Double-rotor linkage three-axis grabbing mechanism based on magnetic drive conveying system
By using a double-actor-linked three-axis gripping mechanism in the magnetic levitation conveying system, the winding, dragging and wear problems caused by cables and air pipes during the material transportation process of the actuator pallet is solved, and efficient clamping, lifting and rotating of the material is achieved.
Patent Information
- Application Number
- CN202421961445.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-14
- Publication Date
- 2025-05-30
- Estimated Expiration
- 2034-08-14
AI Technical Summary
In the existing magnetic levitation conveying system, the rotor pallet needs to be connected to a large number of cables and air pipes during material conveying, resulting in problems of pipeline entanglement, dragging and wear.
The double-actor joint three-axis grasping mechanism based on the magnetic drive conveying system is adopted. By controlling the position of the two movers on the guide rail, the multi-axis mechanism is driven, and the clamping, lifting and rotating actions of materials are completed, avoiding the use of cables and air pipes in the traditional way.
It realizes efficient clamping, lifting and rotating of materials, avoids pipeline entanglement, dragging and wear problems, and ensures the smooth progress of conveying work.
Smart Images
Figure CN222922449U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of magnetic levitation conveying systems, and particularly relates to a double-rotor linkage three-axis grasping mechanism based on a magnetic drive conveying system. Background Technique
[0002] When the rotor tray conveys materials, it needs to complete the actions of clamping, lifting and rotating the materials. In the prior art, the commonly used method is to use a combination of a pneumatic / electric turntable + Z-axis slide + pneumatic / electric gripper carried on the rotor to achieve the clamping, lifting and rotating actions. This combination method requires connecting cables and air pipes to the rotor slider to provide power / air source. For the case of multiple rotors, this connection method will generate a large number of cables and air pipes, which are very easy to cause pipeline entanglement, and in the actual use process, as the rotor tray moves, it will cause dragging of the pipelines and cause wear. Content of the Utility Model
[0003] The purpose of the utility model is to provide a double-rotor linkage three-axis grasping mechanism based on a magnetic drive conveying system to solve the problems put forward in the above background technique.
[0004] To achieve the above purpose, the utility model provides the following technical solution: A double-rotor linkage three-axis grasping mechanism based on a magnetic drive conveying system, including a guide rail, on which a first rotor and a second rotor are slidably connected. On one side of the first rotor away from the guide rail, there is a drive adapter mounting part. On one side of the drive adapter mounting part, there is a track 1, and on the other side, there is a guide groove. The second rotor is slidably mounted on the track 1 through a connecting plate. At one end of the connecting plate away from the track 1, there is a grasping unit. The grasping unit includes a rod-bearing 1, an adapter and a mounting seat connected in sequence. A gear shaft 1 is arranged through the mounting seat. At the bottom end of the gear shaft 1, there is a small gear. On both sides of the small gear, there are grasping slides meshingly connected. The rod-bearing 1 is slidably mounted in the guide groove. On the drive adapter mounting part, there is a rack 1 meshing with the gear shaft 1.
[0005] In the present application solution, the following improvements are made: On the grasping slide, there is a small rack meshing with the small gear. At the bottom of the mounting seat, there are a pair of tracks 2. On the tracks 2, there are two sliding seats, and the two sliding seats are respectively connected to the grasping slides on both sides.
[0006] In the present application solution, the following improvements are made: The guide groove includes an uphill section and two horizontal sections, and the two horizontal sections are arranged at both ends of the uphill section.
[0007] The following improvements are made in the solution of this application. The adapter includes a fixed seat, a connecting seat and a rotating plate connected in sequence. A second gear shaft is disposed through the connecting seat. The lower end of the second gear shaft is connected to the rotating plate through a bearing. A second rack meshing with the second gear shaft is provided on the driving adapter mounting member. A connecting rod is provided between the rotating plate and the mounting seat.
[0008] The following improvements are made in the solution of this application. A pair of guiding bearings are provided on both sides of the top end of the fixed seat. A lifting guide rod is slidably inserted into the guiding bearing. The top end of the lifting guide rod is fixedly connected to the connecting plate.
[0009] The following improvements are made in the solution of this application. A limiting member is provided above the first gear shaft. The limiting member includes a guide rod and a limiting seat. A spring is sleeved on one end of the guide rod. A second rod-bearing is installed on the other end. A through groove matching with the guide rod is formed on the limiting seat. The free end of the spring is connected to the inner wall of the through groove. A guide strip is provided on the first rack. The second rod-bearing contacts the outer side surface of the guide strip. A limiting pin is provided on the guide rod. The lower end of the limiting pin slidably penetrates through the limiting seat. A limiting groove matching with the limiting pin is provided on the first gear shaft.
