Material transfer mechanism and carton conveying system

Abstract

The utility model provides a kind of material transfer mechanism and packaging box conveying system, it is related to material conveying technical field, including mounting plate, lifting rotary assembly and pick-and-place assembly;Lifting rotary assembly includes ball screw, lifting drive part and rotary drive part;Ball screw includes screw rod and ball nut and spline nut that are spacedly sleeved on screw rod;Pick-and-place assembly is installed on the lower end of screw rod to pick up or release material;Ball nut and spline nut are rotatably installed on mounting plate by bearing respectively;Lifting drive part and rotary drive part are fixed on mounting plate;On the upside of mounting plate, lifting drive part is connected with ball nut transmission to drive ball nut rotation by lifting transmission wheel group;On the downside of mounting plate, rotary drive part is connected with spline nut transmission to drive spline nut rotation by rotary transmission wheel group.The utility model alleviates the problem that material lifting and rotating function implementation mode are complex, response speed is slow and space is large in prior art.

Description

Technical Field

[0001] This utility model relates to the field of material conveying technology, and in particular to a material transfer mechanism and a packaging box conveying system. Background Technology

[0002] In material handling systems, the transport and orientation of materials are fundamental processes in automated production lines. With the continuous improvement of industrial automation, various robotic arms, conveyor belts, and rotating platforms are widely used in manufacturing workshops. These devices are typically driven by actuators such as servo motors and stepper motors, working in conjunction with end effectors to perform material gripping, transfer, and orientation operations.

[0003] In existing technical solutions, in order to realize the position change and attitude adjustment of materials, multiple independent actuators are generally used in series or parallel. Specifically, the material is usually transferred from one platform to a rotating platform by a robot arm in conjunction with a translation mechanism and a lifting mechanism. After the rotating platform rotates and changes direction, the robot arm picks up the material that has been changed direction again with the help of the translation mechanism and the lifting mechanism, and transfers the material to the next platform. The whole process requires repeated picking up and releasing of materials, which can easily damage the materials. In addition, it is necessary to provide avoidance space between each platform and the robot arm to avoid mutual interference. This results in the problems of complex implementation of material lifting and rotation functions, slow response speed, and large space occupation. Utility Model Content

[0004] The purpose of this utility model is to provide a material transfer mechanism and a packaging box conveying system to alleviate the technical problems of complex material lifting and rotation functions, slow response speed, and large space occupation in the prior art.

[0005] To achieve the above objectives, the embodiments of this utility model adopt the following technical solutions: This utility model provides a material transfer mechanism, including a mounting plate, a lifting and rotating assembly, and a material picking and placing assembly; The lifting and rotating assembly includes a ball spline screw, a lifting drive unit, and a rotating drive unit; the ball spline screw includes a screw and ball nuts and spline nuts spaced and fitted on the screw. The material pick-up and release assembly is installed at the lower end of the lead screw to pick up or release materials; The ball nut and the spline nut are respectively rotatably mounted on the mounting plate via bearings; Both the lifting drive unit and the rotating drive unit are fixed to the mounting plate. The lifting drive unit is connected to the ball nut via a lifting transmission wheel set to drive the ball nut to rotate. The rotating drive unit is connected to the spline nut via a rotating transmission wheel set to drive the spline nut to rotate. The lifting drive unit and the lifting transmission wheel set are arranged on the upper side of the mounting plate, and the output end of the rotating drive unit and the rotating transmission wheel set are arranged on the lower side of the mounting plate.

[0006] In an optional embodiment, the lifting drive unit is a lifting servo motor, and the rotation drive unit is a rotation servo motor; The mounting plate is also provided with a trigger switch assembly; the trigger switch assembly includes a mounting frame and three trigger switches that are installed longitudinally from top to bottom at intervals on the mounting frame; the lifting servo motor and the rotating servo motor are respectively electrically or signal connected to each of the trigger switches; The mounting bracket is arranged on the upper side of the mounting plate and located on one side of the ball spline screw. A contact part protruding radially outward along the upper end of the screw is provided. The contact part touches the corresponding trigger switch when the screw rises or falls to a preset height, and disengages from the corresponding trigger switch when the screw is higher or lower than the preset height.

