Compact carrying device

Abstract

The utility model relates to the technical field of carrying equipment, in particular to a compact type carrying device. The compact carrying device comprises a connecting rod swing mechanism, a linear displacement mechanism and a material taking mechanism. The connecting rod swing mechanism comprises a motor, a transmission assembly, a swing frame and at least two parallel connecting rods, and the motor is connected with the connecting rods through the transmission assembly and used for driving the connecting rods to swing synchronously. Each connecting rod is pivoted with the swinging frame and is used for driving the swinging frame to swing between a material taking position and a material placing position; the linear displacement mechanism is installed on the swing frame and connected with the material taking mechanism, and the material taking mechanism is used for taking and releasing materials. The compact carrying device is compact in structure, small in occupied space, capable of guaranteeing high response speed and action speed, high in structural stability and position reliability and capable of accurately taking and releasing materials.

Description

Technical Field

[0001] The utility model relates to the technical field of transport equipment, in particular to a compact transport device. Background Art

[0002] With the development of industrialization, various types of auxiliary materials / labels are widely used in 3C, packaging, toys, plastics, electronics, hardware, food, daily chemicals, medicine and other industries. At the same time, with the increasing requirements for production capacity and speed, various types of handling devices and mechanisms have emerged.

[0003] At present, in some industries, such as the bonding, installation and transportation of auxiliary materials for internal brackets of 3C mobile phones, due to the small size of the products, the production capacity requirements are also very high. At present, some institutions use two or more linear single-axis modules for transportation or directly use four-axis (six-axis) robots for transportation. Although such mechanisms can realize the transportation of small materials, due to the reasons of the mechanism itself, the mechanism occupies a large space in the equipment, resulting in smaller equipment maintenance space and other problems. In addition, the use of various large mechanisms will lead to increased costs. Utility Model Content

[0004] The purpose of the utility model is to provide a compact transport device to alleviate the technical problems of large occupied space and high cost in the existing transport mechanism.

[0005] The utility model provides a compact handling device, which comprises a connecting rod swing mechanism, a linear displacement mechanism and a material taking mechanism.

[0006] The connecting rod swing mechanism includes a motor, a transmission assembly, a swing frame and at least two parallel connecting rods. The motor is connected to each of the connecting rods through the transmission assembly to drive each of the connecting rods to swing synchronously; each of the connecting rods is pivotally connected to the swing frame to drive the swing frame to swing between the material picking position and the material discharge position; the linear displacement mechanism is installed on the swing frame, and the linear displacement mechanism is connected to the material picking mechanism, and the material picking mechanism is used to pick up and release materials.

[0007] Preferably, as an implementable embodiment, the transmission assembly includes a first synchronous belt and several first synchronous wheels, the first synchronous wheels correspond one-to-one to the connecting rods, and the connecting rods are coaxially fixed to the corresponding first synchronous wheels, each of the first synchronous wheels cooperates with the first synchronous belt, and the motor is coaxially fixed to one of the first synchronous wheels.

[0008] Preferably, as an implementable embodiment, the linear displacement mechanism includes a linear drive and a mounting rod, the linear drive is installed on the swing frame, the linear drive is connected to the mounting rod, and is used to drive the mounting rod to move along its own axis; the material picking mechanism is installed on the mounting rod.

[0009] Preferably, as an implementable embodiment, the linear displacement mechanism also includes an adapter seat, the mounting rod is pivotally connected to the adapter seat, and the mounting rod can rotate around its own axis relative to the adapter seat; the linear drive is connected to the adapter seat, and is used to drive the adapter seat to move along the axial direction of the mounting rod.

[0010] The compact handling device further comprises a rotating mechanism, which is connected to the mounting rod and is used to drive the mounting rod to rotate around its own axis.

[0011] Preferably, as an implementable embodiment, the rotating mechanism includes a rotating drive, a second synchronous belt and two second synchronous wheels, the rotating drive and the second synchronous wheels are both installed on the swing frame, the two second synchronous wheels are both cooperated with the second synchronous belt, the rotating drive is coaxially fixed to one of the second synchronous wheels, the other second synchronous wheel is coaxially slidably connected to the mounting rod, and there is a circumferential limiting structure between the second synchronous wheel and the mounting rod.

