Synchronous variable-pitch material moving module with shear fork type connecting rod mechanism

Abstract

The utility model discloses a synchronous variable-pitch material moving module with a shear fork type connecting rod mechanism. The synchronous variable-pitch material moving module comprises a bearing seat, a connecting rod mechanism, a longitudinal guide part, a transverse guide part, an upper connecting rod and a reference block, the connecting rod mechanism is located in an inner cavity of the bearing seat, and the connecting rod mechanism comprises four short connecting rods and a plurality of long connecting rods which are hinged to one another to form a multi-shear-fork and multi-parallelogram connecting rod structure; the hinged part of two ends in the middle of the connecting rod mechanism is connected to the middle of the lower bottom plate through a longitudinal guide part; the middle hinged positions of the shear forks and the hinged positions of the outer ends of the short connecting rods are connected with reference blocks through upper connecting rods, the reference blocks are slidably connected with the upper panel through transverse guiding parts, relative acting force is applied to the two reference blocks on the outermost side, and all the reference blocks contract inwards at equal intervals or expand outwards at equal intervals. According to the utility model, the device is provided with a scissor-type connecting rod mechanism, can complete the spacing adjustment of a plurality of parts at a time, and improves the testing efficiency and accuracy.

Description

Technical Field

[0001] The utility model relates to the field of material movement, and particularly to a synchronous variable-spacing material transfer module with a scissor-link mechanism. Background Art

[0002] During the storage and transportation of parts of 3C electronic devices, the parts are usually arranged neatly in trays. Generally, the distances between parts at each work station are different. In the prior art, a manipulator or manual labor is usually used to extract parts one by one for individual testing. Its defects are as follows: Firstly, the number of operations is increased, and the cumulative cycle of multiple material movement processes will significantly increase the time required for testing, increasing time consumption and resulting in low testing efficiency; Secondly, precise positioning is required for each clamping, and precise positioning is also required for each displacement and discharging. Moreover, the above operations need to be precisely coordinated, making the entire testing process complex. The multi-step operation process increases the possibility of errors and makes it difficult to achieve high-efficiency automation in the entire testing process. Summary of the Utility Model

[0003] To solve one or more of the above problems, the utility model provides a synchronous variable-spacing material transfer module with a scissor-link mechanism.

[0004] According to one aspect of the utility model, the synchronous variable-spacing material transfer module with a scissor-link mechanism includes:

[0005] A carrier seat, which is a hollow shell seat formed by vertically connecting two side wall plates with a parallel upper panel and a lower bottom plate. A horizontal rectangular through hole is provided in the middle of the upper panel;

[0006] A link mechanism, which is located in the inner cavity of the carrier seat and includes four short links and several long links. Every two long links cross each other up and down and are hinged in the middle to form a scissor. The ends of the long links of adjacent scissors are hinged. The outer ends of the four long links of the left and right scissors are hinged to the inner ends of the four short links. The outer ends of the two short links at each end are hinged to form a multi-scissor and multi-parallelogram link structure;

[0007] A longitudinal guiding part, which includes a longitudinal slide rail and two longitudinal sliders slidably connected to the longitudinal slide rail. The longitudinal slide rail is connected to the middle of the lower bottom plate, and the two longitudinal sliders are connected to the lower part of the middle two hinge joints;

[0008] A horizontal guiding part, several horizontal guide rails of which are connected to the upper panel, and several horizontal sliders are slidably matched on each horizontal guide rail;

[0009] Upper links, several equally spaced upper links are located in the horizontal rectangular through hole in the middle, and the lower ends are vertically connected to the middle hinge joints of the scissors and the outer hinge joints of the short links;

[0010] The reference blocks, and a plurality of longitudinal reference blocks are fixedly connected to the upper ends of the upper link rods. A transverse slider is threadedly connected to the lower ends of both sides of each reference block.

[0011] Apply relative acting forces to the two outermost reference blocks. Driven by the linkage mechanism, all the reference blocks contract inwards at equal intervals or expand outwards at equal intervals.