[0010] The following improvements are made in the solution of this application. A slider is slidably installed on the track. The side of the slider away from the track is fixedly connected to the connecting plate.
[0011] The following improvements are made in the solution of this application. A rotating shaft unit is provided between the first mover and the driving adapter mounting member and between the second mover and the connecting plate. The rotating shaft unit includes a rotating shaft and a bolt. Connecting holes are respectively formed on the first mover and the second mover. One end of the rotating shaft is rotatably installed in the connecting hole through a bearing seat, and the other end is fixedly connected to the driving adapter mounting member and the connecting plate through bolts respectively.
[0012] Compared with the prior art, the utility model provides a dual-mover linkage three-axis grasping mechanism based on a magnetic drive conveying system, and has the following beneficial effects:
[0013] The utility model controls the different positions of two movers with a certain functional relationship in the laying direction of the guide rail, and relies on the linkage between the double movers to realize the conversion of the two degrees of freedom of the two movers that move independently on the linear guide rail into a multi-axis mechanism drive on the movers, thereby realizing the clamping, lifting and rotating actions of the material, and through the movement of the first mover toward the second mover, the gear shaft one rotates, the slide clamps and grabs the material on the conveyor line below, the mechanism lifts the material to separate from the conveyor line, the gear shaft two rotates, the mechanism rotates to adjust the rotation at any angle, and then the first mover moves away from the second mover, the mechanism rotates in the opposite direction to return to the initial angle, the mechanism descends, and the slide is released, and the material transportation is completed by relying on the coordination of the relative positions between the double movers, thereby avoiding the pipeline entanglement, dragging and wear problems existing in the traditional combination method of carrying cables / trachea, and ensuring the smooth progress of the transportation work. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] Figure 1 It is a schematic diagram of the structure of the utility model;
[0015] Figure 2 It is a structural schematic diagram of the drive adapter mounting piece;
[0016] Figure 3 is a plan view of the grabbing unit;
[0017] Figure 4 is a schematic diagram of the structure of the mounting base;
[0018] Figure 5 This is a schematic diagram of the grabbing unit before it performs a lifting action;
[0019] Figure 6 This is a schematic diagram of the grasping unit after the lifting action;
[0020] Figure 7 It is a structural schematic diagram of a limiting member;
[0021] Figure 8 It is a structural schematic diagram of the shaft unit.
[0022] In the figure: 1, guide rail; 11, first mover; 12, second mover; 2, drive adapter mounting; 21, track one; 211, slider; 22, guide groove; 23, rack one; 231, guide bar; 24, rack two; 3, connecting plate; 4, rod-bearing one; 41, adapter; 411, fixed seat; 412, connecting seat; 413, rotating plate; 414, gear shaft two; 415, bearing; 416, connecting rod; 417, guiding bearing; 418, lifting guide rod; 42, mounting seat; 421, track two; 422, sliding seat; 43, gear shaft one; 431, limiting groove; 44, pinion; 45, grasping slide; 451, small rack; 5, limiting member; 51, guide rod; 511, spring; 52, limiting seat; 521, through groove; 53, rod-bearing two; 54, limiting pin; 6, rotating shaft; 61, bolt; 62, connecting hole. Detailed implementation mode
[0023] The technical solutions in the embodiments of the present invention will be described below with reference to the accompanying drawings in the embodiments of the present invention:
[0024] As Figure 1-2 shown, a double-mover linkage three-axis grasping mechanism based on a magnetic drive conveying system mainly consists of a guide rail 1, a first mover 11, a second mover 12, a drive adapter mounting 2, a connecting plate 3 and a grasping unit. The guide rail 1 includes a straight section and an arc section, and the first mover 11 and the second mover 12 are slidably mounted on the guide rail 1 through pulleys.
[0025] When the first mover 11 and the second mover 12 are located on the straight section of the guide rail 1, the drive adapter mounting 2 is fixedly mounted on the side of the first mover 11 away from the guide rail 1. It is fixedly connected to the first mover 11 through an L-shaped plate. And the inner side of the drive adapter mounting 2 is provided with a track one 21, and the outer side is provided with a rack one 23 and a rack two 24. The second mover 12 is slidably mounted on the track one 21 through the connecting plate 3. A slider 211 is slidably mounted on the track one 21. The side of the slider 211 away from the track one 21 is fixedly connected to the connecting plate 3. At the same time, a guide groove 22 is opened on the outer side of the drive adapter mounting 2. The guide groove 22 includes an uphill section and two horizontal sections, and the two horizontal sections are arranged at both ends of the uphill section.
