A double-actuator linkage mechanism based on annular magnetic drive conveying system

Abstract

The utility model relates to the technical field of magnetic levitation conveying, and discloses a double-motor linkage mechanism based on an annular magnetic drive conveying system, the linkage mechanism includes a first mover and a second mover, a connection assembly is provided between the first mover and a tray, the connection assembly includes a rotating component, a first slider and a first guide rail connected in sequence, the rotating component is installed at the top of the first mover, the first guide rail is connected to the bottom of the tray, a second slider is provided at the top of the second mover, a second guide rail is slidably connected to the second slider, the second guide rail is connected to the bottom of the tray, and an angle A is between the second guide rail and the first guide rail. The utility model controls the different positions of the two movers with a certain functional relationship in the laying direction of the magnetic drive conveying track, and changes the two degrees of freedom of the two movers that move independently on the linear guide rail into two translational degrees of freedom of the movers carrying materials in the XY plane, thereby realizing an arbitrary trajectory of the tray in the XY plane.

Description

Technical Field

[0001] The utility model relates to the technical field of magnetic suspension transportation, in particular to a double-mover linkage mechanism based on an annular magnetic drive transportation system. Background Art

[0002] The mover pallet needs to move along any trajectory in the XY plane when conveying materials, such as gluing (need to run along the gluing trajectory) and welding (need to run along the welding seam trajectory). There are usually two existing ways to achieve the movement of the mover pallet: one is to use the end effector of the scara robot. After the mover moves into place, the end effector of the scara robot will follow the trajectory in the XY plane. Although the mover pallet can be moved, such equipment is expensive and has high cost; the second is to use a magnetic driver as the X-axis and a linear motor as the Y-axis, but due to the interpolation lag caused by the communication delay between different controllers, the movement of the mover pallet in this way has a certain trajectory error. Utility Model Content

[0003] The purpose of the utility model is to provide a double-mover linkage mechanism based on an annular magnetic drive conveying system to solve the problems raised in the above background technology.

[0004] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a double-mover linkage mechanism based on an annular magnetic drive conveying system, the linkage mechanism is arranged between the annular magnetic drive conveying track and the pallet, the pallet is connected to the annular magnetic drive conveying track through the linkage mechanism, the linkage mechanism includes a first mover and a second mover, a connecting assembly is provided between the first mover and the pallet, the connecting assembly includes a rotating component, a first slider and a first guide rail connected in sequence, the rotating component is installed on the top of the first mover, the first guide rail is connected to the bottom end of the pallet, the second mover is provided with a second slider at the top, the second slider is slidably connected to the second guide rail, the second guide rail is connected to the bottom end of the pallet, and there is an angle A between the second guide rail and the first guide rail.

[0005] The following improvement is made in the present application: the tangent value of the angle A is the ratio of the change in the center distance between the first mover and the second mover to the change in the distance of the tray in the Y direction after the mechanism is transmitted.

[0006] The following improvement is made in the solution of the present application: the rotating component includes a connecting plate and a rotating shaft, the top end of the connecting plate is connected to the bottom end of the first sliding block, and the lower end of the rotating shaft is installed on the first mover through a bearing.

[0007] The following improvements are made in the present application: the bearing is mounted on the rotating shaft, and a mounting groove matching the bearing is provided at the top of the first mover. The first slider is rotated relative to the first mover by the matching arrangement among the mounting groove, the bearing, the rotating shaft and the connecting plate. When the first mover and the second mover pass through the arc segment, the tray is rotated and adjusted to ensure the stability of the material conveying process.

[0008] The following improvement is made in the solution of the present application: a through groove is opened in the middle of the top end of the first sliding block and the second sliding block along the length direction, and the lower ends of the first guide rail and the second guide rail are configured to slide in the through groove.

[0009] The following improvements are made in the present application: the bottom ends of the first mover and the second mover are provided with multiple pairs of support guide pulleys that match the annular magnetic drive conveying track, and each pair of the support guide pulleys is arranged on both sides of the annular magnetic drive conveying track. The annular magnetic drive conveying track is embedded with a drive module and an electromagnetic coil. The power output of the drive module allows the electromagnetic coil to generate a set of alternating magnetic fields on the track surface, thereby driving the mover on the track to move at high speed, realizing the transfer and transportation of materials.

[0010] Compared with the prior art, the utility model provides a double-motor linkage mechanism based on an annular magnetic drive conveying system, which has the following beneficial effects:

[0011] The utility model controls the different positions of two movers with a certain functional relationship in the laying direction of the magnetic drive conveyor track, and converts the two degrees of freedom of the two movers that move independently on the linear guide rail into two translational degrees of freedom of the movers carrying materials in the XY plane, thereby realizing an arbitrary trajectory of the pallet in the XY plane; by arranging a double-motor linkage mechanism to replace the existing method for realizing the movement of the mover pallet, the cost of using the robot is reduced, and at the same time, the interpolation lag trajectory error caused by the communication delay between different controllers is eliminated. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the structure of the utility model;

[0013] Figure 2 It is a top view of the utility model;

[0014] Figure 3 It is the structural explosion diagram of the utility model;

[0015] Figure 4 Schematic diagram of the connection between the slider and the guide rail.

