CN111717676A

CN111717676A - Light turnover mechanism

Info

Publication number: CN111717676A
Application number: CN201910206803.5A
Authority: CN
Inventors: 郑健; 史科科; 胡光岩; 付文杰; 朱琳; 曲雅楠
Original assignee: Shenyang Siasun Robot and Automation Co Ltd
Current assignee: Shenyang Siasun Robot and Automation Co Ltd
Priority date: 2019-03-19
Filing date: 2019-03-19
Publication date: 2020-09-29

Abstract

The invention relates to the technical field of automatic stacking, in particular to a light turnover mechanism which comprises a frame, a lifting mechanism, a rotating mechanism and a clamping mechanism, wherein the lifting mechanism is provided with a lifting sliding column capable of lifting, the rotating mechanism comprises a rotary driving device, a driving gear, a driven shaft and a rotary mounting frame, the rotary mounting frame is arranged at the lower end of the lifting sliding column, the rotary driving device, the driving gear, the driven gear and the driven shaft are all arranged on the rotary mounting frame, the driving gear is driven to rotate through the rotary driving device, the driven gear is meshed with the driving gear and is coaxially and fixedly connected with the driven shaft, and the clamping mechanism is arranged at the lower end of the driven gear. The stacking device solves the problem that the cylindrical materials cannot be normally stacked due to inconsistent directions, and improves the stacking efficiency of the cylindrical materials.

Description

Light turnover mechanism

Technical Field

The invention relates to the technical field of automatic stacking, in particular to a light turnover mechanism.

Background

The pile up neatly machine people is the core subassembly in the automatic warehouse system, to cylindric materials such as coiled material, has strict requirement to each cylindric material length direction's uniformity when the robot pile up neatly, but the pile up neatly machine people among the prior art is only directly picks up the stack with each cylindric material, often appears because cylindric material length direction is inconsistent leads to the unable normal condition of pile up neatly.

Disclosure of Invention

The invention aims to provide a light turnover mechanism, which solves the problem that the cylindrical materials cannot be normally stacked due to inconsistent directions and improves the stacking efficiency of the cylindrical materials.

The purpose of the invention is realized by the following technical scheme:

the utility model provides a light-duty tilting mechanism, includes frame, elevating system, rotary mechanism and clamping mechanism, wherein elevating system is equipped with the lift traveller of liftable, rotary mechanism includes rotary drive device, driving gear, driven shaft and rotatory mounting bracket, and wherein rotatory mounting bracket is located lift traveller lower extreme, rotary drive device, driving gear, driven gear and driven shaft are all located on the rotatory mounting bracket, just the driving gear passes through the drive of rotary drive device rotates, driven gear with driving gear meshing and with the driven shaft is coaxial to link firmly, the driven gear lower extreme is equipped with clamping mechanism.

The lifting mechanism comprises a lifting sliding column, a fixed seat and a lifting driving device, wherein the fixed seat is fixedly arranged on the frame and comprises a protruding portion and a sliding column seat, the sliding column seat is sleeved on the lifting sliding column and is in sliding connection with the lifting sliding column, the lifting driving device is arranged on the protruding portion, a rack is arranged on the lifting sliding column, and a gear is arranged on an output shaft of the lifting driving device in the protruding portion and is meshed with the rack.

Rotary mechanism's rotatory mounting bracket includes supporting seat and mounting panel, the supporting seat with the lift traveller lower extreme links firmly, and the supporting seat set firmly in on the mounting panel, rotary drive set firmly in on the supporting seat, be equipped with a driven bearing frame on the mounting panel, the driven shaft install in driven bearing frame, the driving gear install in on rotary drive device's the output shaft.

The driven gear is symmetrically provided with a first stop block and a second stop block, a limit stop block is arranged on the mounting plate of the rotary mounting frame, and the driven gear is abutted against the limit stop block through the first stop block or the second stop block to realize the limit of the rotary machine.

Clamping mechanism includes clamping support, clamping jaw and clamping jaw drive arrangement, clamping support with the driven gear lower extreme links firmly, two clamping jaws respectively through different clamping jaw axle with clamping support rotates and connects, just the adjacent side of pivot link end of two clamping jaws all is equipped with profile of tooth portion intermeshing, clamping jaw drive arrangement locates in the clamping support, just clamping jaw drive arrangement's output shaft axle head links to each other with the clamping jaw axle of one of them clamping jaw through a crank.

And two sides of the lower end surface of the rotary mounting frame of the rotating mechanism are respectively provided with a proximity switch, and the upper side of the clamping support is provided with a proximity switch induction seat matched with the proximity switch.

The invention has the advantages and positive effects that:

1. the cylindrical material stacking device is provided with the rotating mechanism, the rotating mechanism drives the driven shaft to rotate through the transmission torque of the driving gear and the driven gear, and further drives the clamping mechanism to rotate, so that the problem that the cylindrical materials cannot be normally stacked due to inconsistent directions is solved, and the stacking efficiency of the cylindrical materials is improved.