[0012] Preferably, as an implementable embodiment, the circumferential limiting structure includes a nut, the nut is fixedly connected to the second synchronous wheel, and the nut is connected to the mounting rod through a spline fit.

[0013] Preferably, as an implementable embodiment, the spline is provided on the nut, and a sliding groove parallel to the axis of the mounting rod is provided on the side surface of the mounting rod, and the spline is slidably engaged with the sliding groove;

[0014] And / or, the spline is a ball spline.

[0015] Preferably, as an implementable embodiment, the linear actuator comprises a slide cylinder;

[0016] And / or, the rotary drive comprises a swing cylinder.

[0017] Preferably, as an implementable embodiment, the material taking mechanism includes a suction nozzle, and the suction nozzle is used to suck the material.

[0018] Preferably, as an implementable embodiment, the compact handling device further includes a loading mechanism and a unloading turntable, wherein the loading mechanism is used to supply materials to the retrieving mechanism, and the unloading turntable is used to receive and transfer the materials released by the retrieving mechanism.

[0019] Compared with the prior art, the beneficial effects of the present invention are:

[0020] The compact handling device provided by the utility model can control the motor to rotate forward (or reverse) when it is necessary to transport materials, so as to utilize the motor to drive the transmission component to operate, and the operation of the transmission component can drive each connecting rod to swing forward (or reverse) synchronously, and the forward swing (or reverse swing) of the connecting rod can drive the swing frame to swing to the material picking position. At this time, the material picking mechanism is facing the material to be picked up. At this time, the linear displacement mechanism can be controlled to drive the material picking mechanism to move slightly toward the direction where the material is located. After the material picking mechanism is in place, the material can be picked up. After the material picking is completed, the linear displacement mechanism can be controlled to drive the material picking mechanism to reset; thereafter, the motor can be controlled to rotate reversely (or forward) to drive the swing frame to swing to the material discharging position. At this time, the material picking mechanism is facing the material receiving position. At this time, the linear displacement mechanism can be controlled to drive the material picking mechanism to move slightly toward the material receiving position. The material picking mechanism is controlled to release the material to the material receiving position after it is in place. After the material discharging is completed, the linear displacement mechanism can be controlled to drive the material picking mechanism to reset; thereafter, the motor can be controlled to rotate forward (or reverse) to make the swing frame return to the material picking position to prepare for the next material handling.

[0021] It should be noted that the connecting rod swing mechanism can realize a large-stroke movement of the material picking mechanism to switch between the two positions of picking and discharging, and can replace two linear single-axis modules, greatly reducing material costs. It has a compact structure and can save space. In addition, the connecting rod swing mechanism uses a motor as a driver, which can ensure a high response speed and movement speed, and realize rapid material handling; and because the various connecting rods are parallel to each other and are pivotally connected to the swing frame, the swing frame can swing smoothly under the support of the connecting rod, which can ensure the stability and position reliability of the swing frame and its supported linear displacement mechanism, material picking mechanism and other structures. The setting of the linear displacement mechanism can realize micro-movement of the material picking mechanism, so that the material picking mechanism can be accurately positioned, and the material picking structure can accurately pick up and release materials; the linear displacement mechanism uses a small driver to achieve micro-drive of the material picking mechanism, which takes up less space and has lower costs.