[0016] In the figure: 1, annular magnetic drive conveying track; 2, tray; 3, first mover; 31, rotating component; 311, connecting plate; 312, rotating shaft; 32, first slider; 33, first guide rail; 34, bearing; 35, mounting groove; 4, second mover; 41, second slider; 42, second guide rail; 5, through groove; 6, supporting guide pulley. DETAILED DESCRIPTION

[0017] The technical scheme in the embodiment of the present invention will be described below in conjunction with the accompanying drawings in the embodiment of the present invention:

[0018] like Figure 1-4 As shown, a double-mover linkage mechanism based on an annular magnetic drive conveying system, the tray 2 is connected to the annular magnetic drive conveying track 1 through the linkage mechanism, the linkage mechanism includes a first mover 3 and a second mover 4, the bottom ends of the first mover 3 and the second mover 4 are provided with two pairs of supporting guide pulleys 6 that cooperate with the annular magnetic drive conveying track 1, and each pair of supporting guide pulleys 6 are arranged on both sides of the annular magnetic drive track 1.

[0019] A connecting assembly is provided between the first mover 3 and the tray 2, and the connecting assembly includes a rotating component 31, a first slider 32 and a first guide rail 33 connected in sequence. The rotating component 31 is installed at the top of the first mover 3, and the first guide rail 33 is connected to the bottom of the tray 2. The rotating component 31 includes a connecting plate 311 and a rotating shaft 312. The top of the connecting plate 311 is connected to the bottom of the first slider 32. A bearing 34 is mounted on the rotating shaft 312. A mounting groove 35 matching the bearing 34 is provided at the top of the first mover 3. The rotating shaft 312 is installed on the first mover 3 through the bearing 34. ; A second slider 41 is provided at the top of the second mover 4, and a second guide rail 42 is slidably connected to the second slider 41, and the second guide rail 42 is connected to the bottom end of the tray 2, and there is an angle A between the second guide rail 42 and the first guide rail 33, and the tangent value of the angle A is the ratio of the change in the center distance between the first mover 3 and the second mover 4 to the change in the Y-direction distance of the tray 2 after the transmission of the mechanism; a through groove 5 is opened in the middle of the top end of the first slider 32 and the second slider 41 along the length direction, and the lower ends of the first guide rail 33 and the second guide rail 42 are configured to be slidably matched with the through groove 5.

[0020] Working principle: Since each mover in magnetic drive conveying moves independently, that is, each mover has one degree of freedom, it is possible for multiple movers to move in any trajectory in the plane through linkage. The mechanism is designed to transform the two degrees of freedom of the two movers moving independently on the linear guide rail into two translational degrees of freedom of the movers carrying materials in the XY plane. The movers can move in straight segments and circular segments, and the freedom of the mechanism is verified at the same time: the position relationship between the two movers when the mechanism passes through the arc, that is, when one mover is in the straight segment and the other mover is in the circular segment, is solved by analytical method, so as to more conveniently control the movement of the movers in the position control mode and avoid the increase in control difficulty caused by the master-slave follower thrust control.

[0021] The above embodiments are only some embodiments of the utility model, not all embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

Claims

1. A double-motor linkage mechanism based on an annular magnetic drive conveying system, wherein the linkage mechanism is arranged between an annular magnetic drive conveying track (1) and a tray (2), and the tray (2) is connected to the annular magnetic drive conveying track (1) through the linkage mechanism, characterized in that: The linkage mechanism comprises a first mover (3) and a second mover (4); a connecting assembly is provided between the first mover (3) and the tray (2); the connecting assembly comprises a rotating component (31), a first slider (32) and a first guide rail (33) which are connected in sequence; the rotating component (31) is mounted on the top end of the first mover (3); the first guide rail (33) is connected to the bottom end of the tray (2); a second slider (41) is provided on the top end of the second mover (4); a second guide rail (42) is slidably connected to the second slider (41); the second guide rail (42) is connected to the bottom end of the tray (2); and an angle A exists between the second guide rail (42) and the first guide rail (33).

2. According to claim 1, a double-motor linkage mechanism based on an annular magnetic drive conveying system is characterized in that: The tangent value of the angle A is the ratio of the change in the center distance between the first mover (3) and the second mover (4) to the change in the distance of the tray (2) in the Y direction after the mechanism is driven.

3. According to claim 1, a double-motor linkage mechanism based on an annular magnetic drive conveying system is characterized in that: The rotating component (31) comprises a connecting plate (311) and a rotating shaft (312); the top end of the connecting plate (311) is connected to the bottom end of the first sliding block (32); and the lower end of the rotating shaft (312) is mounted on the first mover (3) via a bearing (34).

4. The double-motor linkage mechanism based on the annular magnetic drive conveying system according to claim 3 is characterized in that: The bearing (34) is sleeved on the rotating shaft (312), and a mounting groove (35) matching with the bearing (34) is provided at the top end of the first mover (3).

5. The double-motor linkage mechanism based on the annular magnetic drive conveying system according to claim 1 is characterized in that: A through slot (5) is provided at the middle of the top end of each of the first sliding block (32) and the second sliding block (41) along the length direction, and the lower ends of the first guide rail (33) and the second guide rail (42) are configured to be slidably matched with the through slot (5).

6. The double-motor linkage mechanism based on the annular magnetic drive conveying system according to claim 1 is characterized in that: The bottom ends of the first mover (3) and the second mover (4) are provided with a plurality of pairs of supporting guide pulleys (6) that match the annular magnetic drive conveying track (1), and each pair of the supporting guide pulleys (6) is arranged on both sides of the annular magnetic drive track (1).

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