Material taking mechanism

Abstract

The utility model discloses a material taking mechanism, which relates to the technical field of material transfer and is characterized in that an eight-section lifting driving cam and a four-section horizontal driving cam are synchronously controlled through a single driving shaft, and a double-circulation structure of the lifting driving cam is dynamically coupled with a static section of the horizontal driving cam, so that the material taking mechanism is formed. The double-station alternate operation of the material taking arm is realized, that is, one-time cargo taking and releasing operation can be completed by rotating the driving shaft for a circle. The lifting driving mechanism utilizes an underneath type lifting driving cam supporting layout and directly utilizes the upper edge of a lifting driving cam for bearing, and rotation of the lifting driving cam is converted into displacement of the material taking arm in the vertical direction. The horizontal driving mechanism converts rotation of a horizontal driving cam into displacement of a material taking arm in the horizontal direction through transmission of a cam groove-swing arm lever; motion interference is eliminated through a driving groove and lifting stroke matching technology, simple harmonic motion with flexible impact is formed through double-cam phase cooperation, and high-beat stable carrying is achieved.

Description

Technical Field

[0001] This utility model relates to the field of material transfer technology, specifically to a material handling mechanism. Background Technology

[0002] In automated production lines, the performance of material handling mechanisms directly impacts overall equipment efficiency. Currently, widely used material handling mechanisms primarily employ cylinder-driven or servo motor-driven solutions, such as linkage-type lifting mechanisms and ball screw drive systems. These traditional solutions suffer from three significant problems: First, independent control of multiple drive sources leads to complex transmission chains. For example, a company's publicly disclosed material handling robot uses dual motors to control lifting and horizontal movements separately, posing a risk of asynchronous control timing. Second, the start-stop impact during reciprocating motion is significant. Third, the efficiency of a single cycle is low. While recent attempts have explored cam mechanisms, a single cam can only achieve unidirectional motion control, still requiring coordination with other power components to complete compound movements, resulting in increased mechanism size and cost. Therefore, there is an urgent need to develop new drive mechanisms to address issues such as poor coordination of compound movements, high energy loss, and significant motion impact. Utility Model Content

[0003] The purpose of this utility model is to address the aforementioned problems by providing a material handling mechanism that synchronously controls eight lifting drive cams and four horizontal drive cams via a single drive shaft. By utilizing the dual-cycle structure of the lifting drive cams and the dynamic coupling of the stationary section of the horizontal drive cams, the material handling arm can achieve alternating operation at two workstations. Furthermore, by utilizing the phase coordination of the two cams to form a simple harmonic motion with flexible impact, high-speed stable material handling can be achieved.

[0004] The technical solution adopted in this utility model is as follows:

[0005] A material handling mechanism includes a lifting drive mechanism, a horizontal drive mechanism, a frame, and a drive shaft, wherein the drive shaft is rotatably connected to the frame; the lifting cam mechanism includes a lifting drive cam, a lifting driven roller assembly, a connecting plate, and a lifting guide rail, wherein the lifting guide rail is vertically arranged and mounted on the frame, the connecting plate is movably connected to the lifting guide rail via a lifting slider, the lifting driven roller assembly is rotatably connected to the connecting plate via a rotating shaft, and the lifting driven roller assembly is matched with the lifting drive cam; the horizontal drive mechanism includes a horizontal drive cam, a swing arm, and a mounting block. The assembly includes a material-grabbing arm and a horizontal guide rail. The horizontal guide rail is horizontally positioned and mounted on a connecting plate. The material-grabbing arm is movably connected to the horizontal guide rail via a horizontal slider. One end of the material-grabbing arm has a material-grabbing section, and the other end has a vertically arranged drive groove. One end of the swing arm is mounted to the frame via a mounting block, the middle part is matched to a horizontal drive cam via a horizontal driven roller assembly, and the other end is embedded in the drive groove via a horizontal connecting roller assembly. Both the lifting drive cam and the horizontal drive cam are mounted on a drive shaft and can rotate synchronously under the action of the drive shaft.

[0006] By employing the aforementioned technical solution, the combined action of the lifting drive cam and the horizontal drive cam enables composite motion control of the material handling arm in both vertical and horizontal directions. The coordinated design of the lifting guide rail and the horizontal guide rail ensures the accuracy of the motion trajectory, while the synchronous drive shaft of the dual cams simplifies the transmission system and effectively improves the coordination and efficiency of the material handling action.