[0012] In some embodiments, the middle hinge holes of the long link rods and the outer end hinge holes of the short link rods are rotatably connected to the lower ends of the upper link rods; the end hinge holes of the long link rods are rotatably connected to the hinge shafts.

[0013] Or bearings or self-lubricating bearings are installed between the hinge holes and the hinge shafts, and between the hinge holes and the upper link rods.

[0014] In some embodiments, the center distances between the middle hinge hole and the two end hinge holes of the long link rods, and the center distances between the outer end hinge hole and the inner end hinge hole of the short link rods are the same.

[0015] In some embodiments, two transverse pulling through holes are provided at both ends of the lower bottom plate. The upper ends of the two power arms are respectively connected to the reference blocks, and the lower ends pass through the pulling through holes and are connected to the two output ends of the drive system. The two output ends of the drive system can move towards each other synchronously or move away from each other synchronously.

[0016] In some embodiments, the drive system is a pneumatic or hydraulic gripper, and the two power arms are connected to the two connecting fingers of the gripper.

[0017] In some embodiments, the drive system is a gear and two reverse-moving racks symmetrically meshing at the front and rear ends of the gear. The gear is key-connected to the motor shaft of the drive motor. The middle of the upper ends of the two racks is slidably connected to the lower bottom plate through a lower slider and a lower slide rail, and the ends thereof are connected to the lower ends of the two power arms.

[0018] In some embodiments, the drive system is a synchronous belt system, and the two transverse sections of the synchronous belt are connected to the two power arms.

[0019] In some embodiments, a longitudinal rectangular groove for accommodating a longitudinal guiding portion is provided in the middle of the lower bottom plate, and a longitudinal slide rail is threadedly connected in the longitudinal rectangular groove.

[0020] In some embodiments, the four transverse guide rails of the transverse guiding portion are symmetrically arranged on the front and rear sides of the upper panel. The two transverse sliders of the reference blocks in the odd-numbered columns are respectively slidably connected to the second and fourth transverse guide rails, and the two transverse sliders of the reference blocks in the even-numbered columns are respectively slidably connected to the first and third transverse guide rails.

[0021] In some embodiments, two rectangular transverse positioning grooves are symmetrically arranged on the front and rear sides of the upper panel respectively, and each transverse positioning groove is fixedly connected to a transverse guide rail.

[0022] The synchronous variable pitch material transfer module with a scissor link mechanism realizes variable pitch material transfer. Its beneficial effects are as follows: First, it has a scissor link mechanism, which can complete the adjustment of the spacing of multiple components at one time, greatly reducing the clamping and moving times of the manipulator, and thus significantly improving the test efficiency; Second, the scissor link mechanism can efficiently adjust the spacing between components, making the entire test process simpler, reducing the complexity of operation, and helping to achieve a smoother work process; Third, by adopting the scissor link mechanism, the automatic adjustment of the component spacing can be realized, reducing the need for manual intervention and improving the automation level of the entire test process; Fourth, the scissor link mechanism has high stability and accuracy, which can ensure the stability of the components while adjusting the spacing, thereby improving the accuracy of the test results; Fifth, it has a longitudinal guiding part and a transverse guiding part, which can achieve high-precision longitudinal and transverse guiding, ensuring high position accuracy, and thus improving the variable pitch accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 FIG. is a front view schematic diagram of the synchronous variable pitch material transfer module with a synchronous belt drive system according to Embodiment 1 of the present invention;

[0024] Figure 2 is Figure 1 a top view schematic diagram of the shown synchronous belt drive system;

[0025] Figure 3 FIG. is a front view schematic diagram of the synchronous variable pitch material transfer module with a jaw according to Embodiment 2 of the present invention;

[0026] Figure 4 FIG. is a front view schematic diagram of the synchronous variable pitch material transfer module with a double rack and pinion transmission pair according to Embodiment 3 of the present invention;

[0027] Figure 5 is Figure 4 a top view schematic diagram of the shown double rack and pinion transmission pair;

