Multi-stage lifting and rotating device

Abstract

A multi-stage lifting and rotating device comprises a top fixing plate, a middle fixing plate, a rotating plate, a first-stage lifting plate, a rotating driving assembly, a pivotal bearing, a lifting driving assembly, a connector assembly and a second-stage lifting plate. A connector assembly is rotatably connected with the top fixing plate and the middle fixing plate through a pivotal bearing, the bottom of the connector assembly is fixedly connected with the first-stage lifting plate, the second-stage lifting plate is used for installing a material taking structure, and the rotating plate is fixedly connected with the end face, protruding out of the plate face, of the pivotal bearing. The lifting driving assembly comprises a first-stage lifting driving assembly and a second-stage lifting driving assembly, the first-stage lifting driving assembly is fixed to the plate face of the rotating plate, the output end of the first-stage lifting driving assembly is fixedly connected with the second-stage lifting plate, and the lifting driving assembly drives the material taking structure to complete second-stage lifting motion. The rotary driving assembly drives the material taking structure to complete angle rotation; the lifting and rotating device is wide in adaptive material taking environment range and high in universality, and the adaptive range of the material taking environment can be further expanded by rotatably adjusting the material taking angle.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical equipment, in particular to a multi-stage lifting and rotating device. Background Art

[0002] In the daily production process, it is necessary to rely on automated production equipment to complete high-intensity and high-risk operations. The flexibility and automation degree of mechanical equipment directly determine the working efficiency of workshop operations and thus affect production costs. Taking the product handling equipment as an example, in the process of handling and placing most products, only a first-stage lifting structure is required. After clamping the product, the product is transferred through the translation structure and the first-stage lifting structure. However, in some fields, the first-stage lifting cannot meet the product handling requirements. For example, when the product needs to be transferred and then put into a box, the first-stage lifting structure often cannot perform the box-in operation because of interference between the structure and the box. If special settings are required for the first-stage lifting structure and the picking and placing structure to complete the product transfer and box-in operation, complex avoidance designs are also needed, and the equipment universality is low. Moreover, the clamping surfaces of different products are different, some are in the X-axis direction, some are in the Y-axis direction, and even the box-in directions are different. The handling equipment in the prior art lacks a rotating structure and cannot adapt to the operations of handling multiple products / and putting them into boxes.

[0003] The utility model provides a multi-stage lifting and rotating device to solve the above technical problems. Content of the Utility Model

[0004] A multi-stage lifting and rotating device includes: a top fixing plate, an intermediate fixing plate, a rotating plate, a first-stage lifting plate, a rotating drive assembly, a slewing bearing, a lifting drive assembly, a connecting body assembly, and a second-stage lifting plate. The top fixing plate, the intermediate fixing plate, and the first-stage lifting plate are arranged in sequence from top to bottom. The top fixing plate and the intermediate fixing plate are fixedly connected. The rotating plate is located above or below the intermediate fixing plate. The connecting body assembly passes through the plate holes of the top fixing plate, the intermediate fixing plate, and the rotating plate and is fixedly connected to the first-stage lifting plate at the bottom. The connecting body assembly is rotatably connected to the inner walls of the plate holes of the top fixing plate and the intermediate fixing plate through the slewing bearing. The rotating plate is fixedly connected to the end of the inner ring of the slewing bearing protruding from the plate surface in the plate holes of the top fixing plate or / and the intermediate fixing plate. The lifting drive assembly includes a first-stage lifting drive assembly or / and a second-stage lifting drive assembly. The first-stage lifting drive assembly is installed on the plate surface of the rotating plate and the output shaft is fixedly connected to the first-stage lifting plate. When the lifting drive assembly also includes a second-stage lifting drive assembly, the second-stage lifting drive assembly is fixed on the plate surface of the first-stage lifting plate and the output end is fixedly connected to the second-stage lifting plate. The second-stage lifting plate is used to install a material picking structure.

[0005] Preferably, for the multi-stage lifting and rotating device, the connecting body assembly includes a connecting body main body, a first Z-axis slide rail and slider structure, and a height positioning structure. The first Z-axis slide rail and slider structure is installed on the side plate surface of the connecting body main body. The inner ring of the slewing bearing is fixedly connected to the slider of the first Z-axis slide rail and slider structure. The inner walls of the holes in the top fixing plate and the middle fixing plate are fixedly connected to the outer ring of the corresponding slewing bearing. The height positioning structure limits the height of the connecting body main body after adjustment.