2. In the rotating mechanism, the driven gear is provided with two limiting blocks for mechanical limiting, the mounting plate of the rotating mounting frame is provided with the proximity switch, and the upper side of the clamping mechanism is provided with the proximity switch induction seat, so that the rotation of the driven gear cannot exceed the range, and the running safety of equipment is ensured.

Drawings

Figure 1 is a schematic structural view of the present invention,

figure 2 is a schematic view of the lift mechanism of figure 1,

figure 3 is a schematic view of the rotary mechanism of figure 1,

figure 4 is a bottom view of the rotary mechanism of figure 3,

fig. 5 is a schematic view of the clamping mechanism of fig. 1.

Wherein, 1 is a lifting mechanism, 101 is a lifting driving device, 102 is a fixed base, 1021 is a protruding part, 1022 is a sliding column base, 103 is a lifting sliding column, 104 is a rack, 2 is a rotating mechanism, 201 is a rotating driving device, 202 is a supporting base, 203 is a driven gear, 204 is a driven bearing base, 205 is a driven shaft, 206 is a mounting plate, 207 is a driving gear, 208 is a first stopper, 209 is a second stopper, 210 is a limit stopper, 211 is a proximity switch, 3 is a clamping mechanism, 301 is a clamping bracket, 302 is a clamping jaw shaft, 303 is a crank, 304 is a joint, 305 is a clamping jaw driving device, 306 is a proximity switch induction base, 307 is a clamping jaw, 3071 is a tooth-shaped part, 308 is a connecting base, and 4 is a frame.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

As shown in fig. 1 to 5, the lifting device comprises a frame 4, a lifting mechanism 1, a rotating mechanism 2 and a clamping mechanism 3, wherein the lifting mechanism 1 is provided with a lifting strut 103 capable of lifting, the rotating mechanism 2 comprises a rotary driving device 201, a driving gear 207, a driven gear 203, a driven shaft 205 and a rotary mounting frame, the rotary mounting frame is arranged at the lower end of the lifting strut 103, the rotary driving device 201, the driving gear 207, the driven gear 203 and the driven shaft 205 are all arranged on the rotary mounting frame, the driving gear 207 is driven to rotate by the rotary driving device 201, the driven gear 203 is meshed with the driving gear 207 and coaxially and fixedly connected with the driven shaft 205, and the clamping mechanism 3 is arranged at the lower end of the driven shaft 205.

As shown in fig. 2, the lifting mechanism 1 includes a lifting sliding column 103, a fixing seat 102 and a lifting driving device 101, wherein the fixing seat 102 is fixedly disposed on the frame 4, the fixing seat 102 includes a protrusion 1021 and a sliding column seat 1022, the sliding column seat 1022 is sleeved on the lifting sliding column 103 and is slidably connected to the lifting sliding column 103, in this example, a sliding block is disposed inside the sliding column seat 1022, a sliding slot matched with the sliding block is disposed on an outer wall of the lifting sliding column 103, a rack 104 is disposed on a side of the lifting sliding column 103 close to the protrusion 1021 of the fixing seat 102, the lifting driving device 101 is mounted on the protrusion 1021, and in the protrusion 1021, a gear is disposed on an output shaft of the lifting driving device 101 and engaged with the rack 104, the lifting driving device 101 drives the gear to rotate, so as to drive the rack 104 to lift, and the lifting slide column 103 is driven to lift by the lifting of the rack 104. In this embodiment, the lifting driving device 101 is a variable frequency motor.

As shown in fig. 3 to 4, the rotary mounting frame of the rotary mechanism 2 includes a supporting seat 202 and a mounting plate 206, the supporting seat 202 is fixedly connected to the lower end of the lifting slide post 103, the supporting seat 202 is fixedly disposed on the mounting plate 206, the rotary driving device 201 is fixedly disposed on the mounting plate 206, a driven bearing 204 is disposed on the mounting plate 206, the driven shaft 205 is disposed in the driven bearing 204, the driving gear 207 and the driven gear 203 are disposed on the lower side of the mounting plate 206, the driving gear 207 is disposed on the output shaft of the rotary driving device 201, and the driven gear 203 is disposed on the driven shaft 205. When the mechanism works, the rotary driving device 201 drives the driven shaft 205 to rotate through the driving gear 207 and the driven gear 203, and further drives the clamping mechanism 3 to rotate. In this embodiment, the rotation driving device 201 is a variable frequency motor.

As shown in fig. 4, a first stopper 208 and a second stopper 209 are symmetrically disposed on the driven gear 203, a limit stopper 210 is disposed on the mounting plate 206 of the rotary mounting bracket, and the driven gear 203 is abutted against the limit stopper 210 through the first stopper 208 or the second stopper 209 to achieve the rotation mechanical limit. In the present embodiment, the rotation range of the driven gear 203 is limited to 0 ° to 195 ° by the first stopper 208 and the second stopper 209.

