Workpiece transfer mechanism

Abstract

The utility model belongs to the technical field of workpiece carrying, and particularly relates to a workpiece transferring mechanism. According to the workpiece transfer mechanism, the vertically-arranged belt transmission structure is matched with the swing rod assembly, so that the workpiece transfer mechanism is in efficient transmission in the vertical direction, compared with a traditional swing arm mechanism, the transverse occupied space is greatly reduced, and the workpiece transfer mechanism is suitable for compact production line layout. In addition, a rotary driver is adopted to drive belt transmission, and the mode that the swing rod assembly symmetrically swings is combined, so that the picker keeps a horizontal posture in the moving process, the workpieces are prevented from inclining or falling off, stable reciprocating motion of the picker is achieved, and the picker is suitable for rapid transfer of light and medium-sized workpieces. And compared with a manipulator scheme, the manufacturing cost is remarkably reduced, and meanwhile high carrying efficiency and positioning precision are kept.

Description

TECHNICAL FIELD

[0001] The utility model belongs to workpiece handling technical field, concretely relates to workpiece transfer mechanism. BACKGROUND

[0002] In the automatic production line, workpiece needs to be carried to the designated station after discharging on the conveying belt, and the traditional method mainly adopts the swing arm mechanism driven by the manipulator or motor. The manipulator (such as six-axis robot or SCARA manipulator) has high flexibility, but the cost is expensive, and the control system is required to be higher, and it is suitable for complex carrying scene, and the mechanism of motor and swing arm is low in cost, but occupies large space area, and the motion efficiency is limited, and it is difficult to adapt to compact production line layout. With the increasing demand of manufacturing industry for low-cost, high-efficiency and miniaturization of automatic equipment, the existing carrying scheme has optimization space in cost, space and performance. Therefore, a compact, economical and efficient alternative scheme is needed, which can reduce the equipment floor area and manufacturing cost while ensuring the carrying precision, so as to meet the urgent needs of small and medium-sized production lines for automatic discharging and carrying. CONTENT OF UTILITY MODEL

[0003] The utility model aims at overcoming the problems of high cost and large space area of the existing workpiece carrying mechanism, and provides a workpiece transfer mechanism which is simple in structure, low in cost and small in space occupation.

[0004] In order to achieve the above purpose, the utility model adopts the following technical scheme:

[0005] The workpiece transfer mechanism comprises a machine base, a belt transmission structure, a swing rod assembly and a rotary driver. The belt transmission structure comprises a driving pulley and a driven pulley arranged vertically along the machine base, and a transmission belt. The transmission belt is wound around the driving pulley and the driven pulley. The swing rod assembly comprises a first swing rod, a second swing rod and a workpiece transfer rod. One end of the first swing rod is connected to the driving pulley, and one end of the second swing rod is connected to the driven pulley. The workpiece transfer rod is rotatably connected to the other end of the first swing rod and the other end of the second swing rod. The lower end of the workpiece transfer rod extends out of the lower side of the swing rod assembly to form a pickup part. A pickup device is arranged at the lower end of the pickup part. The rotary driver is in transmission connection with the driving pulley. The driving pulley rotates forward and backward to drive the pickup device to move from one side of the machine base to the other side through the swing rod assembly.

[0006] Compared with the prior art, the workpiece transfer mechanism, through the vertical arrangement of the belt transmission structure cooperated with the swing lever assembly, can efficiently drive the workpiece transfer mechanism in the vertical direction, greatly reduces the horizontal space occupation compared with the traditional swing arm mechanism, and is suitable for compact production line layout. In addition, the rotation driver is used to drive the belt transmission, and the swing lever assembly is combined with the symmetrical swing mode, so that the picker maintains a horizontal posture during movement, avoids workpiece inclination or falling, realizes stable reciprocating motion of the picker, and is suitable for rapid transfer of light and medium workpieces. Compared with the mechanical hand scheme, the manufacturing cost is significantly reduced, while the carrying efficiency and positioning accuracy are maintained.

