Lifting mechanism and conveying device

Abstract

The utility model relates to workpiece conveying technical field discloses a kind of lifting mechanism and conveying device, lifting mechanism includes rack, lifting frame and balance cylinder, lifting frame is connected with rack by lifting guide rail, the cylinder of balance cylinder is connected with rack by connecting seat, and the movable end of balance cylinder is connected with lifting frame by floating joint;The cylinder of balance cylinder and connecting seat are hinged by joint bearing, and balance cylinder can be offset and swing along the axial direction of joint bearing;Floating joint is movably connected with lifting frame, and floating joint can be translational and swing in the mounting surface of lifting frame.The connection of the rack, lifting frame of the balance cylinder of the scheme all uses floating connection, can make balance cylinder further adapt the jitter of lifting frame lifting process, prolong the service life of balance cylinder.

Description

Technical Field

[0001] This utility model relates to the field of workpiece conveying technology, and in particular to a lifting mechanism and conveying device. Background Technology

[0002] Material handling robots are an important component of modern automated production lines, enabling the transfer of workpieces between different workstations. Three-dimensional material handling robots can transport materials in the x, y, and z directions, efficiently and safely replacing manual labor for material handling. For suspended three-dimensional robots, the robot needs to overcome its own weight during vertical movement along the z-axis. If only the lifting power component is relied upon to overcome this weight, it would increase the burden on the lifting power component. Therefore, existing technology uses balancing cylinders to balance the robot's own weight during vertical movement.

[0003] Chinese Patent CN201910681686.8 discloses a multi-station transfer device for main beam lifting. This device includes a main beam, a balance cylinder mounting plate, a Z-axis mounting plate, and a transfer arm. A Z-axis motor, via a Z-axis gear and rack, causes Z-axis sliders at both ends of the main beam to slide along Z-axis rails. A Y-axis motor, via a Y-axis gear and rack, causes Y-axis sliders on the clamping base plate to slide along Y-axis rails. An X-axis motor, via an X-axis gear and rack, causes X-axis sliders on the clamping base to slide along X-axis rails. The X-axis, Y-axis, and Z-axis motors enable accurate and rapid three-dimensional movement of the workpiece, improving workpiece transfer efficiency. This multi-station transfer device for main beam lifting achieves accurate and rapid workpiece transfer, reducing worker workload and increasing transfer efficiency. In this design, only the movable end of the balance cylinder is connected to the main beam via a floating joint.

[0004] This utility model overcomes the shortcomings of the prior art and provides a lifting mechanism and a conveying device. The cylinder body and movable end of the balance cylinder used in the lifting mechanism are floatingly connected to the frame and the lifting frame, respectively, which can extend the service life of the balance cylinder. Utility Model Content

[0005] The main purpose of this utility model is to provide a lifting mechanism, including a frame, a lifting frame and a balancing cylinder. The lifting frame is connected to the frame via a lifting guide rail. The cylinder body of the balancing cylinder is connected to the frame via a connecting seat. The movable end of the balancing cylinder is connected to the lifting frame via a floating joint. The cylinder body of the balancing cylinder is hinged to the connecting seat via a spherical bearing, and the balancing cylinder can deflect and sway along the axial direction of the spherical bearing; the floating joint is movably connected to the lifting frame, and the floating joint can translate and sway relative to the mounting surface of the lifting frame.

[0006] Optionally, the connecting seat is located at the bottom of the balance cylinder. The connecting seat includes two parallel first connecting plates. The frame is provided with a second connecting plate, which is located between the two first connecting plates. The first connecting plates and the second connecting plates are connected by a pin. A spherical bearing is provided between the pin and the second connecting plate. The inner side of the spherical bearing is fixedly connected to the pin, and the outer side of the spherical bearing is in rolling contact with the bearing cover. The bearing cover is fixedly connected to the second connecting plate.

[0007] Optionally, a self-lubricating rolled bearing is provided between the first connecting plate and the pin, and a bearing sleeve is provided between the spherical bearing and the first connecting plate.

