieving the reciprocating lifting motion of the lifting seat to drive the reciprocating lifting of the material handling component, realizing the material handling operation. This replaces the traditional high-cost servo screw or synchronous belt module, significantly simplifying the structure and reducing manufacturing costs and maintenance difficulty. The use of a return spring to reset the lifting seat results in a simple, reliable, and low-cost structure, requiring no additional power source, and effectively buffering the impact when the cam presses down, making the movement smoother. The cam and lifting seat contact through rollers, reducing friction and wear, and improving operational reliability and service life. The dual-head material handling mechanism of this invention is particularly suitable for rapid, rhythmic dual-workstation synchronous handling of lightweight materials, such as automated production lines for clothing, electronic components, and small packaged products, achieving efficient, economical, and durable production while ensuring sufficient positioning accuracy. Attached Figure Description

[0015] Appendix Figure 1 This is one of the structural schematic diagrams of the present invention.

[0016] Appendix Figure 2 This is the second structural schematic diagram of the present invention.

[0017] Appendix Figure 3 This is a structural schematic diagram of the cam rotation angle of the present invention.

[0018] The labels shown in the attached diagram: 1. Frame; 11. Support column; 12. Guide rail; 2. Lifting seat; 3. Cam; 31. Main body; 32. Top rod; 33. Roller; 4. Drive motor; 5. Material handling assembly; 51. Vacuum nozzle; 52. Hollow rotary drive device; 6. Return spring; 7. Positioning plate; 71. Mechanical notch; 8. Angle sensor; 9. Height sensor. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. The same reference numerals in the drawings represent the same components. It should be noted that the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0020] Unless otherwise defined, the technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains. The terms "comprising" and similar expressions used in this invention specification and claims mean that the element or object preceding the word encompasses the element or object listed following the word and its equivalents, without excluding other elements or objects. Terms such as "connection" are not limited to physical or mechanical connections and can be direct or indirect.

[0021] like Figures 1-3 As shown, the present invention provides a dual-head material handling mechanism, including a frame 1, on which two sets of material handling mechanisms are arranged in parallel. Each set of material handling components 5 includes a lifting seat 2, a cam 3, a drive motor 4, a material handling component 5, and a return spring 6.

[0022] The lifting seat 2 is slidably mounted on the frame 1 in a vertical direction. The cam 3 is rotatably mounted on the frame 1 and located above the lifting seat 2. The cam 3 includes a main body 31, a push rod 32 extending radially outward along the main body 31, and a roller 33 rotatably mounted on the end of the push rod 32 away from the main body 31. The output shaft of the drive motor 4 is connected to the main body 31 of the cam 3 to drive the cam 3 to rotate. The material handling assembly 5 is mounted on the lifting seat 2 for picking up and placing materials. The return spring 6 is located between the lifting seat 2 and the frame 1. A support column 11 can be mounted on the frame 1 to fix one end of the return spring 6, and the other end of the return spring 6 is fixed to the lifting seat 2. The return spring 6 provides an elastic force to return the lifting seat 2 to its upward position. The drive motor 4 drives the cam 3 to rotate, so that the roller 33 on the cam 3 can roll against the lifting seat 2, thereby driving the lifting seat 2 to slide downward in a vertical direction.

[0023] The dual-head material handling mechanism of this invention enables independent material handling at two workstations, allowing for independent alignment and fitting. It features a compact structure and high precision. The invention utilizes the periodic rotation of cam 3 to drive the lifting seat 2 downwards, combined with a return spring 6 to reset the lifting seat 2. This reciprocating motion of the lifting seat 2 drives the reciprocating motion of the material handling component 5, achieving the material handling operation. This replaces traditional high-cost servo screws or synchronous belt modules, significantly simplifying the structure and reducing manufacturing costs and maintenance difficulty. The use of a return spring for resetting the lifting seat 2 results in a simple, reliable, and low-cost structure, requiring no additional power source and effectively buffering the impact of cam 3's downward pressure, making the movement smoother. The contact between cam 3 and lifting seat 2 via rollers 33 reduces friction and wear, improving operational reliability and service life. This dual-head material handling mechanism is particularly suitable for rapid, rhythmic dual-workstation synchronous handling of lightweight materials, such as automated production lines for clothing, electronic components, and small packaged products. It achieves efficient, economical, and durable production while ensuring sufficient positioning accuracy.