[0007] Further, the first swing lever and the second swing lever are the same length and are arranged in parallel; the starting positions of the first swing lever and the second swing lever are horizontally arranged, the rotation driver is reversed by 180° through the driving drive pulley to realize driving the picker from one side of the base to the other side; by such arrangement, the swing lever assembly drives the picker to reciprocate on the left and right sides in a symmetrical swing mode, and the workpiece carrying efficiency and positioning accuracy are high.

[0008] Further, the driving pulley is located below the driven pulley; the base is located below the driving pulley on the left and right sides and is provided with a limiting post, and the limiting post is used to limit the first swing lever to keep a horizontal state at the starting position and the end position; by such arrangement, the driving pulley is arranged below the driven pulley and is provided with a limiting post structure, so that the first swing lever keeps an accurate horizontal state at the starting and end positions, ensures the positioning stability of the picker during workpiece grabbing and releasing, optimizes the stress distribution of the transmission belt, reduces the swing deviation during movement, and improves the reliability and repeatability of the carrying operation.

[0009] Further, the belt transmission structure further comprises a tension pulley, the tension pulley is arranged between the driving pulley and the driven pulley, and the transmission belt is wound on the tension pulley; by such arrangement, the wrap angle and tension of the transmission belt are optimized by adding the tension pulley, the belt slip or looseness is effectively prevented, the power transmission stability during movement of the swing lever assembly is ensured, the belt wear is reduced, the service life of the mechanism is prolonged, and the position accuracy and action reliability of workpiece transfer are improved.

[0010] Further, the picker is a vacuum picker, the workpiece transfer rod is provided with an air distribution device, the base is provided with an air distribution control module, and the air distribution control module, the air distribution device and the vacuum picker are connected to each other through a plurality of air paths; by adopting the vacuum picker and the integrated air distribution system, the workpiece is quickly and losslessly grabbed and released, the air path control module centrally manages the vacuum adsorption force, and the carrying process is stable and reliable.

[0011] Further, the belt transmission structure is arranged on the front side of the base, a set of code disc and photoelectric sensor are arranged on the rear side of the base and used in cooperation, the code disc is provided with an original point light transmission hole on one side, the code disc rotates synchronously with the driven pulley, and the code disc is used for determining the mechanical original point position of the rotary driver when the original point light transmission hole corresponds to the photoelectric sensor; the detection mechanism of the code disc and the photoelectric sensor arranged on the rear side of the base is used for accurately positioning the mechanical original point of the rotary driver by the original point light transmission hole, realizing the closed-loop control of the movement track of the swing lever assembly, effectively eliminating the cumulative error and improving the reset accuracy, ensuring the consistency of the workpiece transfer position, and enhancing the anti-interference ability of the system, so that the mechanism can maintain stable and reliable positioning performance in long-time operation.

[0012] Further, the rotary driver comprises a rotary driving motor and a speed reducer arranged on the output end of the rotary driving motor, and the output end of the speed reducer is in transmission connection with the driving pulley; the speed reducer is matched with the rotary driving motor, the transmission efficiency is maintained, the output torque is significantly improved, the driving pulley can stably drive the swing lever assembly with larger load, the influence of motor speed fluctuation on positioning accuracy is effectively reduced, and the service life of the driving system is prolonged, and the workpiece carrying scene which needs frequent start and stop or precise positioning is particularly suitable.

[0013] Further, the base comprises a vertical frame and a base arranged at the bottom of the vertical frame, the rotary driver is vertically arranged at the lower part of the rear side of the vertical frame, and the belt transmission structure and the swing lever assembly are arranged at the upper part of the front side of the vertical frame; the rotary driver is installed at the rear lower part by optimizing the layout of the base, so that the stability of the transmission system is ensured, and the overall structure is more compact and balanced; meanwhile, the belt transmission and the swing lever assembly arranged on the front upper part form reasonable gravity distribution, effectively reduce the running vibration, improve the rigidity of the mechanism, and make the workpiece transfer process more stable and accurate. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 Front side isometric view of the workpiece transfer mechanism Figure 1 .