[0007] In an optional embodiment, the lifting transmission wheel assembly and / or the rotating transmission wheel assembly includes a drive wheel and a transmission belt; The transmission belt surrounds and frictionally engages with the drive wheel and the corresponding nut; the output end of the lifting drive unit is connected to the drive wheel to drive the drive wheel to rotate.

[0008] In an optional embodiment, the outer peripheral surfaces of the drive wheel and the corresponding nut are respectively provided with a plurality of transmission teeth arranged continuously along their respective circumferences; The inner surface of the transmission belt is provided with a plurality of transmission teeth arranged continuously along the circumference of the transmission belt. The first transmission gear meshes with the second transmission gear.

[0009] In an optional embodiment, the lifting drive unit, the rotating drive unit, and the lead screw are arranged in a triangle in the horizontal plane.

[0010] In an optional embodiment, the material transfer mechanism further includes a translation component; The translation component includes a base and a translation drive transmission component; the drive end of the translation drive transmission component is fixedly installed on the base, and the mounting plate is fixedly connected to the output end of the translation drive transmission component; the translation drive transmission component drives the mounting plate to reciprocate horizontally relative to the base.

[0011] In an optional embodiment, the translation drive transmission assembly includes a servo electric cylinder and an electric cylinder slider, wherein the electric cylinder slider is fixedly connected to the output push rod of the servo electric cylinder; The servo electric cylinder is fixedly installed on the base, and the mounting plate is fixedly connected to the electric cylinder slider; the servo electric cylinder drives the electric cylinder slider to move back and forth in the horizontal direction relative to the base, carrying the mounting plate.

[0012] In an optional embodiment, the material handling assembly includes a top plate, a gripper drive unit, and two translational side arms; The top plate is fixedly connected to the lower end of the lead screw, and the lower surface of the top plate is provided with a linear guide rail; The two translational side arms are opposite to each other and slidably connected to the linear guide rail. Furthermore, each translational side arm has multiple hooks that bend toward the other translational side arm on the side opposite to the other translational side arm. The gripper drive unit is fixedly connected to the lower surface of the top plate and is driven by the two translational side arms. The gripper drive unit drives the two translational side arms to move towards or away from each other along the linear guide rail.

[0013] In an optional embodiment, the upper surface of each of the translational side arms is provided with a slider. One of the slider and the linear guide rail is provided with a groove extending along the length direction of the linear guide rail, and the other is inserted into and slidably fitted inside the groove. Guide grooves are provided on two longitudinal side walls of the groove extending along the length direction of the linear guide rail. Guide protrusions that cooperate with the guide grooves are provided on the opposite side walls of one of the slider and the linear guide rail located inside the groove. And / or, the gripper drive unit adopts a finger gripper cylinder, and the two translational side arms are respectively fixedly connected to the two output ends of the finger gripper cylinder.

[0014] Secondly, embodiments of the present invention provide a packaging box conveying system, including the material transfer mechanism provided in any of the optional embodiments of the first aspect.

[0015] This utility model can achieve at least the following beneficial effects: The material transfer mechanism provided in this embodiment of the utility model is a multi-degree-of-freedom drive mechanism with reasonable structure, diverse functions, rapid response, and high space utilization. It can effectively solve the problems of complex material lifting and rotation functions, slow response speed, and large space occupation in the prior art.