[0028] Figure 6 is Figure 1 a three-dimensional schematic diagram of the shown bearing seat;

[0029] Figure 7 is Figure 1 、 Figure 3 and Figure 4 a three-dimensional schematic diagram of the shown synchronous variable pitch material transfer module removing the bearing seat, the drive system and the power arm;

[0030] Figure 8 is Figure 7 a three-dimensional exploded schematic diagram of the shown synchronous variable pitch material transfer module;

[0031] Figure 9 is Figure 8Three-dimensional exploded schematic diagram of the shown connecting rod structure;

[0032] Carrier seat 1, upper panel 11, transverse rectangular through-hole 110, transverse positioning groove 111, lower bottom plate 12, pulling through-hole 120, longitudinal rectangular groove 121, side wall panel 13;

[0033] Linkage mechanism 2, scissor 20, short link 201, long link 202, hinge shaft 203, positioning retaining ring 204, intermediate hinge hole 205, end hinge hole 206, outer end hinge hole 207, inner end hinge hole 208, first threaded part 209;

[0034] Longitudinal guiding part 3, longitudinal slide rail 31, longitudinal slider 32, longitudinal connecting plate 33;

[0035] Transverse guiding part 4, transverse guide rail 41, transverse slider 42;

[0036] Upper connecting rod 5, positioning shoulder 51;

[0037] Reference block 6, power arm 7;

[0038] Drive system 8, drive motor 80, gripper 81, connecting finger 811, gear 82, rack 83, synchronous belt system 84, synchronous belt 840, driving wheel assembly 841, driven wheel assembly 842, lower slider 85, lower slide rail 86;

[0039] Positioning fixture 9. Specific embodiments

[0040] The present invention will be further described in detail below with reference to the accompanying drawings. It should be noted that the terms "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to the directions in the drawings, and the terms "inner" and "outer" refer to the directions towards or away from the geometric center of a specific component respectively.

[0041] Figures 1 to 9 A synchronous variable pitch material transfer module with a scissor-type linkage mechanism according to an embodiment of the present invention is schematically shown. As shown in the figure, the synchronous variable pitch material transfer module with a scissor-type linkage mechanism includes:

[0042] Carrier seat 1, which is a hollow shell seat formed by vertically connecting two side wall panels 13 with parallel upper panel 11 and lower bottom plate 12, and a transverse rectangular through-hole 110 is provided in the middle of the upper panel 11;

[0043] Linkage mechanism 2 is located inside the bearing seat 1. It includes four short linkages 201 and several long linkages 202. Every two long linkages 202 cross each other vertically and are hinged in the middle to form a shear fork 20. The ends of the long linkages 202 of adjacent shear forks 20 are hinged. The outer ends of the four long linkages 202 of the left and right shear forks 20 are hinged to the inner ends of the four short linkages 201. The outer ends of the two short linkages 201 at each end are hinged to form a multi-shear fork and multi-parallelogram linkage structure;

[0044] Longitudinal guiding part 3 includes a longitudinal slide rail 31 and two longitudinal sliders 32 slidably connected to the longitudinal slide rail 31. The longitudinal slide rail 31 is connected to the middle upper part of the lower bottom plate 12, and the two longitudinal sliders 32 are connected to the lower part of the two middle end hinge points;

[0045] Transverse guiding part 4. A number of transverse guide rails 41 of the transverse guiding part 4 are connected to the upper panel 11, and a number of transverse sliders 42 are slidably fitted on each transverse guide rail 41;

[0046] Upper link 5. A number of upper links 5 at equal intervals are located in the transverse rectangular through hole 110 in the middle, and the lower ends are vertically connected to the middle hinge point of the shear fork 20 and the outer hinge point of the short linkage 201;

[0047] Reference block 6. A number of longitudinal reference blocks 6 are fixedly connected to the upper ends of the upper links 5. A transverse slider 42 is threadedly connected to the lower part of each end of each reference block 6;

[0048] Apply relative acting forces to the two outermost reference blocks 6. Driven by the linkage mechanism 2, all the reference blocks 6 contract inwards at equal intervals or expand outwards at equal intervals.