[0015] Figure 2 Front side isometric view of the workpiece transfer mechanism Figure 2 .

[0016] Figure 3 Rear side isometric view of the workpiece transfer mechanism Figure 1 .

[0017] Figure 4 Rear side isometric view of the workpiece transfer mechanism Figure 2 .

[0018] Figure 5 Front view of the workpiece transfer mechanism at the starting position.

[0019] Figure 6 Rear view of the workpiece transfer mechanism at the end position.

[0020] Label explanation: workpiece transfer mechanism 1, machine base 11, belt drive structure 12, swing lever assembly 13, rotary driver 14, driving pulley 121, driven pulley 122, transmission belt 123, tension pulley 124, first swing lever 131, second swing lever 132, workpiece transfer rod 133, picker 15, limit column 16, air distribution device 171, gas distribution control module 172, code disc 181, photoelectric sensor 182, rotary drive motor 141, speed reducer 142, vertical frame 111, base 112, pickup part 134, origin light transmission hole 183. DETAILED DESCRIPTION

[0021] The specific embodiments of the present application will be described below with reference to the accompanying drawings. In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", etc. indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0022] Referring to Figures 1 to 6 , the workpiece transfer mechanism 1 of the present application comprises a machine base 11, a belt drive structure 12, a swing lever assembly 13 and a rotary driver 14; the belt drive structure 12 comprises a driving pulley 121 and a driven pulley 122 arranged vertically along the machine base 11 and a transmission belt 123, the driving pulley 121 and the driven pulley 122 are rotatably connected to the machine base 11, and the transmission belt 123 is wound around the driving pulley 121 and the driven pulley 122; the swing lever assembly 13 comprises a first swing lever 131, a second swing lever 132 and a workpiece transfer rod 133, one end of the first swing lever 131 is connected to the driving pulley 121, one end of the second swing lever 132 is connected to the driven pulley 122, and the workpiece transfer rod 133 is rotatably connected to the other end of the first swing lever 131 and the other end of the second swing lever 132, respectively, the lower end of the workpiece transfer rod 133 extends out of the lower side of the swing lever assembly 13 to form a pickup part 134, and the pickup part 134 is provided with a picker 15; the rotary driver 14 is in transmission connection with the driving pulley 121, and drives the picker 15 to move from one side to the other side of the machine base 11 by driving the driving pulley 121 to rotate in forward and reverse directions, thereby driving the swing lever assembly 13.

[0023] Compared with the prior art, the workpiece transfer mechanism 1 is high-efficiency transmission in the vertical direction through the vertically arranged belt transmission structure 12 cooperating with the swing lever assembly 13, and the horizontal space occupation is greatly reduced compared with the traditional swing arm mechanism, and the workpiece transfer mechanism 1 is suitable for compact production line layout. In addition, the belt transmission is driven by the rotary driver 14, and the pickup 15 keeps a horizontal posture during movement in the symmetrical swing mode of the swing lever assembly 13, so that the workpiece is prevented from tilting or falling, and stable reciprocating movement of the pickup 15 is realized, and the pickup 15 is suitable for rapid transfer of light and medium workpieces. Compared with the mechanical hand scheme, the manufacturing cost is significantly reduced, while the carrying efficiency and positioning accuracy are maintained.

[0024] Referring to Figures 1 to 4 In an embodiment, the first swing lever 131 and the second swing lever 132 are arranged in parallel and have the same length, and the starting positions of the first swing lever 131 and the second swing lever 132 are horizontally arranged. The rotary driver 14 is reversed by 180 degrees through the driving main pulley 121 to realize driving of the pickup 15 from one side of the base 11 to the other side. In this way, the swing lever assembly 13 drives the pickup 15 to reciprocate on the left and right sides in a symmetrical swing mode, and the workpiece carrying efficiency and positioning accuracy are high.