[0026] As Figure 3-6As shown, the grasping unit is arranged at one end of the connecting plate 3 away from the track 21, and it includes a rod-bearing one 4, an adapter 41 and a mounting seat 42 which are connected in sequence. Among them, the rod-bearing one 4 is slidably mounted in the guide groove 22 to form a moving pair. When the first mover 11 and the second mover 12 generate relative displacement, the grasping unit can also move relatively with the driving adapter mounting member 2. A gear shaft one 43 is arranged through the mounting seat 42. The gear shaft one 43 meshes with the rack one 23. And a pinion 44 is provided at the bottom end of the gear shaft one 43. The two sides of the pinion 44 are meshed and connected with a grasping slide 45. A small rack 451 meshing with the pinion 44 is mounted on the grasping slide 45. A pair of tracks two 421 are mounted at the bottom of the mounting seat 42. Two sliding seats 422 are provided on the track 421. The bottoms of the two sliding seats 422 are respectively connected with the grasping slides 45 on both sides. When the gear shaft one 43 rotates, it drives the pinion 44 to rotate synchronously, thereby driving the relative movement of the small rack 451, and further realizing the approaching / separating movement of the grasping slide 45. The adapter 41 includes a fixed seat 411, a connecting seat 412 and a rotating plate 413 which are connected in sequence. A gear shaft two 414 is arranged through the connecting seat 412. The gear shaft two 414 meshes with the rack two 24. The lower end of the gear shaft two 414 is connected with the rotating plate 413 through a bearing 415. A connecting rod 416 is provided between the rotating plate 413 and the mounting seat 42. When the gear shaft two 414 rotates, it can drive the whole below to rotate. A pair of guiding bearings 417 are provided on both sides of the top end of the fixed seat 411. A lifting guide rod 418 is slidably inserted into the guiding bearings 417 to form a guiding pair. The top end of the lifting guide rod 418 is fixedly connected with the connecting plate 3. When the grasping unit approaches the second mover 12, the guiding bearings 417 move rightward in the guide groove 22, and drive the grasping unit to lift when passing through the uphill section.
[0027] A limiting member 5 is provided above the gear shaft one 43, such as Figure 7As shown in the figure, the limiting member 5 includes a guide rod 51 and a limiting seat 52. One end of the guide rod 51 is sleeved with a spring 511, and a rod-bearing two 53 is installed at the other end. A through groove 521 matching the guide rod 51 is formed on the limiting seat 52. The free end of the spring 511 is connected to the inner wall of the through groove 521. A guide bar 231 is provided on the first rack 23. The rod-bearing two 53 contacts the outer side surface of the guide bar 231. A limit pin 54 is provided on the guide rod 51. The lower end of the limit pin 54 slides through the limiting seat 52, and a channel for the movement of the limit pin 54 is formed on the limiting seat 52. A limit groove 431 matching the limit pin 54 is provided on the first gear shaft 43. In the initial state, the rod-bearing two 53 contacts the guide bar 231, driving the guide rail 51 to move into the through groove 521 and compress the spring 511. The limit pin 54 is located inside the first gear shaft 43. When the first gear shaft 43 is about to disengage from the first rack 23, the rod-bearing two 53 moves upward to disengage from the guide bar 231, and the guide rod 51 moves outward under the reaction force of the spring 511, thereby driving the limit pin 54 to snap into the limit groove 431 to lock the first gear shaft 43. When the first gear shaft 43 is about to mesh with the first rack 23, the rod-bearing two 53 contacts the guide bar 231 again, driving the guide rail 51 to move into the through groove 521, and the limit pin 54 disengages from the limit groove 431 accordingly, avoiding the phenomenon of gear collision.
[0028] To further improve the transfer stability, a limiting member 5 can be provided above the second gear shaft 414. At the same time, a limit groove is formed on the second gear shaft 414, and a guide bar is provided on the second rack 24 to cooperate with the limiting member 5 for operation.
[0029] When the first mover 11 and the second mover 12 are located on the arc section of the guide rail 1, a dislocation occurs between the first mover 11 and the second mover 12. A rotating shaft unit needs to be provided between the first mover 11 and the driving transfer mounting member 2, and between the second mover 12 and the connecting plate 3 to realize the distance adjustment of the first mover 11 and the second mover 12 passing through the arc section, as Figure 8 shown. The rotating shaft unit includes a rotating shaft 6 and a bolt 61. Connecting holes 62 are respectively formed on the first mover 11 and the second mover 12. One end of the rotating shaft 6 is rotatably installed in the connecting hole 62 through a bearing seat, and the other end is fixedly connected to the driving transfer mounting member 2 and the connecting plate 3 through bolts 61 respectively, so that when the first mover 11 and the second mover 12 pass through the arc section, the driving transfer mounting member 2, the connecting plate 3 and the grasping unit below can rotate relative to the mover to prevent the mechanism from jamming.