[0049] Preferably, a side wall panel 13 of the bearing seat 1 is connected to a transfer block, and the transfer block is connected to a multi-directional moving mechanism. The multi-directional moving mechanism has at least vertical, transverse and longitudinal movements, and can also be the output end of a four-axis, five-axis and six-axis moving mechanism.

[0050] The synchronous variable-spacing material transfer module with a scissor-link mechanism realizes variable-spacing material transfer, and its beneficial effects are as follows: First, it has a scissor-link mechanism 2, which can complete the adjustment of the spacing of multiple components at one time, greatly reducing the clamping and moving times of the manipulator, and thus significantly improving the test efficiency; Second, the scissor-link mechanism 2 can efficiently adjust the spacing between components, making the entire test process more concise, reducing the complexity of operation, and helping to achieve a smoother work process; Third, by using the scissor-link mechanism 2, the automatic adjustment of the component spacing can be realized, reducing the need for manual intervention and improving the automation level of the entire test process; Fourth, the scissor-link mechanism has high stability and accuracy, which can ensure the stability of components while adjusting the spacing, thereby improving the accuracy of test results; Fifth, it has a longitudinal guiding part 3 and a transverse guiding part 4, which can achieve high-precision longitudinal and transverse guiding, ensure high position accuracy, and thus improve the variable-spacing accuracy.

[0051] Further, the middle hinge holes 205 of every two long connecting rods 202 are rotatably connected to the lower end of the upper connecting rod 5, and the outer hinge holes 207 of two short connecting rods 201 on each side are rotatably connected to the lower end of the upper connecting rod 5;

[0052] The end hinge holes 206 of adjacent long connecting rods 202 are rotatably connected to the hinge shaft 203, and the inner hinge holes 208 of two short connecting rods 201 on each side and the end hinge holes 206 of the corresponding long connecting rods 202 are rotatably connected to the hinge shaft 203;

[0053] Two longitudinal sliders 32 are connected below the two middle hinge shafts 203. Its beneficial effect is: This setting has a simple structure and streamlined parts, effectively reducing the volume of the equipment and facilitating assembly at the same time.

[0054] Preferably, bearings or self-lubricating bearings are installed between each hinge hole and the hinge shaft 203, and between each hinge hole and the lower end of the upper connecting rod 5. Its beneficial effect is: This setting ensures the smoothness of synchronous movement and there is no jamming in the overall movement.

[0055] Preferably, the center distances between the middle hinge hole 205 and the two end hinge holes 206 of the long connecting rod 202, and between the outer hinge hole 207 and the inner hinge hole 208 of the short connecting rod 201 are the same. Its beneficial effect is: This setting makes the sheet material spacing the same.

[0056] Preferably, the positioning retaining ring 204 of the hinge shaft 203 fits against the lower wall of the connecting rod, and the first threaded part 209 passes through the large gasket and is threadedly connected to the central threaded blind hole of the hinge shaft 203 in the hinge hole;

[0057] The positioning shoulder 51 at the lower end of the upper connecting rod 5 fits against the upper wall of the connecting rod, and the first threaded part 209 passes through the large gasket and is threadedly connected to the central threaded blind hole at the lower end of the upper connecting rod 5 in the hinge hole. The beneficial effect is that the positioning retaining ring 204 and the positioning shoulder 51 facilitate assembly and are conducive to improving the installation accuracy of the equipment.

[0058] Furthermore, two transverse pulling through holes 120 are provided at both ends of the lower bottom plate 12. The upper ends of the two power arms 7 are respectively connected to the reference block 6, and the lower ends pass through the pulling through holes 120 and are connected to the two output ends of the drive system 8. The two output ends of the drive system 8 can move synchronously towards each other or synchronously away from each other.

[0059] Preferably, the drive system 8 is a pneumatic or hydraulic gripper 81, and the two power arms 7 are connected to the two connecting fingers 811 of the gripper 81. The beneficial effect is that the selected drive system has a simple structure and high repeat accuracy.