[0016] This material transfer mechanism mainly utilizes a ball spline screw, including the screw and ball nuts and spline nuts spaced and fitted on it. The ball nuts and spline nuts are rotatably mounted on the mounting plate via bearings. Combined with a lifting drive unit and a rotating drive unit, it has the following three main driving states: (1) When the lifting drive unit is started and the rotary drive unit is closed, the lifting drive unit drives the ball nut to rotate, and the screw makes a non-rotational lifting motion (i.e. linear lifting motion) under the constraint of the spline nut. (2) When the rotary drive unit is started and the lifting drive unit is closed, the rotary drive unit drives the spline nut to rotate, and the lead screw rotates relative to the ball nut, making a spiral lifting motion while rotating and lifting. (3) When the lifting drive and the rotary drive start at the same time, the lifting drive drives the ball nut to rotate, and the rotary drive drives the spline nut to rotate. The rotation of the ball nut basically cancels out the linear lifting motion caused by the spline nut driving the screw to rotate. At this time, the screw follows the spline nut to make a non-lifting rotational motion (i.e., rotates at the original height). When in use, the two driving states (1) and (3) mentioned above are mainly used to realize the lifting and rotation of materials in place, and at least the following beneficial effects can be achieved: (1) High structural integration and strong compactness: By using ball spline screw in conjunction with lifting drive and rotation drive, the two motion forms of lifting and rotation are combined. At the same time, combined with the material picking and placing component, the material picking, placing, lifting and rotation posture adjustment operations can be completed in a continuous manner without the need for a robot to transfer materials between platforms. This avoids the complex linkage structure in traditional multi-degree-of-freedom motion mechanisms, effectively reduces the size of the equipment and improves the space utilization rate. (2) Fast response and high operating efficiency: Since the motion mode switching only requires controlling the lifting drive and the rotation drive to start individually or simultaneously, there is no need for the robot to switch to other platforms, which improves the response speed and makes the control flexible, which is conducive to improving the overall operating efficiency of the equipment. (3) Good stability of material picking and dispensing process: The lifting drive unit and the lifting transmission wheel set are arranged on the upper side of the mounting plate, and the output end of the rotary drive unit and the rotary transmission wheel set are arranged on the lower side of the mounting plate. On the one hand, it saves space layout, and on the other hand, it makes the output transmission structure that drives the rotation of the material picking and dispensing component closer to the material picking and dispensing component, which is conducive to improving the stability of the rotation action of the material picking and dispensing component, reducing the swing or shaking of the material during the picking and dispensing process, and making the operation safer. (4) Simple control logic and high reliability: The switching of drive state can be realized through simple switching logic, which reduces the complexity of the control system and improves the stability and maintainability of equipment operation; (5) Wide range of applications: This structure can be widely used in automated equipment that requires material lifting and rotation, including but not limited to conveying systems for conveying filling and packaging boxes in the field of medical devices.

[0017] The packaging box conveying system provided in this embodiment of the utility model includes the aforementioned material transfer mechanism, and the functional effects it can achieve are the same as those of the aforementioned material moving mechanism. Attached Figure Description

[0018] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 A schematic diagram of the overall structure of the material transfer mechanism provided in an embodiment of this utility model from a first isometric perspective. Figure 2 for Figure 1 Enlarged view of the local structure of region A in the middle; Figure 3 A schematic diagram of the overall structure of the material transfer mechanism provided in an embodiment of this utility model from a second isometric perspective. Figure 4 for Figure 3 Enlarged view of the local structure of region B in the middle; Figure 5 A schematic diagram of the overall structure of the material transfer mechanism provided in this embodiment of the utility model from a third isometric perspective. Figure 6 for Figure 5 Enlarged view of the local structure of region C in the middle; Figure 7 A schematic diagram of the overall structure of the material handling assembly in the material transfer mechanism provided in this embodiment of the utility model from an isometric perspective; Figure 8 for Figure 7 Enlarged view of the local structure of region D in the middle; Figure 9 This is a schematic diagram of the overall structure of the material handling assembly in the material transfer mechanism provided in an embodiment of the present invention, viewed from another isometric perspective.

[0020] Icons: 1-Mounting plate; 2-Ball spline screw; 21-Screw; 211-Contact part; 22-Ball nut; 23-Spline nut; 3- Lifting drive unit; 4- Rotary drive unit; 5- Material handling assembly; 51- Top plate; 511- Linear guide rail; 52- Gripper drive unit; 53- Translational side arm; 531- Hook; 532- Slider; 54- Slide groove; 541- Guide groove; 55- Guide protrusion; 601-Lifting transmission wheel assembly; 602-Rotation transmission wheel assembly; 61-Transmission belt; 62-Drive pulley; 631-Transmission gear one; 632-Transmission gear two; 7-Translation assembly; 71-Base; 72-Translation drive transmission assembly; 8-Mounting bracket; 81-Trigger switch; 811-Trigger switch one; 812-Trigger switch two; 813-Trigger switch three. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0022] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0023] It should be noted that similar labels and letters in the accompanying drawings indicate similar items. Therefore, once an item is defined in one accompanying drawing, it does not need to be further defined and explained in subsequent accompanying drawings.