[0007] Furthermore, the lifting drive cam is an eight-section cam, wherein the first section of the eight-section cam is the return section, the second section is the lowering stationary section, the third section is the lifting section, the fourth section is the lifting stationary section, the fifth section is the return section, the sixth section is the lowering stationary section, the seventh section is the lifting section, and the eighth section is the lifting stationary section; the first, second, third, fourth, fifth, sixth, seventh, and eighth sections of the eight-section cam are connected sequentially; the lifting driven roller assembly When matched with the lifting section, the rotation of the lifting drive cam can drive the connecting plate to rise from the lower position to the upper position along the lifting guide rail. When the lifting driven roller assembly is matched with the lifting stationary section, the rotation of the lifting drive cam can drive the connecting plate to remain in the upper position. When the lifting driven roller assembly is matched with the return section, the rotation of the lifting drive cam can drive the connecting plate to fall from the upper position to the lower position along the lifting guide rail. When the lifting driven roller assembly is matched with the lowering stationary section, the rotation of the lifting drive cam can drive the connecting plate to remain in the lower position.

[0008] Thanks to the aforementioned technical solution, the eight-section cam's dual-lifting cycle design allows the material handling mechanism to complete two full lifting actions in a single rotation, adapting to the cycle of picking up and releasing materials between two points. The lifting stationary section can match the horizontal drive mechanism's lifting movement, while the lowering stationary section can match the material handling unit's lowering gripping and releasing of goods. The alternating lifting and return sections achieve smooth switching of motion states, forming a simple harmonic motion with flexible impact, reducing impact vibration during equipment start-up and shutdown.

[0009] Furthermore, the phase range of the lifting drive cam corresponding to the return segment is 0°-45° and 180°-225°, the phase range of the lifting drive cam corresponding to the lowering stationary segment is 45°-75° and 225°-255°, the phase range of the lifting drive cam corresponding to the lift segment is 75°-120° and 255°-300°, and the phase range of the lifting drive cam corresponding to the lifting stationary segment is 120°-180° and 300°-360°.

[0010] Thanks to the aforementioned technical solution, precise division of the cam phase interval enables accurate spatiotemporal coordination between lifting and horizontal movements. The symmetrical phase layout achieves dual-station alternating operation capability. In particular, the mirror design within the 180°-360° range allows the drive shaft to perform one lifting and one lifting-releasing operation per revolution, effectively improving equipment operating efficiency.

[0011] Furthermore, the horizontal drive cam is a four-section cam. The first section of the four-section cam is the retracted stationary section, the second section is the extension section, the third section is the extended stationary section, and the fourth section is the retracted section. The first, second, third, and fourth sections of the four-section cam are connected sequentially. When the horizontal driven roller assembly is matched with the retracted stationary section, the rotation of the horizontal drive cam can drive the picking arm to remain in the retracted position. When the horizontal driven roller assembly is matched with the extension section, the rotation of the horizontal drive cam can drive the picking arm to move horizontally from the retracted position to the extended position along the horizontal guide rail. When the horizontal driven roller assembly is matched with the extended stationary section, the rotation of the horizontal drive cam can drive the picking arm to remain in the extended position. When the horizontal driven roller assembly is matched with the retracted section, the rotation of the horizontal drive cam can drive the picking arm to move horizontally from the extended position to the retracted position along the horizontal guide rail.

[0012] Thanks to the aforementioned technical solution, the horizontal drive mechanism of the four-section cam and the lifting drive mechanism of the eight-section cam complement each other. In the retracted stationary position, the lifting action coordinates with the lifting motion to retrieve the goods; in the extended stationary position, the lifting action coordinates with the lifting motion to release the goods; and in the raised position, the extension and retraction phases are completed, allowing horizontal movement and lifting motion to alternate. This design achieves precise decoupling control of vertical and horizontal movements, ensuring smooth and accurate motion.

[0013] Furthermore, the phase range of the horizontal drive cam corresponding to the retracted stationary segment is 0°-120°, the phase range of the horizontal drive cam corresponding to the extension segment is 120°-180°, the phase range of the horizontal drive cam corresponding to the extended stationary segment is 180°-300°, and the phase range of the horizontal drive cam corresponding to the retracted segment is 300°-360°.

[0014] Thanks to the above technical solution, the horizontal drive cam has a total horizontal stationary angle of 240°, which provides ample operating time for the extraction and release of goods. The horizontal drive cam also has a total horizontal movement angle of 60°, which enables rapid switching of horizontal positions and significantly improves operational efficiency.