[0030] The above embodiments are only a part of the embodiments of the present invention, rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.
Claims
1. A double-motor linkage three-axis grasping mechanism based on a magnetic drive conveying system, comprising a guide rail (1), on which a first mover (11) and a second mover (12) are slidably connected, characterized in that: A drive adapter mounting member (2) is provided on the side of the first mover (11) away from the guide rail (1); a track (21) is provided on one side of the drive adapter mounting member (2) and a guide groove (22) is provided on the other side; the second mover (12) is slidably mounted on the track (21) via a connecting plate (3); a gripping unit is provided on the end of the connecting plate (3) away from the track (21); the gripping unit comprises a bearing with a rod (4), an adapter (41) and a mounting seat (42) connected in sequence; a gear shaft (43) is provided through the mounting seat (42); a pinion (44) is provided at the bottom end of the gear shaft (43); gripping slides (45) are meshingly connected on both sides of the pinion (44); the bearing with a rod (4) is slidably mounted in the guide groove (22); a rack (23) meshing with the gear shaft (43) is provided on the drive adapter mounting member (2).
2. According to claim 1, a double-motor linkage three-axis grabbing mechanism based on a magnetic drive conveying system is characterized in that: A small rack (451) meshing with the small gear (44) is mounted on the grabbing slide (45), a pair of rails (421) is mounted on the bottom of the mounting seat (42), two slides (422) are arranged on the rails (421), and the bottoms of the two slides (422) are respectively connected to the grabbing slides (45) on both sides.
3. According to claim 1, a double-motor linkage three-axis grabbing mechanism based on a magnetic drive conveying system is characterized in that: The guide groove (22) comprises an uphill section and two horizontal sections, and the two horizontal sections are arranged at both ends of the uphill section.
4. According to claim 3, a double-motor linkage three-axis grabbing mechanism based on a magnetic drive conveying system is characterized in that: The adapter (41) comprises a fixed seat (411), a connecting seat (412) and a rotating plate (413) which are connected in sequence; a second gear shaft (414) is provided through the connecting seat (412); the lower end of the second gear shaft (414) is connected to the rotating plate (413) via a bearing (415); a second rack (24) meshing with the second gear shaft (414) is provided on the drive adapter mounting member (2); and a connecting rod (416) is provided between the rotating plate (413) and the mounting seat (42).
5. According to claim 4, a double-motor linkage three-axis grabbing mechanism based on a magnetic drive conveying system is characterized in that: A pair of guide bearings (417) are provided on both sides of the top of the fixed seat (411), a lifting guide rod (418) is slidably inserted in the guide bearing (417), and the top of the lifting guide rod (418) is fixedly connected to the connecting plate (3).
6. According to claim 1, a double-motor linkage three-axis grabbing mechanism based on a magnetic drive conveying system is characterized in that: A limiting member (5) is provided above the first gear shaft (43), and the limiting member (5) comprises a guide rod (51) and a limiting seat (52); a spring (511) is sleeved on one end of the guide rod (51), and a second rod bearing (53) is installed on the other end; a through groove (521) matching with the guide rod (51) is provided on the limiting seat (52); a free end of the spring (511) is connected to the inner wall of the through groove (521); a guide bar (231) is provided on the first rack (23); the second rod bearing (53) contacts the outer side surface of the guide bar (231); a limiting pin (54) is provided on the guide rod (51); the lower end of the limiting pin (54) slides through the limiting seat (52); and a limiting groove (431) matching with the limiting pin (54) is provided on the first gear shaft (43).
7. According to claim 1, a double-motor linkage three-axis grabbing mechanism based on a magnetic drive conveying system is characterized in that: A slider (211) is slidably mounted on the track one (21), and a side of the slider (211) away from the track one (21) is fixedly connected to the connecting plate (3).
8. According to claim 1, a double-motor linkage three-axis grabbing mechanism based on a magnetic drive conveying system is characterized in that: A rotating shaft unit is provided between the first mover (11) and the drive adapter mounting member (2), and between the second mover (12) and the connecting plate (3). The rotating shaft unit comprises a rotating shaft (6) and a bolt (61). The first mover (11) and the second mover (12) are respectively provided with connecting holes (62). One end of the rotating shaft (6) is rotatably mounted in the connecting hole (62) via a bearing seat, and the other end is fixedly connected to the drive adapter mounting member (2) and the connecting plate (3) via bolts (61).