[0024] In the description of this utility model, it should be noted that the terms "upper," "lower," "vertical," "horizontal," "inner," and "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. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0025] Furthermore, the terms "horizontal" and "vertical" do not imply that the component must be absolutely horizontal or suspended, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0026] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," and "connect" 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 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.

[0027] The following detailed description, in conjunction with the accompanying drawings, outlines some embodiments of the present invention. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0028] First aspect This embodiment provides a material transfer mechanism, referring to... Figures 1 to 9 The material transfer mechanism includes a mounting plate 1, a lifting and rotating assembly, and a material picking and placing assembly 5. The aforementioned lifting and rotating assembly includes a ball spline screw 2, a lifting drive unit 3, and a rotating drive unit 4. The ball spline screw 2 includes a screw 21 and ball nuts 22 and spline nuts 23 spaced apart and fitted on the screw 21. A material pick-and-place assembly 5 is installed at the lower end of the screw 21 to pick up or release materials. The ball nuts 22 and spline nuts 23 are rotatably mounted on the mounting plate 1 via bearings. The lifting drive unit 3 and the rotating drive unit 4 are both fixed to the mounting plate 1. The lifting drive unit 3 is connected to the ball nuts 22 via a lifting transmission wheel set 601 to drive the ball nuts 22 to rotate. The rotating drive unit 4 is connected to the spline nuts 23 via a rotating transmission wheel set 602 to drive the spline nuts 23 to rotate. The lifting drive unit 3 and the lifting transmission wheel set 601 are arranged on the upper side of the mounting plate 1, and the output end of the rotating drive unit 4 and the rotating transmission wheel set 602 are arranged on the lower side of the mounting plate 1.

[0029] The material transfer mechanism provided in this embodiment is a multi-degree-of-freedom drive mechanism with reasonable structure, diverse functions, rapid response, and high space utilization. It can effectively solve the problems of complex material lifting and rotation functions, slow response speed, and large space occupation in the prior art.

[0030] This material transfer mechanism mainly utilizes a ball-spline screw 2, including a screw 21 and ball nuts 22 and spline nuts 23 spaced apart and mounted on the screw 21. The ball nuts 22 and spline nuts 23 are rotatably mounted on the mounting plate 1 via bearings. In conjunction with the lifting drive unit 3 and the rotary drive unit 4, it mainly has the following three driving states: (1) When the lifting drive unit 3 is started and the rotation drive unit 4 is closed, the lifting drive unit 3 drives the ball nut 22 to rotate, and the lead screw 21 performs non-rotational lifting motion (i.e. linear lifting motion) under the constraint of the spline nut 23. (2) When the rotary drive unit 4 is started and the lifting drive unit 3 is closed, the rotary drive unit 4 drives the spline nut 23 to rotate, and the lead screw 21 rotates relative to the ball nut 22, making a spiral lifting motion while rotating and lifting. (3) When the lifting drive unit 3 and the rotation drive unit 4 are started at the same time, the lifting drive unit 3 drives the ball nut 22 to rotate, and at the same time the rotation drive unit 4 drives the spline nut 23 to rotate. The rotation of the ball nut 22 basically cancels out the linear lifting motion caused by the spline nut 23 driving the lead screw 21 to rotate. At this time, the lead screw 21 follows the spline nut 23 to make a non-lifting rotational motion (i.e., rotate at the original height). When in use, the two driving states (1) and (3) mentioned above are mainly used to realize the lifting and rotation of materials in place, and at least the following beneficial effects can be achieved: (1) High structural integration and strong compactness: By using the ball spline screw 2 in conjunction with the lifting drive unit 3 and the rotary drive unit 4, the two motion forms of lifting and rotation are combined. At the same time, combined with the material picking and placing component 5, the material picking, placing, lifting and rotation posture adjustment operations can be completed in a continuous manner without the need for a robot to transfer materials between platforms. This avoids the complex linkage structure in traditional multi-degree-of-freedom motion mechanisms, effectively reduces the size of the equipment and improves the space utilization rate. (2) Fast response speed and high operating efficiency: Since the motion mode switching only requires the control of the lifting drive unit 3 and the rotation drive unit 4 to start individually or simultaneously, there is no need for the robot arm to switch to other platforms, thereby improving the response speed and the control is flexible, which is conducive to improving the overall operating efficiency of the equipment. (3) Good stability of material picking and dispensing process: The lifting drive unit 3 and the lifting transmission wheel set 601 are arranged on the upper side of the mounting plate 1, and the output end of the rotary drive unit 4 and the rotary transmission wheel set 602 are arranged on the lower side of the mounting plate 1. On the one hand, it saves space layout, and on the other hand, it makes the output transmission structure that drives the material picking and dispensing assembly 5 to rotate closer to the material picking and dispensing assembly 5, which is conducive to improving the stability of the rotation action of the material picking and dispensing assembly 5, reducing the swing or shaking of materials during the picking and dispensing process, and making the operation safer. (4) Simple control logic and high reliability: The switching of drive state can be realized through simple switching logic, which reduces the complexity of the control system and improves the stability and maintainability of equipment operation; (5) Wide range of applications: This structure can be widely used in automated equipment that requires material lifting and rotation, including but not limited to conveying systems for conveying filling and packaging boxes in the field of medical devices.