[0022] Therefore, the compact handling device provided by the present invention has a compact structure, occupies a small space, can ensure a high response speed and movement speed, has high structural stability and position reliability, and can also accurately pick up and release materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0024] Figure 1A schematic structural diagram of a compact handling device provided by an embodiment of the present utility model;

[0025] Figure 2 A schematic diagram of a partial structure of a compact handling device provided by an embodiment of the present utility model;

[0026] Figure 3 A diagram showing a first working state of the compact handling device provided by an embodiment of the present utility model;

[0027] Figure 4 A diagram showing a second working state of the compact handling device provided by an embodiment of the present utility model;

[0028] Figure 5 A diagram showing a third working state of the compact handling device provided by an embodiment of the present utility model;

[0029] Figure 6 A diagram showing a fourth working state of the compact handling device provided by an embodiment of the present utility model;

[0030] Figure 7 A fifth working state diagram of the compact handling device provided by an embodiment of the present utility model;

[0031] Figure 8 This is a diagram of the sixth working state of the compact handling device provided in an embodiment of the present utility model.

[0032] Description of reference numerals:

[0033] 100 - connecting rod swing mechanism; 110 - motor; 120 - transmission assembly; 121 - first synchronous belt; 122 - first synchronous wheel; 130 - swing frame; 140 - connecting rod;

[0034] 200- linear displacement mechanism; 210- slide cylinder; 220- mounting rod; 230- adapter;

[0035] 300- material taking mechanism;

[0036] 400-rotating mechanism; 410-swing table cylinder; 420-second synchronous belt; 430-second synchronous wheel; 440-nut;

[0037] 500-feeding mechanism;

[0038] 600-unloading turntable. DETAILED DESCRIPTION

[0039] The following is a clear and complete description of the technical solution of the present invention in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0040] The present invention will be further described in detail below through specific implementation examples and in conjunction with the accompanying drawings.

[0041] See also Figure 1 and Figure 2 The present embodiment provides a compact handling device, which includes a connecting rod swing mechanism 100, a linear displacement mechanism 200 and a material picking mechanism 300; the connecting rod swing mechanism 100 includes a motor 110, a transmission assembly 120, a swing frame 130 and at least two parallel connecting rods 140, the motor 110 is connected to each connecting rod 140 through the transmission assembly 120, and is used to drive each connecting rod 140 to swing synchronously; each connecting rod 140 is pivotally connected to the swing frame 130, and is used to drive the swing frame 130 to swing between a material picking position and a material discharge position; the linear displacement mechanism 200 is installed on the swing frame 130, and the linear displacement mechanism 200 is connected to the material picking mechanism 300, and the material picking mechanism 300 is used to pick up and release materials.

[0042] When it is necessary to transport the material, the motor 110 can be controlled to rotate forward (or reverse) to use the motor 110 to drive the transmission assembly 120 to operate. The operation of the transmission assembly 120 can drive each connecting rod 140 to swing forward (or reverse) synchronously. The forward swing (or reverse swing) of the connecting rod 140 can drive the swing frame 130 to swing to the material picking position. At this time, the material picking mechanism 300 is facing the material to be picked up. At this time, the linear displacement mechanism 200 can be controlled to drive the material picking mechanism 300 to move slightly in the direction of the material. After the material picking mechanism 300 is in place, the material can be picked up. After the material picking is completed, the linear displacement mechanism 200 can be controlled to move slightly in the direction of the material. 00 drives the material picking mechanism 300 to reset; thereafter, the motor 110 can be controlled to rotate in the reverse direction (or forward direction) to drive the swing frame 130 to swing to the material discharge position. At this time, the material picking mechanism 300 is directly docking with the material position. At this time, the linear displacement mechanism 200 can be controlled to drive the material picking mechanism 300 to move slightly toward the material receiving position, and the material picking mechanism 300 is controlled to release the material to the material receiving position after it is in place. After the material discharge is completed, the linear displacement mechanism 200 can be controlled to drive the material picking mechanism 300 to reset; thereafter, the motor 110 is controlled to rotate in the forward direction (or reverse direction) to make the swing frame 130 return to the material picking position to prepare for the next material handling.