[0008] Optionally, the floating joint includes a joint cover and a movable block. The bottom of the joint cover is fixedly connected to the lifting frame. The interior of the joint cover is a cavity. The top of the joint cover has an opening that communicates with the cavity. The movable block is disposed in the cavity of the joint cover. The movable block passes through the opening of the joint cover and is fixedly connected to the movable end of the balance cylinder. The shape of the portion of the movable block located in the cavity of the joint cover matches the shape of the cavity. There is a gap of a predetermined width between the movable block and the inner wall of the cavity.

[0009] Optionally, the cavity is composed of two stacked cylindrical cavities, with the diameter of the lower cylindrical cavity being larger than the diameter of the upper cylindrical cavity; the movable block includes two stacked cylindrical blocks, with the outer diameter of the lower cylindrical block being larger than the outer diameter of the upper cylindrical block, the upper cylindrical block passing through the opening of the connector cover, and the interior of the cylindrical block having a mounting hole for accommodating the movable end of the balance cylinder.

[0010] Optionally, the outer diameter of the lower cylindrical block is smaller than the diameter of the lower cylindrical cavity and larger than the diameter of the upper cylindrical cavity, the height of the lower cylindrical block matches the height of the lower cylindrical cavity, and the outer diameter of the upper cylindrical block is smaller than the diameter of the upper cylindrical cavity.

[0011] Optionally, the frame includes two parallel vertical plates, each vertical plate is provided with a lifting guide rail, and both ends of the lifting frame are slidably connected to the lifting guide rail.

[0012] Optionally, there are two balancing cylinders. The cylinder body of the balancing cylinder is connected to the vertical plate through a connecting seat, and the movable ends of the two balancing cylinders are respectively connected to the two ends of the lifting frame through floating joints.

[0013] Optionally, it also includes a lifting assembly, which is disposed on the lifting frame. The lifting assembly drives the lifting frame to move up and down in the vertical direction, and the balancing cylinder is used to balance the weight of the lifting frame itself.

[0014] This utility model also provides a conveying device, including the aforementioned lifting mechanism, and further including a synchronization component, a conveying component, and a gripping component. The lifting frame is equipped with a synchronization component, and the conveying components are respectively connected to both sides of the synchronization component. The lifting mechanism drives the lifting frame to move along the z-direction, and the synchronization component drives the conveying components to move synchronously closer or further apart along the y-direction. The conveying components are used to connect to the gripping components, and the conveyed workpiece moves along the x-direction. The gripping components are used to grip the workpiece.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The lifting mechanism provided by this utility model includes a balance cylinder whose cylinder body is connected to the frame via a connecting seat and a spherical bearing, enabling a floating connection between the balance cylinder body and the frame. The movable end of the balance cylinder is connected to the lifting frame via a floating joint, also enabling a floating connection between the movable end of the balance cylinder and the lifting frame. In this solution, the connection points between the balance cylinder and the frame, as well as the lifting frame, all adopt floating connections, which allows the balance cylinder to further adapt to the vibrations during the lifting process of the lifting frame and extend the service life of the balance cylinder. Attached Figure Description

[0016] One or more embodiments are illustrated by way of example with reference to the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements having the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0017] Figure 1 This is a schematic diagram of an embodiment of the lifting mechanism of this utility model; Figure 2 These are side views and cross-sectional views of an embodiment of the lifting mechanism of this utility model; Figure 3 This is a partial enlarged view of section A of the lifting mechanism embodiment of this utility model; Figure 4 These are front and sectional views of an embodiment of the lifting mechanism of this utility model; Figure 5 This is a partial enlarged view of section B of the lifting mechanism embodiment of this utility model; Figure 6 This is a schematic diagram of an embodiment of the conveying device of this utility model.