[0031] In an optional embodiment of this example, the lifting drive unit 3 is a lifting servo motor, and the rotation drive unit 4 is a rotation servo motor; for example Figure 6 As shown, the mounting plate 1 is also equipped with a trigger switch assembly; the trigger switch assembly includes a mounting bracket 8 and three trigger switches 81 that are sequentially and spaced apart along the longitudinal direction from top to bottom on the mounting bracket 8; the lifting servo motor and the rotary servo motor are electrically or signal connected to each trigger switch 81 respectively. The mounting bracket 8 is arranged on the upper side of the mounting plate 1 and located on one side of the ball spline screw 2. A contact part 211 is provided at the upper end of the screw 21, protruding radially outward along the screw 21. The contact part 211 contacts the corresponding trigger switch 81 when the screw 21 rises or falls to a preset height, and disengages from the corresponding trigger switch 81 when the screw 21 is higher or lower than the preset height.

[0032] In this optional implementation, refer to Figure 6 Three trigger switches 81, specifically trigger switch one 811, trigger switch two 812, and trigger switch three 813, are installed longitudinally from top to bottom on the mounting frame 8. Trigger switch one 811 corresponds to the conveying height, trigger switch two 812 corresponds to the material release height, and trigger switch three 813 corresponds to the material pick-up height. When one of the rotary drive unit 4 and the lifting drive unit 3 is turned off while the other is turned on (i.e., the lead screw 21 linearly lifts and lowers) to the corresponding height, the corresponding trigger switch 81 is triggered. The activated drive unit stops operating, opening or closing the material pick-up and release assembly 5 to clamp or release the material. Alternatively, the closed drive unit is turned on to synchronize the operation of the lifting drive unit 3 and the rotary drive unit 4. The lead screw 21 follows the spline nut 23 in a non-lifting rotational motion (i.e., rotating at the original height), which can adjust the angle of material clamping. In this optional embodiment, through the cooperation of the contact part 211 on the lead screw 21 and the trigger switch 81, the material transfer mechanism can automatically identify the current height of the picking and placing component 5 during the lifting and lowering process of the lead screw 21, and trigger corresponding actions (such as stopping the drive, rotating the picking and placing component 5, starting to clamp or release the material) when the preset position is reached, thereby realizing multi-station, high-precision height control and improving the automation level, control accuracy, operation efficiency and safety of the material transfer mechanism.

[0033] Reference Figures 1 to 6In an optional embodiment of this example, the lifting transmission wheel assembly 601 and / or the rotating transmission wheel assembly 602 include a drive wheel 62 and a transmission belt 61; the transmission belt 61 surrounds and frictionally engages with the drive wheel 62 and the corresponding nut; the output end of the lifting drive unit 3 is connected to the drive wheel 62 to drive the drive wheel 62 to rotate. In this optional embodiment, the frictional engagement between the transmission belt 61 and the drive wheel 62 and the corresponding nut achieves efficient power transmission, ensures stability during transmission, and provides a more rational spatial layout, facilitating the reasonable spatial arrangement of various components.