[0006] Preferably, for the multi-stage lifting and rotating device, the height positioning structure includes a height positioning cylinder, a positioning pin, and a positioning strip. The positioning strip is machined with helical teeth on its plate surface and is installed on the side plate surface of the connecting body main body. The cylinder mounting plate is fixedly connected to the end surface of the slewing bearing protruding from the middle fixing plate surface. The height positioning cylinder is fixed through the cylinder mounting plate, and the piston rod of the height positioning cylinder is fixedly connected to the positioning pin.

[0007] Preferably, for the multi-stage lifting and rotating device, the rotating plate includes an upper rotating plate, a lower rotating plate, and a rotating plate connecting plate. The upper rotating plate and the lower rotating plate are fixedly connected through the rotating plate connecting plate. The upper rotating plate is fixedly connected to the end of the slewing bearing protruding from the top fixing plate surface in the hole of the top fixing plate and / or the lower rotating plate is fixedly connected to the end of the slewing bearing protruding from the middle fixing plate in the hole of the middle fixing plate.

[0008] Preferably, for the multi-stage lifting and rotating device, the rotation driving assembly includes a rotation driving device, a transmission structure, and a transmission gear. The rotation driving device is installed on the top fixing plate surface and its output end is connected to the transmission structure. The transmission structure and the transmission gear are meshed and connected. The transmission gear is fixedly connected to the end of the slewing bearing protruding from the top fixing plate surface in the hole of the top fixing plate.

[0009] Preferably, for the multi-stage lifting and rotating device, the secondary lifting plate and the primary lifting plate are connected through a second Z-axis slide rail and slider structure.

[0010] Preferably, for the multi-stage lifting and rotating device, the primary lifting driving assembly or / and the secondary lifting driving assembly is one of a servo electric cylinder, a cylinder, a servo lead screw structure, an electric cylinder, and a slide table cylinder.

[0011] Preferably, for the multi-stage lifting and rotating device, the rotation driving device is a servo motor, an r motor, or other rotation driving devices in the prior art.

[0012] Preferably, for the multi-stage lifting and rotating device, the top fixing plate is fixedly connected to the output end of the moving coordinate system. The multi-stage lifting and rotating device is driven by the moving coordinate system to transfer between the starting points. The first-stage lifting driving component drives the first-stage lifting plate to lift, and the second-stage lifting driving component drives the second-stage lifting plate to lift. The coordinate system is not shown in the figure, and an existing moving coordinate system in the prior art can be used.

[0013] The working principle is as follows:

[0014] The multi-stage lifting and rotating device is located above the product to be transferred (if there is a coordinate system, the multi-stage lifting and rotating device can also be moved above the product by the moving coordinate system). The first-stage lifting driving component drives the first-stage lifting plate to lift, and then the second-stage lifting driving component drives the second-stage lifting plate to lift, and further drives the material taking structure fixed to the second-stage lifting plate to descend to the material taking height. After the material taking is completed, under the action of the first-stage lifting driving component and the second-stage lifting driving component, it reaches the material discharging height to complete the material discharging of the product. There is no limitation on the sequence of the above lifting drives, and the starting sequence of the first-stage lifting driving component and the second-stage lifting driving component can be changed according to actual needs. When the material taking clamping surfaces of different products are different, the angle of the second-stage lifting plate can be driven by the rotation driving component (of course, the installation angle of the material taking structure relative to the second-stage lifting plate can also be changed after removing the material taking structure) to adapt to the material taking requirements at different angles. The lifting structure protected by this patent is not limited to the second-stage lifting structure, and can be designed as a multi-stage lifting structure with three or more stages according to needs.