[0018] Figure label: 10-Frame; 11-Second connecting plate; 12-Vertical plate; 20-Lifting frame; 21-Lifting guide rail; 30-Balance cylinder; 31-Connecting seat; 311-Spherical bearing; 312-First connecting plate; 313-Pin; 314-Bearing cover; 315-Self-lubricating rolled bearing; 316-Bearing sleeve; 32-Floating joint; 321-Joint cover; 322-Moving block; 3221-Mounting hole; 40-Lifting assembly; 100-Lifting mechanism; 200-Synchronization assembly; 300-Conveying assembly; 400-Gripping assembly. Detailed Implementation

[0019] To facilitate understanding of this utility model, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as being "fixed to" another element, it can be directly on the other element, or one or more intermediate elements may exist between them. When an element is described as being "connected to" another element, it can be directly connected to the other element, or one or more intermediate elements may exist between them. The terms "vertical," "horizontal," "left," "right," "inner," "outer," and similar expressions used in this specification are for illustrative purposes only. In the description of this utility model, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating relative importance or implying the number of indicated technical features. Thus, unless otherwise stated, features defined as "first" or "second" may explicitly or implicitly include one or more of that feature; "multiple" means two or more. The term "comprising" and any variations thereof mean non-exclusive inclusion, where one or more other features, integers, steps, operations, units, components, and / or combinations thereof may be present or added.

[0020] Furthermore, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly, for example, as a fixed connection, a detachable connection, or an integral connection; as a mechanical connection or an electrical connection; as a direct connection or an indirect connection through an intermediate medium, or as a connection within two components. All technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the invention. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0021] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0022] like Figure 1-5The diagram shown is a schematic representation of an embodiment of the lifting mechanism provided by this utility model.

[0023] Please refer to Figure 1-5 This embodiment is mainly used for lifting and moving a robotic arm, and includes a frame 10, a lifting frame 20, and a balancing cylinder 30. The lifting frame 20 is connected to the frame 10 via a lifting guide rail 21. The cylinder body of the balancing cylinder 30 is connected to the frame 10 via a connecting seat 31, and the movable end of the balancing cylinder 30 is connected to the lifting frame 20 via a floating joint 32. The cylinder body of the balancing cylinder 30 and the connecting seat 31 are hinged via a spherical bearing 311, allowing the balancing cylinder 30 to offset and sway along the axial direction of the spherical bearing 311. The floating joint 32 is movably connected to the lifting frame 20, and the floating joint 32 can translate and sway relative to the mounting surface of the lifting frame 20.

[0024] The balancing cylinder 30 is used to balance the weight of the lifting frame 20 and its supporting components, reducing the load on the lifting assembly when it moves the lifting frame 20 up and down. The movable end of the balancing cylinder 30 is connected to the lifting frame 20 via a floating joint 32. During the up-and-down movement of the lifting frame 20, slight swaying displacement occurs. The floating joint 32 allows the movable end to follow the horizontal displacement of the lifting frame 20, reducing the impact of the lifting frame 20's swaying on the movable end. However, under normal circumstances, the cylinder body of the balancing cylinder 30 is fixedly connected to the frame 10. The swaying of the floating joint 32 has a significant impact on the movable end of the balancing cylinder 30, and prolonged swaying can cause it to fail. In this design, in addition to using a floating joint 32 for the movable end, the cylinder body is connected to the frame 10 via a spherical bearing 311. Therefore, the cylinder body of the balancing cylinder 30 can also sway with the lifting frame 20, reducing the swaying load on the movable end of the balancing cylinder 30 and extending its service life.

[0025] In one embodiment, such as Figure 5 As shown, the connecting seat 31 is located at the bottom of the balance cylinder 30. The connecting seat 31 includes two parallel first connecting plates 312. The frame 10 is provided with a second connecting plate 11, which is located between the two first connecting plates 312. The first connecting plates 312 and the second connecting plate 11 are connected by a pin 313. A spherical bearing 311 is provided between the pin 313 and the second connecting plate 11. The inner side of the spherical bearing 311 is fixedly connected to the pin 313, and the outer side of the spherical bearing 311 is in rolling contact with the bearing cover 314. The bearing cover 314 is fixedly connected to the second connecting plate 11.

[0026] Furthermore, a self-lubricating rolled bearing 315 is provided between the first connecting plate 11 and the pin 313 to reduce friction between the mounting hole of the first connecting plate 11 and the axial surface of the pin 313. A bearing sleeve 316 is provided between the spherical plain bearing 311 and the first connecting plate 11, and the bearing sleeve 316 is used for positioning between the first connecting plate 11 and the spherical plain bearing 311.