[0034] Reference Figure 2 In an optional embodiment of this invention, the outer circumferential surfaces of the drive wheel 62 and the corresponding nut are respectively provided with a plurality of transmission teeth 631 arranged continuously along their respective circumferences; the inner surface of the transmission belt 61 is provided with a plurality of transmission teeth 632 arranged continuously along the circumference of the transmission belt 61; the transmission teeth 631 and the transmission teeth 632 mesh with each other. In this optional embodiment, precise power transmission is achieved through the meshing of the transmission teeth 631 and the transmission teeth 632. This meshing method reduces errors caused by slippage or slippage, improves transmission accuracy and stability, enhances transmission efficiency, improves response speed and control accuracy, and at the same time improves the operational reliability and durability of the material moving mechanism, and facilitates maintenance and adjustment.

[0035] Reference Figure 6 In an optional embodiment of this invention, the lifting drive unit 3, the rotary drive unit 4, and the lead screw 21 are arranged in a triangular pattern in the horizontal plane. In this optional embodiment, the triangular arrangement makes the relative positions of the lifting drive unit 3, the rotary drive unit 4, and the lead screw 21 more compact, effectively utilizing the installation space; the transmission path of the transmission structure between the lifting drive unit 3 and the rotary drive unit 4 and the lead screw 21 is also shorter, reducing energy loss during power transmission and improving transmission efficiency.

[0036] Reference Figure 1 and Figure 5 In an optional embodiment of this example, the material transfer mechanism further includes a translation component 7; the translation component 7 includes a base 71 and a translation drive transmission component 72; the drive end of the translation drive transmission component 72 is fixedly mounted on the base 71, and the mounting plate 1 is fixedly connected to the output end of the translation drive transmission component 72; the translation drive transmission component 72 drives the mounting plate 1 to reciprocate horizontally relative to the base 71. In this optional embodiment, during the translation process, the lead screw 21 can be raised to the corresponding transfer height ( Figure 6 The trigger switch 811 shown corresponds to the height, thereby realizing the horizontal transfer function of materials and adapting to the material handling needs of different positions and distances.

[0037] In some optional embodiments of this example, the translation drive transmission assembly 72 includes a servo cylinder and a cylinder slider, with the cylinder slider fixedly connected to the output push rod of the servo cylinder; the servo cylinder is fixedly mounted on the base 71, and the mounting plate 1 is fixedly connected to the cylinder slider; the servo cylinder drives the cylinder slider to reciprocate horizontally relative to the base 71, carrying the mounting plate 1 with it. In other optional embodiments, the translation drive transmission assembly 72 may also employ a ball screw-servo motor combination structure, a servo motor-rack and pinion transmission structure, a servo motor-synchronous belt transmission structure, a hydraulic or pneumatic cylinder drive structure, etc., to achieve stable and high-precision displacement control of the mounting plate 1 relative to the base 71 in the horizontal direction.

[0038] Reference Figure 7 , Figure 8 and Figure 9 In an optional embodiment of this invention, the material handling assembly 5 includes a top plate 51, a gripper drive unit 52, and two translational side arms 53. The top plate 51 is fixedly connected to the lower end of the lead screw 21, and a linear guide rail 511 is provided on the lower surface of the top plate 51. The two translational side arms 53 are opposite to each other and slidably connected to the linear guide rail 511. Furthermore, each translational side arm 53 has a plurality of hooks 531 that bend toward the other translational side arm 53 on the side away from the other translational side arm 53. The gripper drive unit 52 is fixedly connected to the lower surface of the top plate 51 and is drively connected to the two translational side arms 53. The gripper drive unit 52 drives the two translational side arms 53 to move toward or away from each other along the linear guide rail 511.

[0039] This optional embodiment is particularly suitable for material transfer where the material is in a box. The gripper drive unit 52 drives two translational side arms 53 to move towards each other along the linear guide rail 511, allowing multiple hooks 531 on the two translational side arms 53 to grip the edge of the material box and transfer it. The multiple hooks 531 on the translational side arms 53 bend towards the other translational side arm 53, which can better adapt to material boxes of different shapes and sizes. The design of the hooks 531 allows the grippers to more firmly grasp the edge of the material box during the gripping process, preventing the material from slipping or falling during transfer.