[0015] Furthermore, the lifting drive cam is located below the lifting driven roller assembly, the lifting drive cam provides support for the lifting driven roller assembly, and the rollers in the lifting driven roller assembly match the edge of the lifting drive cam.

[0016] Because of the above technical solution, the layout of the lower-positioned lifting drive cam allows the rollers in the lifting driven roller assembly to abut against the upper side of the lifting drive cam, thus achieving lifting drive, resulting in a simple structure.

[0017] Furthermore, the surface of the horizontal drive cam is provided with a cam groove that matches the profile of the horizontal drive cam, and the middle part of the swing arm is embedded in the cam groove of the horizontal drive cam through a horizontal driven roller assembly.

[0018] Thanks to the aforementioned technical solutions, the enclosed cam groove design achieves precise motion trajectory control, avoiding the risk of roller derailment. The lever structure of the swing arm amplifies the small rotation of the cam into a large-stroke horizontal movement of the picking arm, achieving a compact structural layout while ensuring accuracy. The double-sided contact between the roller and the groove wall effectively balances lateral forces.

[0019] Furthermore, the material handling unit is a vacuum suction cup.

[0020] Thanks to the aforementioned technical solution, the vacuum suction cup is suitable for gripping various sizes of flat materials, and is particularly suitable for fragile or surface-sensitive materials. The negative pressure adsorption method avoids surface damage that may be caused by mechanical clamping, and stable adsorption can be achieved in conjunction with the lifting stationary section.

[0021] Furthermore, the length of the drive groove is matched with the distance by which the lifting drive mechanism drives the material handling arm to rise and fall.

[0022] Thanks to the aforementioned technical solution, the precise dimensional design of the drive groove ensures that the horizontal connecting roller assembly effectively transmits the driving force for horizontal movement throughout the lifting process. The strict correspondence between the groove length parameter and the lifting stroke eliminates the risk of motion interference, ensuring that the material handling arm can achieve precise control of its composite motion trajectory.

[0023] Furthermore, the drive shaft is a stepped shaft, one end of which is rotatably mounted to the frame via a bearing. The lifting drive cam is mounted on the side of the stepped shaft close to the frame, and the horizontal drive cam is mounted on the side of the stepped shaft away from the frame.

[0024] Thanks to the aforementioned technical solution, the stepped shaft structure achieves precise axial positioning of the dual cams through the shaft shoulder, eliminating accumulated assembly errors. The dual-cam layout optimizes space utilization, making the overall structure more compact.

[0025] In summary, due to the adoption of the above technical solutions, the beneficial effects of this application are as follows: By synchronously controlling eight lifting drive cams and four horizontal drive cams with a single drive shaft, and utilizing the dual-cycle structure of the lifting drive cams and the dynamic coupling of the stationary section of the horizontal drive cams, the alternating operation of the picking arm at two workstations is achieved, meaning that one rotation of the drive shaft completes one extraction and release operation of the goods. The lifting drive mechanism utilizes a lower-positioned lifting drive cam support layout, directly using the upper edge of the lifting drive cam for support, converting the rotation of the lifting drive cam into the vertical displacement of the picking arm; the horizontal drive mechanism utilizes a cam groove-swing arm lever transmission, converting the rotation of the horizontal drive cam into the horizontal displacement of the picking arm; the matching technology between the drive groove and the lifting stroke eliminates motion interference, and the phase coordination of the dual cams forms a simple harmonic motion with flexible impact, achieving high-speed stable handling. Attached Figure Description

[0026] Figure 1 This is an exploded view of the material handling mechanism of this utility model;

[0027] Figure 2 This is an assembly drawing of the material handling mechanism of this utility model;

[0028] Figure 3 This is a front view of the material handling mechanism of this utility model;

[0029] Figure 4 This is a schematic diagram of the assembly of the drive shaft and the frame of this utility model;

[0030] Figure 5 This is a schematic diagram of the lifting drive mechanism of this utility model;

[0031] Figure 6 This is a schematic diagram of the horizontal drive mechanism of this utility model;

[0032] Figure 7This is a schematic diagram of the movement of the material handling part of this utility model;

[0033] Figure 8 This is a graph showing the relationship between the displacement of the material handling part and the rotation angle of the drive shaft in this utility model.