[0027] In one embodiment, such as Figure 3 As shown, the floating connector 32 includes a connector cover 321 and a movable block 322. The bottom of the connector cover 321 is fixedly connected to the lifting frame 20. The inside of the connector cover 321 is a cavity. The top of the connector cover 321 has an opening that communicates with the cavity. The movable block 322 is located in the cavity of the connector cover 321. The movable block 322 passes through the opening of the connector cover 321 and is fixedly connected to the movable end of the balance cylinder 30. The shape of the movable block 322 located in the cavity of the connector cover 321 matches the shape of the cavity. There is a gap of a predetermined width between the movable block 322 and the inner wall of the cavity.

[0028] In one embodiment, the cavity is formed by two stacked cylindrical cavities, with the diameter of the lower cylindrical cavity being larger than the diameter of the upper cylindrical cavity. The movable block 322 includes two stacked cylindrical blocks, with the outer diameter of the lower cylindrical block being larger than the outer diameter of the upper cylindrical block. The upper cylindrical block passes through the opening of the connector cover 321, and the interior of the cylindrical block is provided with a mounting hole 3221 to accommodate the movable end of the balance cylinder 30, through which the movable end of the balance cylinder 30 is connected.

[0029] Specifically, the outer diameter of the lower cylindrical block is smaller than the diameter of the lower cylindrical cavity, but larger than the diameter of the upper cylindrical cavity. The height of the lower cylindrical block matches the height of the lower cylindrical cavity, and the outer diameter of the upper cylindrical block is smaller than the diameter of the upper cylindrical cavity. The floating connection of the movable end of the balance cylinder 30 is achieved by the cylindrical block swaying within the cavity of the connector cover 321. The size design of the cylindrical block prevents the movable block 322 from detaching from the connector cover 321 when it sways within the cover.

[0030] In one embodiment, the frame 10 includes two parallel vertical plates 12, each with a lifting guide rail 21. Both ends of the lifting frame 20 are slidably connected to the lifting guide rail 21. Specifically, the lifting frame 20 can be driven by the lifting assembly 40 to move up and down along the lifting guide rail 21.

[0031] In one embodiment, there are two balancing cylinders 30. The cylinder body of the balancing cylinder 30 is connected to the vertical plate 12 through the connecting seat 31, and the movable ends of the two balancing cylinders 30 are respectively connected to the two ends of the lifting frame 20 through the floating joint 32.

[0032] In one embodiment, a lifting assembly 40 is also included. The lifting assembly 40 is disposed on the lifting frame 20. The lifting assembly 40 drives the lifting frame 20 to move up and down in the vertical direction. The balancing cylinder 30 is used to balance the weight of the lifting frame 20 itself.

[0033] like Figure 6 As shown, this utility model also provides an embodiment of a conveying device.

[0034] Please refer to Figure 6 This embodiment includes the lifting mechanism 100 described above, and further includes a synchronization component 200, a conveying component 300, and a gripping component 400. The lifting frame 20 is provided with the synchronization component 200, and the conveying components 300 are respectively connected to both sides of the synchronization component 200. The lifting mechanism 100 drives the lifting frame 20 to move along the z-direction, and the synchronization component 200 drives the conveying components 300 to move synchronously closer or further apart along the y-direction. The conveying components 300 are used to connect to the gripping components 400, which convey the workpiece to move along the x-direction. The gripping components 400 are used to grip the workpiece.

[0035] In summary, the lifting mechanism embodiment provided by this utility model allows for a floating connection between the cylinder body of the balance cylinder and the frame via a connecting seat and a spherical bearing. The movable end of the balance cylinder is connected to the lifting frame via a floating joint, also enabling a floating connection between the movable end of the balance cylinder and the lifting frame. The floating connection between the balance cylinder and the frame, as well as the lifting frame, in this solution allows the balance cylinder to better adapt to the vibrations during the lifting process, thus extending its service life.

[0036] The above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Under the concept of this utility model, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of this utility model as described above. For the sake of brevity, they are not provided in detail. 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 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 embodiments of this utility model.