[0040] like Figure 8 As shown, optionally, each translational side arm 53 has a slider 532 on its upper surface. One of the slider 532 and the linear guide rail 511 has a groove 54 extending along the length of the linear guide rail 511, and the other is inserted into and slidably fitted inside the groove 54. Guide grooves 541 are provided on the two longitudinal side walls of the groove 54 extending along the length of the linear guide rail 511. Guide grooves 541 extend along the length of the linear guide rail 511. Guide protrusions 55 that cooperate with guide grooves 541 are provided on the opposite side walls of the slider 532 and the linear guide rail 511 located inside the groove 54.

[0041] In this optional embodiment, the gripper drive unit 52 drives two translational side arms 53 to move towards each other along the linear guide rail 511, enabling multiple claws 531 of the two translational side arms 53 to grip the material box. During the process, under the mutual interlocking action of the guide groove 541 and the guide protrusion 55, on the one hand, the sliding guide structure improves the stability of the transfer process; on the other hand, the linear guide rail 511 bears the force on the translational side arms 53 and the gripped material box, effectively dispersing the force on the gripper drive unit 52 and reducing the specification requirements of the gripper drive unit 52. In this way, even if a small-sized gripper drive unit 52 is used, the working requirements can be met, thereby improving the assembly versatility of the gripper drive unit 52.

[0042] Optionally, the gripper drive unit 52 employs a finger-grip cylinder, with two translational side arms 53 respectively fixedly connected to the two output ends of the finger-grip cylinder to achieve synchronous gripping and releasing operations of multiple hooks 531 on the two translational side arms 53. The finger-grip cylinder is preferably a double-acting cylinder, connected to the air supply system via an electromagnetic reversing valve to automate the opening and closing movements of the multiple hooks 531 on the two translational side arms 53. Furthermore, the finger-grip cylinder is equipped with a built-in position sensor to detect the displacement state of the two output ends and feed the displacement signal back to the control system, thereby achieving closed-loop control of the opening and closing strokes of the multiple hooks 531 on the two translational side arms 53. This not only dynamically adjusts the gripping force according to the different materials and weights of the materials but also monitors and adjusts in real time during the gripping process to prevent material deformation or damage.

[0043] Second aspect This embodiment provides a packaging box conveying system, which includes a material transfer mechanism provided in any optional embodiment of the first aspect. The packaging box may be, but is not limited to, a pre-filled and sealed box or other packaging boxes.

[0044] The specific structure and achievable effects of the packaging box conveying system provided in this embodiment can be obtained by referring to the various optional implementation methods in the first aspect.

[0045] Finally, it should be noted that: 1. In this specification, "and / or" means that the structure before "and / or" and the structure after "and / or" are set simultaneously or selectively; 2. The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Similar or identical parts between embodiments can be referred to mutually. The above embodiments in this specification are only used to illustrate the technical solutions of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the various embodiments of this utility model.

Claims

1. A material transfer mechanism, characterized in that, Includes mounting plate (1), lifting and rotating assembly and material handling assembly (5); The lifting and rotating assembly includes a ball spline screw (2), a lifting drive unit (3), and a rotating drive unit (4); the ball spline screw (2) includes a screw (21) and ball nuts (22) and spline nuts (23) spaced on the screw (21). The material pick-up and release assembly (5) is installed at the lower end of the lead screw (21) to pick up or release materials; The ball nut (22) and the spline nut (23) are respectively rotatably mounted on the mounting plate (1) via bearings; The lifting drive unit (3) and the rotating drive unit (4) are both fixed to the mounting plate (1). The lifting drive unit (3) is connected to the ball nut (22) via the lifting transmission wheel set (601) to drive the ball nut (22) to rotate; the rotation drive unit (4) is connected to the spline nut (23) via the rotation transmission wheel set (602) to drive the spline nut (23) to rotate; wherein, the lifting drive unit (3) and the lifting transmission wheel set (601) are arranged on the upper side of the mounting plate (1), and the output end of the rotation drive unit (4) and the rotation transmission wheel set (602) are arranged on the lower side of the mounting plate (1).