[0043] It should be noted that the connecting rod swing mechanism 100 enables the material picking mechanism 300 to switch between the material picking and material discharging positions over a long range, can replace two linear single-axis modules, greatly reducing material costs, and has a compact structure that saves space. In addition, the connecting rod swing mechanism 100 uses a motor 110 as a driver, which can ensure high response speed and movement speed, achieving rapid material handling. Because the various connecting rods 140 are parallel to each other and are all pivotally connected to the swing frame 130, the swing frame 130 can swing smoothly under the support of the connecting rods 140, ensuring the stability and positional reliability of the swing frame 130 and the linear displacement mechanism 200 and material picking mechanism 300 it supports. The provision of the linear displacement mechanism 200 enables micro-movement of the material picking mechanism 300, allowing the material picking mechanism 300 to be precisely positioned and accurately pick up and release materials. The linear displacement mechanism 200 uses a small driver to achieve micro-drive of the material picking mechanism 300, taking up less space and reducing costs.

[0044] Therefore, the compact handling device provided in this embodiment has a compact structure, occupies a small space, can ensure a high response speed and movement speed, has high structural stability and position reliability, and can also accurately pick up and release materials.

[0045] The compact handling device provided in this embodiment is suitable for handling small materials, and is particularly suitable for high-speed, high-precision, small-sized auxiliary material lamination, such as material handling at mobile phone cables, motherboard solder joints, etc. in the 3C industry.

[0046] The specific structure of the transmission assembly 120 can be provided with a first synchronous belt 121 and several first synchronous pulleys 122. The first synchronous pulleys 122 are arranged in a one-to-one correspondence with the connecting rods 140, and the connecting rods 140 are coaxially fixed to the corresponding first synchronous pulleys 122. Each first synchronous pulley 122 is matched with the first synchronous belt 121, and the motor 110 is coaxially fixed to one of the first synchronous pulleys 122, so that the motor 110 drives the first synchronous pulley 122 to rotate. Under the action of the first synchronous belt 121, the other first synchronous pulleys 122 can rotate synchronously with the first synchronous pulley 122. Each first synchronous pulley 122 can drive the corresponding connecting rod 140 to swing, thereby enabling each connecting rod 140 to swing synchronously, thereby achieving smooth swing of the swing frame 130, highly stable operation, compact structure, and low cost. Specifically, several first synchronous pulleys 122 can be mounted on a fixed plate. The first synchronous belt and first synchronous pulleys can be replaced by mechanisms such as cams and grooved pulleys.

[0047] In the specific structure of the linear displacement mechanism 200, a linear drive and a mounting rod 220 can be provided. The linear drive is mounted on the swing frame 130 and connected to the mounting rod 220. The linear drive is used to drive the mounting rod 220 to move along its own axis. The material picking mechanism 300 is mounted on the mounting rod 220 so that the material picking mechanism 300 can move closer to or farther away from the material along the length direction of the mounting rod 220 under the drive of the mounting rod 220. The linear drive can be a cylinder, preferably a slide cylinder 210. The slide cylinder 210 can not only linearly drive the mounting rod 220 but also guide the mounting rod 220, thereby improving the rigidity of the movement of the mounting rod 220, allowing the material picking mechanism 300 to move smoothly to the target position and pick up the material more smoothly.

[0048] In the specific structure of the linear displacement mechanism 200, an adapter seat 230 may be further provided, and the mounting rod 220 is pivotally connected to the adapter seat 230, so that the mounting rod 220 can move along its own axis with the adapter seat 230 and can also rotate about its own axis relative to the adapter seat 230. A linear drive is connected to the adapter seat 230, so that the linear drive drives the adapter seat 230 to move along the linear direction of the mounting rod 220, thereby indirectly driving the mounting rod 220 to move along its own axis. A rotation mechanism 400 may also be provided, and the rotation mechanism 400 is connected to the mounting rod 220, so that the rotation mechanism 400 drives the mounting rod 220 to rotate about its own axis. Thus, the mounting rod 220 is used to drive the material to rotate to change the material direction and adapt to the different angle requirements of the material during loading and unloading.