[0034] In the diagram, the markings are: 1-frame, 102-bearing, 103-bearing cover, 104-drive shaft, 105-flange nut, 2-lifting drive mechanism, 201-lifting drive cam, 202-lifting driven roller assembly, 203-connecting plate, 204-lifting slider, 205-lifting guide rail, 3-horizontal drive mechanism, 301-horizontal drive cam, 302-swing arm, 303-mounting block, 304-horizontal connecting roller assembly, 305-picking arm, 306-horizontal slider, 307-horizontal guide rail, 308-picking section, 309-horizontal driven roller assembly, 310-drive groove. Detailed Implementation

[0035] The present invention will now be described in detail with reference to the accompanying drawings.

[0036] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0037] Example 1

[0038] A material handling mechanism, such as Figure 1-8As shown, the system includes a lifting drive mechanism 2, a horizontal drive mechanism 3, a frame 1, and a drive shaft 104, with the drive shaft 104 rotatably connected to the frame 1. The lifting drive mechanism 2 includes a lifting drive cam 201, a lifting driven roller assembly 202, a connecting plate 203, and a lifting guide rail 205. The lifting guide rail 205 is vertically arranged and installed on the frame 1. The connecting plate 203 is movably connected to the lifting guide rail 205 via a lifting slider 204. The lifting driven roller assembly 202 is rotatably connected to the connecting plate 203 via a rotating shaft. The connecting plate 203 has a T-shaped structure, and the lifting driven roller assembly 202 is installed at the bottom end of the connecting plate 203. The lifting driven roller assembly 202 is matched with the lifting drive cam 201. The horizontal drive mechanism 3 includes a horizontal drive cam. 301, swing arm 302, mounting block 303, material picking arm 305, and horizontal guide rail 307. The horizontal guide rail 307 is arranged horizontally and installed on the connecting plate 203. The material picking arm 305 is movably connected to the horizontal guide rail 307 through a horizontal slider 306. One end of the material picking arm 305 in the length direction is provided with a material picking part 308, and the other end is provided with a vertically arranged drive groove 310. One end of the swing arm 302 is installed on the frame 1 through the mounting block 303, the middle part is matched with the horizontal drive cam 301 through the horizontal driven roller assembly 309, and the other end is embedded in the drive groove 310 through the horizontal connecting roller assembly 304. The lifting drive cam 201 and the horizontal drive cam 301 are both installed on the drive shaft 104 and can rotate synchronously under the action of the drive shaft 104.

[0039] Specifically, the combined action of the lifting drive cam 201 and the horizontal drive cam 301 enables the composite motion control of the material handling arm 305 in both vertical and horizontal directions. The coordinated design of the lifting guide rail 205 and the horizontal guide rail 307 ensures the accuracy of the motion trajectory, while the synchronous drive structure of the dual cams by the drive shaft 104 simplifies the transmission system and effectively improves the coordination and efficiency of the material handling action.

[0040] The lifting drive cam 201 is an eight-section cam. The first section of the eight-section cam is the return section, the second section is the lowering stationary section, the third section is the lifting section, the fourth section is the lifting stationary section, the fifth section is the return section, the sixth section is the lowering stationary section, the seventh section is the lifting section, and the eighth section is the lifting stationary section. The first, second, third, fourth, fifth, sixth, seventh, and eighth sections of the eight-section cam are connected sequentially. When the lifting driven roller assembly 202 is matched with the lifting section, the rotation of the lifting drive cam 201... The lifting drive cam 201 can drive the connecting plate 203 to rise from the lower position to the higher position along the lifting guide rail 205. When the lifting driven roller assembly 202 is matched with the higher position stationary section, the rotation of the lifting drive cam 201 can drive the connecting plate 203 to remain in the higher position. When the lifting driven roller assembly 202 is matched with the return section, the rotation of the lifting drive cam 201 can drive the connecting plate 203 to fall from the higher position to the lower position along the lifting guide rail 205. When the lifting driven roller assembly 202 is matched with the lower position stationary section, the rotation of the lifting drive cam 201 can drive the connecting plate 203 to remain in the lower position.

[0041] Specifically, the dual-lifting cycle design of the eight-section cam allows the material handling mechanism to complete two full lifting actions in a single rotation, adapting to the cycle of picking up and releasing materials between two points. The lifting stationary section can be matched with the horizontal drive mechanism 3 in lifting movement, and the lowering stationary section can be matched with the material handling unit 308 in lowering to grab and release goods. The alternating lifting and return sections achieve smooth switching of motion states, forming a simple harmonic motion with flexible impact, reducing impact vibration during equipment start-up and shutdown.