[0025] Referring to Figures 1 to 4 In an embodiment, the driving main pulley 121 is located below the driven pulley 122, and the base 11 is provided with a limiting column 16 on the lower left side and the lower right side of the driving main pulley 121. The limiting column 16 is used for limiting the first swing lever 131 to keep a horizontal state at the starting position and the end position. In this way, the driving main pulley 121 is arranged below the driven pulley 122 and is provided with the limiting column 16 structure, so that the first swing lever 131 keeps an accurate horizontal state at the starting position and the end position, ensuring the positioning stability of the pickup 15 during workpiece grabbing and releasing, optimizing the stress distribution of the transmission belt 123, reducing the swing deviation during movement, and improving the reliability and repeatability of the carrying movement.

[0026] Referring to Figures 2 to 6 In an embodiment, the belt transmission structure 12 further comprises a tension pulley 124 arranged between the driving main pulley 121 and the driven pulley 122, and the transmission belt 123 is wound around the tension pulley 124. In this way, the wrap angle and tension of the transmission belt 123 are optimized by adding the tension pulley 124, the belt slip or looseness is effectively prevented, the power transmission stability during movement of the swing lever assembly 13 is ensured, the belt wear is reduced, the service life of the mechanism is prolonged, and the position accuracy and action reliability of the workpiece transfer are improved.

[0027] Referring to Figures 1 to 6In an embodiment, the picker 15 is a vacuum picker 15, the workpiece transfer rod 133 is provided with an air path distributor 171, the machine base 11 is provided with an air distribution control module 172, the air distribution control module 172, the air path distributor 171 and the vacuum picker 15 are connected to each other through a plurality of air paths; by adopting the vacuum picker 15 matched with the integrated air path distribution system, the workpiece is quickly and losslessly grabbed and released, the air path control module centrally manages the vacuum adsorption force, and the stable and reliable carrying process is ensured.

[0028] Referring to Figures 1 to 4 In an embodiment, the belt transmission structure 12 is arranged on the front side of the machine base 11, a set of code disc 181 and photoelectric sensor 182 matched for use are arranged on the rear side of the machine base 11, the code disc 181 is provided with an origin light transmission hole 183 on one side, the code disc 181 rotates synchronously with the driven pulley 122, and when the code disc 181 rotates to the position where the origin light transmission hole 183 corresponds to the photoelectric sensor 182, the mechanical origin position of the rotary driver 14 is determined; by arranging the detection mechanism of the code disc 181 and the photoelectric sensor 182 on the rear side of the machine base 11, the mechanical origin of the rotary driver 14 is accurately positioned by the origin light transmission hole 183, the closed-loop control of the movement track of the swing lever assembly 13 is realized, the cumulative error is effectively eliminated and the reset accuracy is improved, the consistency of the workpiece transfer position is ensured, the anti-interference ability of the system is enhanced, and the positioning performance of the mechanism is stable and reliable in long-time operation.

[0029] Referring to Figures 1 to 4 In an embodiment, the rotary driver 14 includes a rotary driving motor 141 and a speed reducer 142 arranged on the output end of the rotary driving motor 141, and the output end of the speed reducer 142 is in transmission connection with the driving pulley 121; by matching the rotary driving motor 141 with the speed reducer 142, the output torque is significantly improved while the transmission efficiency is maintained, the driving pulley 121 can stably drive the swing lever assembly 13 with larger load, the influence of motor speed fluctuation on positioning accuracy is effectively reduced, and the service life of the driving system is prolonged, and the method is particularly suitable for workpiece carrying scenes that need to be frequently started and stopped or precisely positioned.