[0060] Preferably, the drive system 8 is a gear 82 and two reverse-moving racks 83 symmetrically meshed at the front and rear ends of the gear 82. The gear 82 is key-connected to the motor shaft of the drive motor 80. The middle of the upper ends of the two racks 83 is slidably connected to the lower bottom plate 12 through a lower slider 85 and a lower slide rail 86, and their ends are connected to the lower ends of the two power arms 7. The beneficial effect is that the selected drive system has a simple structure, a small volume, stable transmission and high accuracy.

[0061] Preferably, the drive system 8 is a synchronous belt system 84. The two transverse sections of the synchronous belt 840 are connected to the lower ends of the two power arms 7. The two ends of the synchronous belt 840 respectively wrap around the driving wheel assembly 841 and the driven wheel assembly 842 vertically connected to the lower end of the lower bottom plate 12, and the driving shaft of the driving wheel assembly 841 is directly connected to the drive motor 80. The beneficial effect is that the structure of the selected drive system can output stable relative motion and achieve high position accuracy.

[0062] Furthermore, a longitudinal rectangular groove 121 for accommodating the longitudinal guiding part 3 is provided in the middle of the lower bottom plate 12, and the longitudinal slide rail 31 is threadedly connected in the longitudinal rectangular groove 121; preferably, the longitudinal slider 32 is threadedly connected under the longitudinal connecting plate 33, and the longitudinal connecting plate 33 is integrally welded or threadedly connected under the two hinge shafts 203 in the middle. The beneficial effect is that this setting further reduces the volume and weight of the equipment and facilitates the layout and movement of the equipment.

[0063] Furthermore, the lateral guiding portion 4 includes four lateral guide rails 41. Two lateral guide rails 41 are symmetrically arranged on the front and rear sides of the upper panel 11 respectively. The two lateral sliders 42 of the reference blocks 6 in odd-numbered columns are respectively slidably connected to the second and fourth lateral guide rails 41, and the two lateral sliders 42 of the reference blocks 6 in even-numbered columns are respectively slidably connected to the first and third lateral guide rails 41. The beneficial effect is that this setting can effectively increase the minimum distance between the two, improve the variable distance range, and is applicable to more application scenarios.

[0064] Preferably, two rectangular lateral positioning grooves 111 are symmetrically arranged on the front and rear sides of the upper panel 11 respectively, and each lateral positioning groove 111 is fixedly connected to a lateral guide rail 41. The beneficial effect is that this setting improves the installation accuracy and further realizes the guiding and movement accuracy.

[0065] Furthermore, the positioning jig 9 is connected by a pin on the upper surface of the reference block 6 and fixed by a threaded member, and the blade cylinder is installed at the rear end of the positioning jig 9. The beneficial effect is that this setting can achieve good picking and placing of materials and positioning of materials.

[0066] The above are only some embodiments of the present invention. For those of ordinary skill in the art, without departing from the creative 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.

Claims

1. Synchronous variable pitch material transfer module with a scissor link mechanism, characterized in that, Comprising: A carrier seat (1), which is a hollow shell seat formed by vertically connecting two side wall plates (13) between a parallel upper panel (11) and a lower bottom plate (12). A transverse rectangular through hole (110) is provided in the middle of the upper panel (11); A link mechanism (2), the link mechanism (2) is located in the inner cavity of the carrier seat (1), and it includes four short links (201) and several long links (202). Every two of the long links (202) cross each other up and down and are hinged in the middle to form a shear fork (20). The ends of the long links (202) of adjacent shear forks (20) are hinged. The outer ends of the four long links (202) of the left and right shear forks (20) are hinged to the inner ends of the four short links (201). The outer ends of the two short links (201) at each end are hinged to form a multi-shear fork and multi-parallelogram link structure; A longitudinal guiding part (3), the longitudinal guiding part (3) includes a longitudinal slide rail (31) and two longitudinal sliders (32) slidably connected to the longitudinal slide rail (31). The longitudinal slide rail (31) is connected to the middle of the lower bottom plate (12) upwards, and the two longitudinal sliders (32) are connected to the lower part of the two middle end hinged joints; A transverse guiding part (4), several transverse guide rails (41) of the transverse guiding part (4) are connected to the upper panel (11), and several transverse sliders (42) are slidably fitted on each transverse guide rail (41); An upper link (5), several upper links (5) at equal intervals are located in the transverse rectangular through hole (110) in the middle, and the lower ends are vertically connected to the middle hinged joint of the shear fork (20) and the outer end hinged joint of the short link (201); Reference blocks (6), several longitudinal reference blocks (6) are fixedly connected to the upper ends of the upper links (5), and a transverse slider (42) is respectively threadedly connected to the lower parts of both ends of each reference block (6); Applying relative acting forces to the two outermost reference blocks (6), driven by the link mechanism (2), all the reference blocks (6) contract inwards at equal intervals or expand outwards at equal intervals.