[0042] The phase range of the return segment corresponding to the lifting drive cam 201 is 0°-45° and 180°-225°, the phase range of the descending stationary segment corresponding to the lifting drive cam 201 is 45°-75° and 225°-255°, the phase range of the lift segment corresponding to the lifting drive cam 201 is 75°-120° and 255°-300°, and the phase range of the lifting stationary segment corresponding to the lifting drive cam 201 is 120°-180° and 300°-360°.

[0043] Specifically, by precisely dividing the cam phase interval, the lifting and horizontal movements are precisely coordinated in time and space. The symmetrical phase layout enables dual-station alternating operation, and the mirror design in the 180°-360° range allows the drive shaft 104 to perform one lifting and one lifting operation to pick up and release goods per revolution, effectively improving equipment operating efficiency.

[0044] The horizontal drive cam 301 is a four-section cam. The first section of the four-section cam is the retracted stationary section, the second section is the extension section, the third section is the extended stationary section, and the fourth section is the retracted section. The first, second, third, and fourth sections of the four-section cam are connected sequentially. When the horizontal driven roller assembly 309 is matched with the retracted stationary section, the rotation of the horizontal drive cam 301 can drive the material handling arm 305 to remain in the retracted position. When the extension section is matched, the rotation of the horizontal drive cam 301 can drive the picking arm 305 to move horizontally from the retracted position to the extended position along the horizontal guide rail 307. When the horizontal driven roller assembly 309 is matched with the stationary section of the extended position, the rotation of the horizontal drive cam 301 can drive the picking arm 305 to remain in the extended position. When the horizontal driven roller assembly 309 is matched with the retraction section, the rotation of the horizontal drive cam 301 can drive the picking arm 305 to move horizontally from the extended position to the retracted position along the horizontal guide rail 307.

[0045] Specifically, the horizontal drive mechanism of the four-section cam and the lifting drive mechanism of the eight-section cam complement each other. In the retracted stationary position, the lifting action coordinates with the lifting motion to retrieve the goods; in the extended stationary position, the lifting action coordinates with the lifting motion to release the goods; and in the raised position, the extension and retraction phases are completed, allowing horizontal movement and lifting motion to alternate. This design achieves precise decoupling control of vertical and horizontal movements, ensuring smooth and accurate motion.

[0046] The phase range of the horizontal drive cam 301 corresponding to the retracted stationary segment is 0°-120°, the phase range of the horizontal drive cam 301 corresponding to the extension segment is 120°-180°, the phase range of the horizontal drive cam 301 corresponding to the extended stationary segment is 180°-300°, and the phase range of the horizontal drive cam 301 corresponding to the retraction segment is 300°-360°.

[0047] Specifically, the horizontal drive cam 301 has a total horizontal stationary angle of 240°, which provides ample operating time for the extraction and release of goods. The horizontal drive cam 301 also has a total horizontal moving angle of 60°, which enables rapid switching of horizontal positions and significantly improves operational efficiency.

[0048] The lifting drive cam 201 is located below the lifting driven roller assembly 202. The lifting drive cam 201 provides support for the lifting driven roller assembly 202. The rollers in the lifting driven roller assembly 202 match the edge of the lifting drive cam 201.

[0049] Specifically, the layout of the lower-positioned lifting drive cam 201 allows the rollers in the lifting driven roller assembly 202 to abut against the upper side of the lifting drive cam 201, thus achieving lifting drive, which is simple in structure.

[0050] The surface of the horizontal drive cam 301 is provided with a cam groove that matches the contour of the horizontal drive cam 301, and the middle part of the swing arm 302 is embedded in the cam groove of the horizontal drive cam 301 through the horizontal driven roller assembly 309.

[0051] Specifically, the enclosed cam groove design enables precise motion trajectory control, avoiding the risk of roller derailment. The lever structure of the swing arm 302 amplifies the small rotation of the cam into a large-stroke horizontal movement of the picking arm 305, achieving a compact structural layout while ensuring accuracy. The double-sided contact between the roller and the groove wall effectively balances the lateral force.

[0052] The material handling unit 308 is a vacuum suction cup.