[0030] Referring to Figures 1 to 4 In an embodiment, the machine base 11 includes a vertical frame 111 and a base 112 arranged on the bottom of the vertical frame 111, the rotary driver 14 is vertically arranged on the lower part of the rear side of the vertical frame 111, and the belt transmission structure 12 and the swing lever assembly 13 are arranged on the upper part of the front side of the vertical frame 111; by optimizing the layout of the machine base 11, the rotary driver 14 is installed at the rear and lower part, which not only ensures the stability of the transmission system, but also makes the overall structure more compact and balanced; meanwhile, the belt transmission and the swing lever assembly 13 arranged on the front upper part form a reasonable gravity distribution, effectively reduce the running vibration, improve the rigidity of the mechanism, and make the workpiece transfer process more stable and accurate.

[0031] According to the disclosure and teaching of the above description, the skilled in the art of the present application can also change and modify the above embodiments. Therefore, the present application is not limited to the specific embodiments disclosed and described above, and some modifications and changes of the present application should also fall within the protection scope of the claims of the present application. In addition, although some specific terms are used in the specification, these terms are only for convenience of description and do not constitute any limitation on the present application.

Claims

1. A workpiece transfer mechanism, characterized by, The utility model relates to a workpiece transfer device, including: A base; A belt drive structure including a driving pulley and a driven pulley arranged vertically along the base and a transmission belt wound around the driving pulley and the driven pulley; A swing lever assembly including a first swing lever, a second swing lever and a workpiece transfer lever, one end of the first swing lever being connected to the driving pulley, one end of the second swing lever being connected to the driven pulley, the workpiece transfer lever being rotatably connected to the other end of the first swing lever and the other end of the second swing lever respectively, the lower end of the workpiece transfer lever extending out of the lower side of the swing lever assembly to form a pickup portion, and a pickup device being arranged at the lower end of the pickup portion; A rotary driver in driving connection with the driving pulley, which drives the pickup device to move from one side of the base to the other side by driving the driving pulley to rotate forward and backward.

2. The workpiece transfer mechanism of claim 1, wherein, The first swing lever and the second swing lever are of the same length and arranged in parallel; The first swing lever and the second swing lever are arranged horizontally at the starting position, and the rotary driver drives the pickup device to move from one side of the base to the other side by driving the driving pulley to rotate forward and backward by 180°.

3. The workpiece transfer mechanism of claim 2, wherein, The driving pulley is located below the driven pulley; Limiting posts are arranged at the lower left side and the lower right side of the base, respectively, for limiting the first swing lever to remain horizontal at the starting position and the end position.

4. The workpiece transfer mechanism of claim 1, wherein, The belt drive structure further includes a tension pulley arranged between the driving pulley and the driven pulley, and the transmission belt is wound around the tension pulley.

5. The workpiece transfer mechanism of claim 1, wherein, The pickup device is a vacuum pickup device, a gas distribution device is arranged on the workpiece transfer lever, and a gas distribution control module is arranged on the base, the gas distribution control module, the gas distribution device and the vacuum pickup device are connected to each other through a plurality of gas paths.

6. The workpiece transfer mechanism of claim 1, wherein, The belt drive structure is arranged at the front side of the base, a code disc and a photoelectric sensor are arranged at the rear side of the base for cooperation, the code disc is provided with an origin light transmission hole at one side, the code disc rotates synchronously with the driven pulley, and the mechanical origin position of the rotary driver is determined when the code disc rotates to the position where the origin light transmission hole corresponds to the photoelectric sensor.

7. The workpiece transfer mechanism of claim 1, wherein, The rotary driver includes a rotary driving motor and a speed reducer arranged at the output end of the rotary driving motor, and the output end of the speed reducer is in driving connection with the driving pulley.

8. The workpiece transfer mechanism of claim 1, wherein, The base includes a vertical frame and a base arranged at the bottom of the vertical frame, the rotary driver is vertically arranged at the lower part of the rear side of the vertical frame, and the belt drive structure and the swing lever assembly are arranged at the upper part of the front side of the vertical frame.

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