[0015] The multi-stage lifting and rotating device in the present utility model has a simple structure and can complete the operations of product material taking, lifting, transferring / loading into the box without a complex avoidance design. It has high versatility. The rotating structure meets the use of products with different material taking surfaces, further improving the versatility. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The following further explains the specific embodiments in conjunction with the drawings, where:

[0017] Figure 1 is the overall structural schematic diagram of a multi-stage lifting and rotating device related to the present utility model;

[0018] Figure 2 is the partial structural schematic diagram of a multi-stage lifting and rotating device related to the present utility model;

[0019] Figure 3 、 4 is the structural schematic diagram of the connecting body assembly and the rotating plate from different perspectives;

[0020] The specific structures corresponding to the numbers are as follows:

[0021] Top fixed plate 1, middle fixed plate 2, rotating plate 3, upper rotating plate 31, lower rotating plate 32, rotating plate connecting plate 33, first-level lifting plate 4, rotating drive assembly 5, rotating drive device 51, transmission structure 52, transmission gear 53, slewing bearing 6, lifting drive assembly 7, first-level lifting drive assembly 71, second-level lifting drive assembly 72, connecting body assembly 8, connecting body body 81, first Z-axis slide rail slider structure 82, height positioning structure 83, height positioning cylinder 831, positioning pin 832, positioning bar 833, second-level lifting plate 9, second Z-axis slide rail slider structure 91.

[0022] The following specific embodiments will further illustrate the present invention in conjunction with the above-mentioned drawings. Specific embodiments

[0023] Specific implementation case 1:

[0024] A multi-level lifting and rotating device, comprising: a top fixed plate 1, a middle fixed plate 2, a rotating plate 3, a first-level lifting plate 4, a rotating drive assembly 5, a slewing bearing 6, a lifting drive assembly 7, a connecting body assembly 8, and a second-level lifting plate 9, as Figure 1 shown, the top fixed plate 1, the middle fixed plate 2, and the first-level lifting plate 4 are arranged in sequence from top to bottom, the top fixed plate 1 and the middle fixed plate 2 are fixedly connected, the rotating plate 3 is located above or below the middle fixed plate 2, the connecting body assembly 8 passes through the plate holes of the top fixed plate 1, the middle fixed plate 2, and the rotating plate 3 and is fixedly connected to the first-level lifting plate 4 at the bottom, the connecting body assembly 8 is rotatably connected to the inner walls of the plate holes of the top fixed plate 1 and the middle fixed plate 2 through the slewing bearing 6, the rotating plate 3 is fixedly connected to the end of the inner ring of the slewing bearing 6 protruding from the plate surface in the plate hole of the top fixed plate 1 or the middle fixed plate 2, the lifting drive assembly 7 includes a first-level lifting drive assembly 71 and a second-level lifting drive assembly 72, the first-level lifting drive assembly 71 is installed on the plate surface of the rotating plate 3 and the output shaft is fixedly connected to the first-level lifting plate 4, the second-level lifting drive assembly 72 is fixed on the plate surface of the first-level lifting plate 4 and the output end is fixedly connected to the second-level lifting plate 9, and the second-level lifting plate 9 is used to install a material taking structure, and the material taking structure is not shown in the drawings.

[0025] As Figure 2 、 3As shown, the connector assembly 8 includes a connector body 81, a first Z-axis slide rail slider structure 82, and a height positioning structure 83. The first Z-axis slide rail slider structure 82 is installed on the side plate surface of the connector body 81. The inner ring of the slewing bearing 6 is fixedly connected to the slider of the first Z-axis slide rail slider structure 82. The inner walls of the holes in the top fixing plate 1 and the middle fixing plate 2 are fixedly connected to the outer ring of the corresponding slewing bearing 6. The height positioning structure 83 limits the height of the connector body 81 after adjustment.

[0026] The rotating plate 3 includes an upper rotating plate 31, a lower rotating plate 32, and a rotating plate connecting plate 33. The upper rotating plate 31 and the lower rotating plate 32 are fixedly connected through the rotating plate connecting plate 33. The upper rotating plate 31 is fixedly connected to the end of the slewing bearing 6 protruding from the plate surface of the top fixing plate 1 in the hole of the top fixing plate 1, or the lower rotating plate 32 is fixedly connected to the end of the slewing bearing 6 protruding from the middle fixing plate 2 in the hole of the middle fixing plate 2. Simply put, the rotating plate 3 can be fixedly connected to the outer convex end surface of the corresponding slewing bearing 6 through the upper rotating plate 31 or the lower rotating plate 32 to complete the rotatable connection of the rotating plate 3.

[0027] The rotation driving assembly 5 includes a rotation driving device 51, a transmission structure 52, and a transmission gear 53. The rotation driving device 51 is installed on the plate surface of the top fixing plate 1 and its output end is connected to the transmission structure 52. The transmission structure 52 and the transmission gear 53 are meshed and connected. The transmission gear 53 is fixedly connected to the end of the slewing bearing 6 protruding from the plate surface of the top fixing plate 1 in the hole of the top fixing plate 1. By driving the transmission structure 52 and the transmission gear 53 to rotate through the rotation driving device 51, the connector assembly 8, the rotating plate 3, and the secondary lifting plate 9 are driven to rotate.