[0024] Furthermore, the drive motor 4 drives the cam 3 to rotate continuously, causing the vertical height position of the roller 33 to change periodically with the rotation angle of the cam 3, thereby driving the lifting seat 2 to perform reciprocating lifting motion. Specifically, the lifting seat 2 performs the following periodic movements with the rotation of the cam 3: a) Descent stroke: When the cam 3 rotates to the initial contact position between the roller 33 on it and the lifting seat 2, as the cam 3 rotates, the roller 33 gradually descends in the vertical direction. Its downward force forces the lifting seat 2 to overcome the elastic force of the return spring 6 and slide downward, thereby realizing the descent action of the material picking mechanism. b) Lower dead center: When the cam 3 rotates to the position where the push rod 32 is vertically downward, the roller 33 reaches the lowest point of its movement trajectory, and the lifting seat 2 simultaneously reaches the lower dead center of its stroke; at this very short instant, the material picking mechanism is also at the lowest position, and can complete the material picking or unloading operation; c) Lifting stroke: As the cam 3 continues to rotate, the roller 33 gradually rises from the lowest point in the vertical direction. At this time, under the elastic force of the return spring 6, the lifting seat 2 is in close contact with the roller 33 and moves upward with the displacement of the roller 33 until the roller 33 returns to the initial contact height. d) Top dead center: When the cam 3 rotates to the position where the roller 33 on it stops contacting the lifting seat 2, the lifting seat 2 reaches its top dead center; wherein, the stop contact position and the initial contact position are vertically symmetrical along the rotation center of the cam 3, and at this time, the roller 33 has not reached the highest point of its motion trajectory. e) Idle phase: When the cam 3 rotates from the stop contact position to the initial contact position, the movement trajectory of the roller 33 is above the lifting seat 2, and the two are out of contact. During this phase, the lifting seat 2 remains stationary at the upper stop position under the action of the return spring 6 until the next cycle begins.

[0025] Furthermore, such as Figure 3 As shown, with the top rod 32 of the cam 3 rotating to a horizontal position as the reference for the 0° rotation angle of the cam 3, along a set rotation direction (such as clockwise or counterclockwise), the rotation angle of the cam 3 corresponding to the initial contact position is the first preset contact angle α, and the rotation angle of the cam 3 corresponding to the stop contact position is the second preset contact angle β, where β = 180° – α. A smaller α (e.g., 30°) results in a longer contact arc length, a longer movement time for the lifting seat 2, and a shorter high / low position dwell time; a larger α (e.g., 60°) results in a shorter contact arc length, a shorter movement time for the lifting seat 2, and a longer high / low position dwell time.

[0026] Specifically, when the rotation angle of cam 3 is α to 90°, it is the downward stroke; when the rotation angle of cam 3 is 90°, it reaches the lower dead center; when the rotation angle of cam 3 is 90° to β, it is the upward stroke; when the rotation angle of cam 3 is β, it reaches the upper dead center; when the rotation angle of cam 3 is β to α, it is the idle stroke stage.

[0027] Furthermore, the first preset contact angle α is any angle value from 5° to 60° to adapt to the process requirements of different lifting strokes and motion sequences. For example, the first preset contact angle α is any angle value from 7°, 10°, 15°, 20°, 25°, 30°, 45°, 50°, and 60°.

[0028] In one embodiment, the lifting seat 2 is slidably connected to the frame 1 via a guide rail 12. Specifically, the guide rail 12 is fixedly mounted on the frame 1 in a vertical direction, and the lifting seat 2 is connected to a slider on the guide rail 12, thereby realizing the sliding lifting of the lifting seat 2 in a vertical direction. The slidable connection between the lifting seat 2 and the frame 1 via the guide rail 12 ensures the guiding accuracy and operational stability of the lifting motion of the lifting seat 2 under the drive of the cam 3, and ensures that the material handling assembly 5 does not shake during high-speed reciprocating motion, thereby improving the positioning accuracy and repeatability of material handling.

[0029] Furthermore, the material handling component 5 includes a vacuum nozzle 51. The vacuum nozzle 51 is suitable for picking up thin, flat materials (such as chips, glass sheets, films, clothing, etc.), and has the advantages of fast gripping, no damage to the workpiece surface, and strong adaptability.

[0030] Furthermore, the material handling assembly 5 also includes a hollow rotary drive device 52, and the vacuum nozzle 51 is disposed at the output end of the hollow rotary drive device 52. Under the action of the hollow rotary drive device 52, the material handling assembly 5 can rotate at a certain angle to adjust the angle of the material after it is grasped, so as to achieve alignment and fit and meet the needs of different fitting angles.

[0031] Furthermore, the hollow rotary drive device 52 is a hollow rotary stepper motor with a shaft. Specifically, the vacuum nozzle 51 can be directly screwed into or locked onto the hollow output shaft of the hollow rotary stepper motor through a hollow connecting joint, so that the vacuum nozzle 51 and the hollow output shaft of the hollow rotary stepper motor can achieve rigid mechanical connection and rotational synchronization.

[0032] Furthermore, the dual-head material handling mechanism also includes: The positioning disk 7 is fixedly mounted on the output end of the hollow rotary drive device 52, that is, the positioning disk 7 is mounted on the hollow output shaft of the hollow rotary stepper motor with shaft and rotates synchronously with it. The circumferential edge of the positioning disk 7 is provided with at least one mechanical notch 71 for characterizing a specific angle. An angle sensor 8 is fixedly mounted on the frame 1 and is opposite to the circumferential edge of the positioning disk 7, used to detect whether the mechanical notch 71 has been passed; The control system is connected to the hollow rotary drive device 52, the angle sensor 8, the drive motor 4, and the vacuum nozzle 51.