2. The synchronous variable pitch material transfer module according to claim 1, wherein, The middle hinge holes (205) of the long links (202) and the outer end hinge holes (207) of the short links (201) are all rotatably connected to the lower ends of the upper links (5); the end hinge holes (206) of the long links (202) are all rotatably connected to the hinge shafts (203); Or bearings or self-lubricating bearings are installed between the hinge holes and the hinge shafts (203), and between the hinge holes and the upper links (5).

3. The synchronous variable pitch material transfer module according to claim 2, characterized in that, The center distances between the middle hinge holes (205) and the two end hinge holes (206) of the long links (202), and the center distances between the outer end hinge holes (207) and the inner end hinge holes (208) of the short links (201) are all the same.

4. The synchronous variable pitch material transfer module according to claim 1, wherein Two transverse pulling through holes (120) are provided at both ends of the lower bottom plate (12). The upper ends of the two power arms (7) are respectively connected to the reference blocks (6), and the lower ends pass through the pulling through holes (120) and are connected to the two output ends of the drive system (8). The two output ends of the drive system (8) can move towards each other synchronously or move away from each other synchronously.

5. The synchronous variable pitch material transfer module according to claim 4, characterized in that, The drive system (8) is a pneumatic or hydraulic gripper (81), and the two power arms (7) are connected to the two connecting fingers (811) of the gripper (81).

6. The synchronous variable pitch material transfer module according to claim 4, wherein, The drive system (8) comprises a gear (82) and two racks (83) that move in opposite directions and mesh symmetrically with the front and rear ends of the gear (82). The gear (82) is key-connected to the motor shaft of the drive motor (80). The middle parts of the upper ends of the two racks (83) are slidably connected to the lower base plate (12) through a lower sliding block (85) and a lower sliding rail (86), and the ends thereof are connected to the lower ends of two power arms (7).

7. The synchronous variable pitch material transfer module according to claim 4, wherein The drive system (8) is a synchronous belt system (84), and two transverse sections of the synchronous belt (840) are connected to two power arms (7).

8. The synchronous variable pitch material transfer module according to claim 1, wherein, A longitudinal rectangular groove (121) for accommodating the longitudinal guiding portion (3) is provided in the middle of the lower base plate (12), and the longitudinal sliding rail (31) is threadedly connected to the longitudinal rectangular groove (121).

9. The synchronous variable pitch material shifting module according to claim 1, wherein, The four transverse guide rails (41) of the transverse guiding portion (4) are symmetrically arranged on the front and rear sides of the upper panel (11). The two transverse sliding blocks (42) of the reference blocks (6) in the odd-numbered columns are respectively slidably connected to the second and fourth transverse guide rails (41), and the two transverse sliding blocks (42) of the reference blocks (6) in the even-numbered columns are respectively slidably connected to the first and third transverse guide rails (41).

10. The synchronous variable pitch material transfer module according to claim 1, characterized in that, Two rectangular transverse positioning grooves (111) are symmetrically arranged on the front and rear sides of the upper panel (11), and each of the transverse positioning grooves (111) is fixedly connected to a transverse guide rail (41).

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