[0028] Optionally, the transmission structure 52 is a roller structure.

[0029] Specific Embodiment 2:

[0030] On the basis of Specific Embodiment 1, the multi-stage lifting and rotating device may further include one or more of the following preferred technical solutions:

[0031] Optionally, the height positioning structure 83 includes a height positioning cylinder 831, a positioning pin 832, and a positioning bar 833. The surface of the positioning bar 833 is machined with helical teeth and the positioning bar 833 is installed on the side plate surface of the connecting body main body 81. The cylinder mounting plate is fixedly connected to the end surface of the rotary bearing 6 protruding from the surface of the middle fixing plate 2. The height positioning cylinder 831 is fixed through the cylinder mounting plate and the piston rod of the height positioning cylinder 831 is fixedly connected to the positioning pin 832. Before the height of the connecting body main body 81 changes, there is a clearance between the positioning pin 832 and the helical teeth of the positioning bar 833. After the height adjustment is completed, the positioning pin 832 is inserted into the helical tooth clearance of the positioning bar 833 to complete the height limit.

[0032] Optionally, as Figure 3 , Figure 4 shown, the rotating plate 3 is fixedly connected to the end portions of the inner rings of the rotary bearings 6 protruding from the plate surfaces of the holes in the top fixing plate 1 and the middle fixing plate 2; the rotating plate 3 includes an upper rotating plate 31, a lower rotating plate 32, and a rotating plate connecting plate 33. The upper rotating plate 31 and the lower rotating plate 32 are fixedly connected through the rotating plate connecting plate 33. The upper rotating plate 31 is fixedly connected to the end portion of the rotary bearing 6 protruding from the surface of the top fixing plate 1 in the hole of the top fixing plate 1, and the lower rotating plate 32 is fixedly connected to the end portion of the rotary bearing 6 protruding from the middle fixing plate 2 in the hole of the middle fixing plate 2; simply put, the rotating plate 3 can be fixedly connected to the outer convex end surfaces of the corresponding rotary bearings 6 through the upper rotating plate 31 and the lower rotating plate 32 to complete the rotatable connection of the rotating plate 3.

[0033] Optionally, as Figure 2 shown, the secondary lifting plate 9 and the primary lifting plate 4 are connected through a second Z-axis slide rail and slider structure 91. During the lifting process of the secondary lifting plate 9 driven by the secondary lifting drive assembly 72, it is guided to lift relative to the primary lifting plate 4.

[0034] Specific Embodiment Case 3:

[0035] Based on Specific Embodiment Case 1 or Specific Embodiment Case 2, the multi-stage lifting and rotating device may further include one or more of the following preferred technical solutions:

[0036] Optionally, the top fixing plate 1 is fixedly connected to the output end of the coordinate system. The multi-stage lifting and rotating device is transferred between starting points by moving the coordinate system. The primary lifting plate 4 is lifted by the primary lifting drive assembly 71, and the secondary lifting plate 9 is lifted by the secondary lifting drive assembly 72. By introducing a moving coordinate system, it can be a one-dimensional coordinate system, a two-dimensional coordinate system, a three-dimensional coordinate system, or other coordinate systems available in the prior art.

[0037] Optionally, the primary lifting drive assembly 71 or / and the secondary lifting drive assembly 72 is one of a servo electric cylinder, a cylinder, a servo lead screw structure, an electric cylinder, and a slide cylinder. The rotary drive device 51 is a servo motor, an R-axis motor, or a rotary drive device in other existing technologies.

[0038] In order to reduce material input and improve the support strength, the secondary lifting plate 9 and the primary lifting plate 4 can be arranged as a lifting frame structure.

[0039] The above embodiments only represent several implementation manners of the present invention, and the description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the appended claims.