[0033] The control system controls the hollow rotary drive device 52 to drive its output shaft to rotate. When the angle sensor 8 detects the mechanical notch 71, the current position of the output shaft is defined as the angle reference zero point. Based on the angle reference zero point, the control system controls the hollow rotary drive device 52 to run a preset number of pulses or angles so that the material taking component 5 rotates to one or more preset fixed angle positions.

[0034] Furthermore, a height sensor 9 is installed on the frame 1, and the height sensor 9 is connected to the control system to detect the position of the lifting seat 2.

[0035] Those skilled in the art should understand that the specific embodiments described above are merely examples and not limitations. Various modifications, combinations, partial combinations, and substitutions can be made to the embodiments of the present invention according to design requirements and other factors, as long as they are within the scope of the appended claims or their equivalents, and thus fall within the scope of the rights to be protected by the present invention.

Claims

1. Double head picking mechanism comprising a frame, characterized in that, Two sets of material handling mechanisms are arranged side by side on the frame, and each set of material handling mechanisms includes: The lifting seat is slidably mounted on the frame in a vertical direction; A cam is rotatably mounted on the frame and located above the lifting seat. The cam includes a main body, a push rod extending radially outward along the main body, and a roller rotatably mounted on the end of the push rod away from the main body. A drive motor, the output shaft of which is connected to the main body of the cam, is used to drive the cam to rotate; A material handling assembly, mounted on the lifting base, is used for picking up and placing materials; A return spring is disposed between the lifting seat and the frame to provide an elastic force that causes the lifting seat to return to its original position. The drive motor drives the cam to rotate, so that the roller on the cam can roll and abut against the lifting seat, thereby driving the lifting seat to slide downward in the vertical direction.

2. The double head pick-up mechanism according to claim 1, characterized in that, The drive motor drives the cam to rotate continuously, causing the vertical height position of the roller to change periodically with the rotation angle of the cam, thereby driving the lifting seat to perform reciprocating lifting motion.

3. The double head pick-up mechanism according to claim 2, wherein The lifting seat performs the following periodic movements as the cam rotates: a) Descent stroke: When the cam rotates to the initial contact position between the roller on it and the lifting seat, as the cam rotates, the roller gradually descends in the vertical direction, and its downward force forces the lifting seat to slide downward against the elastic force of the return spring; b) Lower dead center: When the cam rotates to the position where the push rod is vertically downward, the roller reaches the lowest point of its motion trajectory, and the lifting seat simultaneously reaches its lower dead center. c) Lifting stroke: The cam continues to rotate, and the roller gradually rises from the lowest point in the vertical direction. Under the elastic force of the return spring, the lifting seat moves upward with the displacement of the roller. d) Top dead center: When the cam rotates to the position where the roller on it stops contacting the lifting seat, the lifting seat reaches its top dead center; wherein the stop contact position and the initial contact position are vertically symmetrical about the rotation center of the cam; e) Idle phase: During the process of the cam rotating from the stop contact position to the initial contact position, the movement trajectory of the roller is above the lifting seat, and the two are disengaged. The lifting seat remains stationary at the upper stop position under the action of the return spring until the next cycle begins.

4. The dual head take-off mechanism of claim 3, wherein, Taking the rotation of the cam's push rod to a horizontal position as the reference for the cam's rotation angle of 0°, along the set rotation direction, the cam rotation angle corresponding to the initial contact position is the first preset contact angle α, and the cam rotation angle corresponding to the stop contact position is the second preset contact angle β, where β = 180° – α; the first preset contact angle α takes any angle value between 30° and 60°.

5. A double head picking mechanism according to any one of claims 1-4, characterized in that, The lifting seat and the frame are slidably connected by guide rails.

6. The dual head take-off mechanism of claim 5, wherein, The material handling assembly includes a vacuum nozzle.

7. The dual-head feeding mechanism according to claim 6, characterized in that, The material handling assembly also includes a hollow rotary drive device, and the vacuum nozzle is located at the output end of the hollow rotary drive device.

8. The dual-head feeding mechanism according to claim 7, characterized in that, The dual-head material handling mechanism also includes: A positioning disk is fixedly installed at the output end of the hollow rotary drive device, and at least one mechanical notch is provided on the circumferential edge of the positioning disk; An angle sensor is fixedly mounted on the frame and is opposite to the circumferential edge of the positioning disk, used to detect whether the mechanical notch has passed through; The control system is connected to the hollow rotary drive device, the angle sensor, the drive motor, and the vacuum nozzle.

9. The dual-head feeding mechanism according to claim 8, characterized in that, A height sensor is installed on the frame, and the height sensor is connected to the control system.

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