[0053] Specifically, the vacuum suction cup is suitable for gripping various sizes of flat materials, and is especially suitable for fragile or surface-sensitive materials. The negative pressure adsorption method avoids surface damage that may be caused by mechanical clamping, and stable adsorption can be achieved in conjunction with the lifting stationary section.

[0054] The material-picking arm 305 has an L-shaped structure. The material-picking part 308 is located at the long arm end of the material-picking arm 305, and the drive groove 310 is located at the short arm end of the material-picking arm 305. The length of the drive groove 310 is matched with the distance that the lifting drive mechanism 2 drives the material-picking arm 305 to rise and fall.

[0055] Specifically, the precise dimensional design of the drive slot 310 ensures that the horizontal connecting roller assembly 304 effectively transmits the driving force for horizontal movement throughout the lifting process. The strict correspondence between the slot length parameter and the lifting stroke eliminates the risk of motion interference, ensuring that the picking arm 305 can achieve precise control of the composite motion trajectory.

[0056] The drive shaft 104 is a stepped shaft. One end of the stepped shaft is rotatably mounted on the frame 1 via a bearing 102. A bearing cover 103 is also installed on the side of the bearing 102 corresponding to the side where the drive shaft 104 is mounted. The lifting drive cam 201 is installed on the side of the stepped shaft close to the frame 1, and the horizontal drive cam 301 is installed on the side of the stepped shaft away from the frame 1. A flange nut 105 is installed on the side of the stepped shaft opposite to the side where the bearing 102 is mounted.

[0057] Specifically, the stepped shaft structure achieves precise axial positioning of the dual cams through the shaft shoulder, eliminating accumulated assembly errors. The dual-cam layout optimizes space utilization, making the overall structure more compact.

[0058] like Figure 7As shown, when the material handling mechanism is working, the drive shaft 104 is driven by a motor to rotate at a constant speed, causing the lifting drive cam 201 and the horizontal drive cam 301 to rotate synchronously. When the drive shaft 104 rotates 45° clockwise from the initial position, the material handling part 308 descends 50mm vertically from the starting point to position A. The descent distance here can be set to any value according to specific needs. When the drive shaft 104 rotates 45°-75°, the material handling part 308 stops at position A and picks up the goods; when the drive shaft 104 rotates 75°-120°, the material handling part 308 picks up the goods and rises 50mm vertically to the starting point; when the drive shaft 104 rotates 120°-180°, the material handling part 308 picks up the goods and rises vertically along the water... The material handling section 308 extends 110mm horizontally relative to the frame 1. When the drive shaft 104 rotates 180°-225°, the material handling section 308 picks up the goods and descends 50mm vertically to position B. When the drive shaft 104 rotates 225°-255°, the material handling section 308 remains stationary and releases the goods. When the drive shaft 104 rotates 255°-300°, the material handling section 308 rises 50mm vertically at position B. When the drive shaft 104 rotates 300°-360°, the material handling section 308 retracts 110mm horizontally to return to the starting point. As the drive shaft 104 rotates continuously, the material handling section 308 continues this periodic movement. The motion curve of the material handling section 308 within one cycle (360°) of the drive shaft 104 is as follows: Figure 8 As shown, this is a simple harmonic motion with flexible impact, which ultimately achieves high-frequency stable handling.

[0059] This document uses specific embodiments to illustrate the principles and implementation methods of this utility model. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of this utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made to this utility model without departing from the principles of this utility model, and these improvements and modifications also fall within the protection scope of the claims of this utility model.

[0060] In the description of this utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the utility model product is in use. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0061] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

Claims

1. A material handling mechanism, characterized in that, The system includes a lifting drive mechanism, a horizontal drive mechanism, a frame, and a drive shaft, with the drive shaft rotatably connected to the frame. The lifting cam mechanism includes a lifting drive cam, a lifting driven roller assembly, a connecting plate, and a lifting guide rail. The lifting guide rail is vertically positioned and mounted on the frame. The connecting plate is movably connected to the lifting guide rail via a lifting slider. The lifting driven roller assembly is rotatably connected to the connecting plate via a rotating shaft, and the lifting driven roller assembly is matched to the lifting drive cam. The horizontal drive mechanism includes a horizontal drive cam, a swing arm, a mounting block, and a material handling arm. The system includes a horizontal guide rail, which is horizontally positioned and mounted on a connecting plate. The material-grabbing arm is movably connected to the horizontal guide rail via a horizontal slider. One end of the material-grabbing arm has a material-grabbing section, and the other end has a vertically arranged drive groove. One end of the swing arm is mounted on the frame via a mounting block, the middle part is matched with a horizontal drive cam via a horizontal driven roller assembly, and the other end is embedded in the drive groove via a horizontal connecting roller assembly. Both the lifting drive cam and the horizontal drive cam are mounted on a drive shaft and can rotate synchronously under the action of the drive shaft.