Claims

1. A multi-stage lifting and rotating device, characterized in that: It includes a top fixed plate, an intermediate fixed plate, a rotating plate, a first-level lifting plate, a rotating drive assembly, a slewing bearing, a lifting drive assembly, a connecting body assembly, and a second-level lifting plate. The top fixed plate, the intermediate fixed plate, and the first-level lifting plate are arranged in sequence from top to bottom. The top fixed plate and the intermediate fixed plate are fixedly connected. The rotating plate is located above or below the intermediate fixed plate. The connecting body assembly passes through the plate holes of the top fixed plate, the intermediate fixed plate, and the rotating plate and is fixedly connected to the bottom of the first-level lifting plate. The connecting body assembly is rotatably connected to the inner walls of the plate holes of the top fixed plate and the intermediate fixed plate through the slewing bearing. The rotating plate is fixedly connected to the end of the inner ring of the slewing bearing protruding from the plate surface in the plate holes of the top fixed plate or / and the intermediate fixed plate. The lifting drive assembly includes a first-level lifting drive assembly or / and a second-level lifting drive assembly. The first-level lifting drive assembly is installed on the plate surface of the rotating plate and the output shaft is fixedly connected to the first-level lifting plate. When the lifting drive assembly also includes a second-level lifting drive assembly, the second-level lifting drive assembly is fixed on the plate surface of the first-level lifting plate and the output end is fixedly connected to the second-level lifting plate. The second-level lifting plate is used to install the material taking structure.

2. The multi-stage lifting and rotating device according to claim 1, wherein: The connecting body assembly includes a connecting body body, a first Z-axis slide rail slider structure, and a height positioning structure. The first Z-axis slide rail slider structure is installed on the side plate surface of the connecting body body. The inner ring of the slewing bearing is fixedly connected to the slider of the first Z-axis slide rail slider structure. The inner walls of the plate holes of the top fixed plate and the intermediate fixed plate are fixedly connected to the outer ring of the corresponding slewing bearing. The height positioning structure limits the height of the connecting body body after adjustment.

3. The multi-stage lifting and rotating device according to claim 2, characterized in that: The height positioning structure includes a height positioning cylinder, a positioning pin, and a positioning bar. The positioning bar is processed with helical teeth on its plate surface and the positioning bar is installed on the side plate surface of the connecting body body. The cylinder mounting plate is fixedly connected to the end face of the slewing bearing protruding from the plate surface of the intermediate fixed plate. The height positioning cylinder is fixed through the cylinder mounting plate and the piston shaft of the height positioning cylinder is fixedly connected to the positioning pin.

4. The multi-stage lifting and rotating device according to claim 1, characterized in that: The rotating plate includes an upper rotating plate, a lower rotating plate, and a rotating plate connecting plate. The upper rotating plate and the lower rotating plate are fixedly connected through the rotating plate connecting plate. The upper rotating plate is fixedly connected to the end of the inner ring of the slewing bearing protruding from the plate surface in the plate hole of the top fixed plate or / and the lower rotating plate is fixedly connected to the end of the inner ring of the slewing bearing protruding from the plate surface of the intermediate fixed plate in the plate hole of the intermediate fixed plate.

5. The multi-stage lifting and rotating device according to any one of claims 1 to 4, characterized in that: The rotating drive assembly includes a rotating drive device, a transmission structure, and a transmission gear. The rotating drive device is installed on the plate surface of the top fixed plate and the output end is connected to the transmission structure. The transmission structure and the transmission gear are meshed and connected. The transmission gear is fixedly connected to the end of the inner ring of the slewing bearing protruding from the plate surface in the plate hole of the top fixed plate.

6. The multi-stage lifting and rotating device according to any one of claims 1 to 4, wherein: The second-level lifting plate and the first-level lifting plate are connected through a second Z-axis slide rail slider structure.

7. The multi-stage lifting and rotating device according to any one of claims 1 to 4, characterized in that: The first-level lifting drive assembly and / or the second-level lifting drive assembly is one of a servo electric cylinder, a cylinder, a servo lead screw structure, an electric cylinder, and a slide cylinder.

8. The multi-stage lifting and rotating device according to claim 5, wherein: The rotary drive device is a servo motor or other rotary drive devices in the prior art.

9. The multi-stage lifting and rotating device according to any one of claims 1 to 4, characterized in that: The top fixing plate is fixedly connected to the output end of the moving coordinate system, drives the multi-level lifting and rotating device to transfer between the starting points through the moving coordinate system, drives the first-level lifting plate to lift through the first-level lifting drive assembly, and drives the second-level lifting plate to lift through the second-level lifting drive assembly.

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