[0049] The specific structure of the above-mentioned rotating mechanism 400 can be provided with a rotating driver, a second synchronous belt 420, and two second synchronous wheels 430. The rotating driver and the second synchronous wheels 430 are both mounted on the swing frame 130, and the two second synchronous wheels 430 are both engaged with the second synchronous belt 420. The rotating driver is coaxially fixedly connected to one of the second synchronous wheels 430, and the other second synchronous wheel 430 is coaxially slidably connected to the mounting rod 220. A circumferential limiting mechanism is provided between the second synchronous wheels 430 and the mounting rod 220. The rotating driver can drive one of the second synchronous wheels 430 to rotate. Under the action of the second synchronous belt 420, the second synchronous wheel 430 can drive the other second synchronous wheel 430 to rotate synchronously with it. Therefore, under the action of the circumferential limiting mechanism, the second synchronous wheel 430 can drive the mounting rod 220 to rotate synchronously with it, thereby realizing the rotation drive of the mounting rod 220. The rotating driver can be a swing table cylinder 410, preferably a gear swing cylinder.

[0050] The aforementioned circumferential limiting structure may specifically include a nut 440, which is fixedly connected to the second synchronous wheel 430 and connected to the mounting rod 220 via a spline. The second synchronous wheel 430 can drive the nut 440 to rotate synchronously with it, and the nut 440 can drive the mounting rod 220 to rotate synchronously with it under the action of the spline. The spline ensures that the nut 440 can drive the mounting rod 220 to rotate synchronously with it, and can also achieve axial movement of the mounting rod 220 relative to the nut 440. The structure is simple and easy to implement. The use of a swing cylinder 410 with a spline can achieve the goals of compactness and low cost while meeting the requirements of mechanical precision.

[0051] Preferably, a spline can be set on the nut 440, and a sliding groove parallel to its own axis can be opened on the side of the mounting rod 110, and the spline and the sliding groove can be slidably matched. Such a setting can ensure the function of the spline and the structure is more reasonable.

[0052] Furthermore, the spline may be configured as a ball spline to reduce the friction generated when the mounting rod 220 moves axially, thereby improving the smoothness of the axial movement of the mounting rod 220 .

[0053] A suction nozzle may be provided in the specific structure of the material taking mechanism 300 so as to suck the material. The adsorption taking method can improve the compatibility with materials of different shapes.

[0054] Hidden piping is preferred as the joints are more beautiful.

[0055] The compact handling device provided in this embodiment has a small number of overall parts and is easy to maintain. Except for the servo motor, other power sources are pneumatic components, with simple control logic and easy operation.

[0056] In the specific structure of the compact handling device provided in this embodiment, a loading mechanism 500 and a unloading turntable 600 can be set. The loading mechanism 500 can supply materials, so that when the swing frame 130 is in the material picking position, the linear displacement mechanism 200 can drive the material picking mechanism 300 to pick up the materials on the loading mechanism 500; when the swing frame 130 is in the material discharge position, the linear displacement mechanism 200 can drive the material picking mechanism 300 to place the materials on the unloading turntable 600, and the unloading turntable 600 can transfer the received materials.

[0057] The specific working process of the compact handling device provided in this embodiment is as follows: ① Material flows from the upstream material channel to the material taking position → ② The swing frame 130 swings to the material taking position, such as Figure 3 As shown →③ Slide cylinder 210 descends to take the material, as shown Figure 4 As shown →④ Slide cylinder 210 rises, as shown Figure 5 As shown →⑤ The swing cylinder 410 drives the material to rotate 90°, as shown Figure 6 As shown in →⑥ the swing frame 130 swings to the unloading turntable 600, as shown in Figure 7 As shown →⑦ Slide cylinder 210 descends to discharge the material, as shown Figure 8 As shown →⑧ Swing frame 130 returns to the material taking position, as shown Figure 3 shown.

[0058] In summary, the present invention discloses a compact handling device that overcomes many technical drawbacks of conventional handling mechanisms, such as large space requirements and high costs. The present invention provides a compact handling device that has a compact structure, occupies little space, and ensures high response and movement speeds, high structural stability, and high position reliability, while also enabling precise material pickup and release.

[0059] In the description of the present invention, it should be noted that the terms "up", "down", "left", "right", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as a limitation on the present invention.