2. The material handling mechanism as described in claim 1, characterized in that, The lifting drive cam is an eight-section cam. The first section of the eight-section cam is the return section, the second section is the lowering stationary section, the third section is the lifting section, the fourth section is the lifting stationary section, the fifth section is the return section, the sixth section is the lowering stationary section, the seventh section is the lifting section, and the eighth section is the lifting stationary section. The first, second, third, fourth, fifth, sixth, seventh, and eighth sections of the eight-section cam are connected sequentially. When the lifting driven roller assembly is matched with the lifting section, the rotation of the lifting drive cam can drive the connecting plate to rise from the lowering position to the lifting position along the lifting guide rail. When the lifting driven roller assembly is matched with the lifting stationary section, the rotation of the lifting drive cam can drive the connecting plate to remain in the lifting position. When the lifting driven roller assembly is matched with the return section, the rotation of the lifting drive cam can drive the connecting plate to fall from the lifting position to the lowering position along the lifting guide rail. When the lifting driven roller assembly is matched with the lowering stationary section, the rotation of the lifting drive cam can drive the connecting plate to remain in the lowering position.

3. The material handling mechanism as described in claim 2, characterized in that, The phase range of the return segment corresponding to the lifting drive cam is 0°-45° and 180°-225°, the phase range of the lowering stationary segment corresponding to the lifting drive cam is 45°-75° and 225°-255°, the phase range of the lift segment corresponding to the lifting drive cam is 75°-120° and 255°-300°, and the phase range of the lifting stationary segment corresponding to the lifting drive cam is 120°-180° and 300°-360°.

4. The material handling mechanism as described in claim 3, characterized in that, The horizontal drive cam is a four-section cam. The first section of the four-section cam is the retracted stationary section, the second section is the extension section, the third section is the extended stationary section, and the fourth section is the retracted section. The first, second, third, and fourth sections of the four-section cam are connected sequentially. When the horizontal driven roller assembly is matched with the retracted stationary section, the rotation of the horizontal drive cam can drive the picking arm to remain in the retracted position. When the horizontal driven roller assembly is matched with the extension section, the rotation of the horizontal drive cam can drive the picking arm to move horizontally along the horizontal guide rail from the retracted position to the extended position. When the horizontal driven roller assembly is matched with the extended stationary section, the rotation of the horizontal drive cam can drive the picking arm to remain in the extended position. When the horizontal driven roller assembly is matched with the retracted section, the rotation of the horizontal drive cam can drive the picking arm to move horizontally along the horizontal guide rail from the extended position to the retracted position.

5. The material handling mechanism as described in claim 4, characterized in that, The phase range of the horizontal drive cam corresponding to the retracted stationary section is 0°-120°, the phase range of the horizontal drive cam corresponding to the extension section is 120°-180°, the phase range of the horizontal drive cam corresponding to the extended stationary section is 180°-300°, and the phase range of the horizontal drive cam corresponding to the retracted section is 300°-360°.

6. The material handling mechanism as described in claim 1, characterized in that, The lifting drive cam is located below the lifting driven roller assembly. The lifting drive cam provides support for the lifting driven roller assembly, and the rollers in the lifting driven roller assembly match the edge of the lifting drive cam.

7. The material handling mechanism as described in claim 1, characterized in that, The surface of the horizontal drive cam is provided with a cam groove that matches the profile of the horizontal drive cam, and the middle part of the swing arm is embedded in the cam groove of the horizontal drive cam through a horizontal driven roller assembly.

8. The material handling mechanism as described in claim 1, characterized in that, The material handling section is a vacuum suction cup.

9. The material handling mechanism as described in claim 1, characterized in that, The length of the drive groove is matched with the distance that the lifting drive mechanism drives the material handling arm to rise and fall.

10. The material handling mechanism as described in claim 1, characterized in that, The drive shaft is a stepped shaft, one end of which is rotatably mounted to the frame via a bearing. The lifting drive cam is mounted on the side of the stepped shaft close to the frame, and the horizontal drive cam is mounted on the side of the stepped shaft away from the frame.

Images