2. The material transfer mechanism according to claim 1, characterized in that: The lifting drive unit (3) is a lifting servo motor, and the rotation drive unit (4) is a rotation servo motor; The mounting plate (1) is also provided with a trigger switch assembly; the trigger switch assembly includes a mounting frame (8) and three trigger switches (81) that are installed longitudinally from top to bottom at intervals on the mounting frame (8); the lifting servo motor and the rotating servo motor are respectively electrically connected or signal connected to each of the trigger switches (81); The mounting bracket (8) is arranged on the upper side of the mounting plate (1) and located on one side of the ball spline screw (2). A contact part (211) is provided at the upper end of the screw (21) and protrudes radially outward along the screw (21). The contact part (211) touches the corresponding trigger switch (81) when the screw (21) rises or falls to a preset height, and disengages from the corresponding trigger switch (81) when the screw (21) is higher or lower than the preset height.

3. The material transfer mechanism according to claim 1, characterized in that: The lifting transmission wheel assembly (601) and / or the rotating transmission wheel assembly (602) include a drive wheel (62) and a transmission belt (61). The transmission belt (61) surrounds and frictionally engages with the drive wheel (62) and the corresponding nut; the output end of the lifting drive unit (3) is connected to the drive wheel (62) to drive the drive wheel (62) to rotate.

4. The material transfer mechanism according to claim 3, characterized in that, The outer circumferential surfaces of the drive wheel (62) and the corresponding nut are respectively provided with a plurality of transmission teeth (631) arranged continuously along their respective circumferential directions. The inner surface of the transmission belt (61) is provided with a plurality of transmission teeth (632) arranged continuously along the circumference of the transmission belt (61). The first transmission gear (631) meshes with the second transmission gear (632).

5. The material transfer mechanism according to claim 1, characterized in that: The lifting drive unit (3), the rotating drive unit (4), and the lead screw (21) are arranged in a triangle in the horizontal plane.

6. The material transfer mechanism according to any one of claims 1-5, characterized in that: The material transfer mechanism also includes a translation component (7); The translation component (7) includes a base (71) and a translation drive transmission component (72); the driving end of the translation drive transmission component (72) is fixedly installed on the base (71), and the mounting plate (1) is fixedly connected to the output end of the translation drive transmission component (72); the translation drive transmission component (72) drives the mounting plate (1) to reciprocate in the horizontal direction relative to the base (71).

7. The material transfer mechanism according to claim 6, characterized in that, The translation drive transmission assembly (72) includes a servo electric cylinder and an electric cylinder slider, wherein the electric cylinder slider is fixedly connected to the output push rod of the servo electric cylinder; The servo electric cylinder is fixedly installed on the base (71), and the mounting plate (1) is fixedly connected to the electric cylinder slider; the servo electric cylinder drives the electric cylinder slider to move back and forth in the horizontal direction relative to the base (71) with the mounting plate (1).

8. The material transfer mechanism according to claim 1, characterized in that, The material handling assembly (5) includes a top plate (51), a gripper drive unit (52), and two translational side arms (53). The top plate (51) is fixedly connected to the lower end of the lead screw (21), and the lower surface of the top plate (51) is provided with a linear guide rail (511). The two translational side arms (53) are opposite to each other and are slidably connected to the linear guide rail (511). Each translational side arm (53) has a plurality of hooks (531) that are bent toward the other translational side arm (53) on the side away from the other translational side arm (53). The gripper drive unit (52) is fixedly connected to the lower surface of the top plate (51) and is connected to the two translation side arms (53) in a transmission manner. The gripper drive unit (52) drives the two translation side arms (53) to move towards or away from each other along the linear guide rail (511).

9. The material transfer mechanism according to claim 8, characterized in that, Each of the translational side arms (53) has a slider (532) on its upper surface. One of the slider (532) and the linear guide (511) has a groove (54) extending along the length of the linear guide (511), and the other is inserted into and slidably fitted inside the groove (54). Guide grooves (541) are provided on the two longitudinal sidewalls of the groove (54) extending along the length of the linear guide (511). Guide protrusions (55) that cooperate with the guide grooves (541) are provided on the opposite sidewalls of the slider (532) and the linear guide (511) inside the groove (54). And / or, the gripper drive unit (52) is a finger gripper cylinder, and the two translational side arms (53) are respectively fixedly connected to the two output ends of the finger gripper cylinder.

10. A packaging box conveying system, characterized in that, Includes the material transfer mechanism according to any one of claims 1 to 9.

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