[0060] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted" and "connected" should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integral connection; mechanical connection, electrical connection; direct connection, indirect connection through an intermediate medium, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0061] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A compact transport device, characterized in that: It comprises a connecting rod swing mechanism (100), a linear displacement mechanism (200) and a material taking mechanism (300); The connecting rod swing mechanism (100) comprises a motor (110), a transmission assembly (120), a swing frame (130) and at least two mutually parallel connecting rods (140). The motor (110) is connected to each of the connecting rods (140) through the transmission assembly (120) and is used to drive each of the connecting rods (140) to swing synchronously. Each of the connecting rods (140) is pivotally connected to the swing frame (130) and is used to drive the swing frame (130) to swing between a material taking position and a material discharge position. The linear displacement mechanism (200) is installed on the swing frame (130). The linear displacement mechanism (200) is connected to the material taking mechanism (300). The material taking mechanism (300) is used to take and release materials.

2. The compact handling device according to claim 1, characterized in that The transmission assembly (120) includes a first synchronous belt (121) and a plurality of first synchronous wheels (122), wherein the first synchronous wheels (122) correspond to the connecting rods (140) one by one, and the connecting rods (140) are coaxially fixedly connected to the corresponding first synchronous wheels (122), and each of the first synchronous wheels (122) cooperates with the first synchronous belt (121), and the motor (110) is coaxially fixedly connected to one of the first synchronous wheels (122).

3. The compact handling device according to claim 1, characterized in that The linear displacement mechanism (200) comprises a linear driver and a mounting rod (220), wherein the linear driver is mounted on the swing frame (130) and connected to the mounting rod (220) for driving the mounting rod (220) to move along its own axis; and the material taking mechanism (300) is mounted on the mounting rod (220).

4. The compact handling device according to claim 3, characterized in that The linear displacement mechanism (200) further comprises a transfer seat (230), the mounting rod (220) being pivotally connected to the transfer seat (230), and the mounting rod (220) being capable of rotating around its own axis relative to the transfer seat (230); the linear drive being connected to the transfer seat (230) and being used for driving the transfer seat (230) to move along the axis direction of the mounting rod (220); The compact handling device further comprises a rotating mechanism (400), wherein the rotating mechanism (400) is connected to the installation rod (220) and is used to drive the installation rod (220) to rotate around its own axis.

5. The compact handling device according to claim 4, characterized in that The rotating mechanism (400) includes a rotating driver, a second synchronous belt (420) and two second synchronous wheels (430). The rotating driver and the second synchronous wheels (430) are both mounted on the swing frame (130). The two second synchronous wheels (430) are both matched with the second synchronous belt (420). The rotating driver is coaxially fixed to one of the second synchronous wheels (430). The other second synchronous wheel (430) is coaxially slidably connected to the mounting rod (220). A circumferential limiting structure exists between the second synchronous wheel (430) and the mounting rod (220).

6. The compact handling device according to claim 5, characterized in that The circumferential limiting structure includes a nut (440), the nut (440) is fixedly connected to the second synchronous wheel (430), and the nut (440) is connected to the mounting rod (220) through spline matching.

7. The compact handling device according to claim 6, characterized in that The spline is provided on the nut (440), and a sliding groove parallel to the axis of the mounting rod (220) is provided on the side surface thereof, and the spline is slidably engaged with the sliding groove; And / or, the spline is a ball spline.

8. The compact handling device according to claim 5, characterized in that The linear drive includes a slide cylinder (210); And / or, the rotary drive comprises a swing cylinder (410).

9. The compact handling device according to claim 1, characterized in that The material taking mechanism comprises a suction nozzle, and the suction nozzle is used for sucking materials.

10. The compact handling device according to any one of claims 1 to 9, characterized in that: The compact handling device further comprises a loading mechanism (500) and a unloading turntable (600), wherein the loading mechanism (500) is used to supply materials to the retrieving mechanism (300), and the unloading turntable (600) is used to receive and transfer the materials released by the retrieving mechanism (300).

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