Claims

1. A lifting mechanism, characterized in that, It includes a frame, a lifting frame, and a balancing cylinder. The lifting frame is connected to the frame via a lifting guide rail. The cylinder body of the balancing cylinder is connected to the frame via a connecting seat. The movable end of the balancing cylinder is connected to the lifting frame via a floating joint. The cylinder body of the balancing cylinder is hinged to the connecting seat via a spherical bearing, and the balancing cylinder can deflect and sway along the axial direction of the spherical bearing; the floating joint is movably connected to the lifting frame, and the floating joint can translate and sway relative to the mounting surface of the lifting frame.

2. The lifting mechanism according to claim 1, characterized in that, The connecting seat is located at the bottom of the balance cylinder. The connecting seat includes two parallel first connecting plates. The frame is provided with a second connecting plate, which is located between the two first connecting plates. The first connecting plates and the second connecting plates are connected by a pin. A spherical bearing is provided between the pin and the second connecting plate. The inner side of the spherical bearing is fixedly connected to the pin, and the outer side of the spherical bearing is in rolling contact with the bearing cover. The bearing cover is fixedly connected to the second connecting plate.

3. The lifting mechanism according to claim 2, characterized in that, A self-lubricating rolled bearing is provided between the first connecting plate and the pin, and a bearing sleeve is provided between the spherical bearing and the first connecting plate.

4. The lifting mechanism according to claim 1, characterized in that, The floating joint includes a joint cover and a movable block. The bottom of the joint cover is fixedly connected to the lifting frame. The interior of the joint cover is a cavity. The top of the joint cover has an opening that communicates with the cavity. The movable block is located inside the cavity of the joint cover. The movable block passes through the opening of the joint cover and is fixedly connected to the movable end of the balance cylinder. The part of the movable block located in the cavity of the joint cover matches the shape of the cavity. There is a gap of a predetermined width between the movable block and the inner wall of the cavity.

5. The lifting mechanism according to claim 4, characterized in that, The cavity is composed of two stacked cylindrical cavities, with the diameter of the lower cylindrical cavity being larger than that of the upper cylindrical cavity; the movable block includes two stacked cylindrical blocks, with the outer diameter of the lower cylindrical block being larger than that of the upper cylindrical block, and the upper cylindrical block passing through the opening of the connector cover, and the interior of the cylindrical block having a mounting hole for accommodating the movable end of the balance cylinder.

6. The lifting mechanism according to claim 5, characterized in that, The outer diameter of the lower cylindrical block is smaller than the diameter of the lower cylindrical cavity, but larger than the diameter of the upper cylindrical cavity. The height of the lower cylindrical block matches the height of the lower cylindrical cavity, and the outer diameter of the upper cylindrical block is smaller than the diameter of the upper cylindrical cavity.

7. The lifting mechanism according to claim 1, characterized in that, The frame includes two parallel vertical plates, each with a lifting guide rail. Both ends of the lifting frame are slidably connected to the lifting guide rail.

8. The lifting mechanism according to claim 7, characterized in that, The number of balancing cylinders is two. The cylinder body of the balancing cylinder is connected to the vertical plate through a connecting seat. The movable ends of the two balancing cylinders are respectively connected to the two ends of the lifting frame through floating joints.

9. The lifting mechanism according to claim 1, characterized in that, It also includes a lifting assembly, which is located on the lifting frame. The lifting assembly drives the lifting frame to move up and down in the vertical direction, and the balancing cylinder is used to balance the weight of the lifting frame itself.

10. A conveying device, characterized in that, The lifting mechanism as described in any one of claims 1-9 further includes a synchronization component, a conveying component, and a gripping component. The lifting frame is provided with a synchronization component, and the conveying components are respectively connected to both sides of the synchronization component. The lifting mechanism drives the lifting frame to move along the z-direction, and the synchronization component drives the conveying components to move synchronously closer or further away from each other along the y-direction. The conveying component is used to connect to the gripping component, and the workpiece is conveyed to move along the x-direction. The gripping component is used to grip the workpiece.

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