As shown in fig. 5, the clamping mechanism 3 includes a clamping bracket 301, clamping jaws 307 and a clamping jaw driving device 305, the clamping bracket 301 is fixedly connected to the lower end of the driven gear 203, the two clamping jaws 307 are respectively rotatably connected to the clamping bracket 301 through different clamping jaw shafts 302, the adjacent sides of the rotating shaft connecting ends of the two clamping jaws 307 are respectively provided with a tooth-shaped portion 3071 for engagement, the clamping jaw driving device 305 is disposed in the clamping bracket 301, and the output shaft of the clamping jaw driving device 305 is connected to the clamping jaw shaft 302 of one clamping jaw 307 through a crank 303. When the mechanism works, the output shaft of the clamping jaw driving device 305 moves and drives the clamping jaw shaft 302 connected with the clamping jaw driving device to rotate through the crank 303, so that the clamping jaw 307 corresponding to the clamping jaw shaft 302 is driven to rotate, and meanwhile, the clamping jaw 307 drives the other clamping jaw 307 to synchronously rotate through the tooth-shaped part 3071 at the connecting end of the rotating shaft, so that the two clamping jaws 307 are opened or closed.

In this embodiment, the clamping jaw driving device 305 is an air cylinder, as shown in fig. 5, a rear end of a cylinder body of the air cylinder is hinged to an inner wall of the clamping bracket 301, a joint 304 is arranged at an end of a cylinder rod of the air cylinder and hinged to one end of the crank 303, and the other end of the crank 303 is fixedly connected to a clamping jaw shaft 302 of a corresponding clamping jaw 307.

As shown in fig. 5, a connecting plate is arranged on the upper side of the clamping bracket 301, a connecting seat 308 is arranged on the connecting plate and fixedly connected with the driven gear 203 in the rotating mechanism 2, and in addition, a proximity switch induction seat 306 is arranged on one side of the connecting plate, as shown in fig. 4, two proximity switches 211 are respectively arranged on two sides of the mounting plate 206 of the rotating mechanism 2, and the two proximity switches 211 are matched with the proximity switch induction seat 306 to limit the rotating angle of the clamping bracket 301, so that when the proximity switch induction seat 306 enters the induction range of any proximity switch 211, a signal is sent to a control system, the control system controls the rotation driving device 201 to stop operating, and the clamping mechanism 3 is prevented from rotating beyond the induction range. The proximity switch 211 is well known in the art and is a commercially available product.

The working principle of the invention is as follows:

when the invention works, the lifting driving device 101 in the lifting mechanism 1 transmits torque through a rack-and-pinion mechanism to drive the lifting sliding column 103 to lift, and further drives the rotating mechanism 2 at the lower end of the lifting sliding column 103 to lift, the rotating driving device 201 in the rotating mechanism 2 transmits torque through the driving gear 207 and the driven gear 203 to drive the driven gear 203 to rotate, and further drives the clamping mechanism 3 at the lower end of the driven gear 203 to rotate, in addition, the driven gear 203 is provided with a first stop block 208 and a second stop block 209, the mounting plate 206 at the lower side of the rotating mounting frame is provided with a limit stop block 210, the driven gear 203 realizes mechanical limit of a rotating angle through the first stop block 208, the second stop block 209 and the limit stop block 210, meanwhile, the invention is symmetrically provided with proximity switches 211 at two sides of the mounting plate 206, and the upper side of the clamping bracket 301 of the clamping mechanism 3 is provided with a proximity switch induction seat 306, the proximity switch 211 and the proximity switch sensing socket 306 ensure that the rotation of the clamping mechanism 3 will automatically stop when it is out of range. The clamping mechanism 3 is provided with two clamping jaws 307, tooth-shaped portions 3071 are arranged on adjacent sides of rotating shaft connecting ends of the two clamping jaws 307 and are meshed with each other, a clamping jaw driving device 305 in the clamping mechanism 3 drives one clamping jaw 307 to rotate through a crank 303, and the clamping jaw 307 drives the other clamping jaw 307 to rotate simultaneously through the tooth-shaped portions 3071, so that the two clamping jaws 307 are opened and closed.

When the lifting mechanism works, the clamping mechanism 3 is adjusted to a proper height through the lifting mechanism 1, then the cylindrical material is clamped and lifted to a set height, then the clamping mechanism 3 drives the cylindrical material to rotate through the rotating mechanism 2, and the cylindrical material is placed after the length direction of the cylindrical material is ensured to be parallel and consistent with the length directions of other materials, so that the direction consistency of the cylindrical material is realized.

Claims

1. A light turnover mechanism is characterized in that: comprises a frame (4), a lifting mechanism (1), a rotating mechanism (2) and a clamping mechanism (3), wherein the lifting mechanism (1) is provided with a lifting sliding column (103) which can be lifted, the rotating mechanism (2) comprises a rotating driving device (201), a driving gear (207), a driven gear (203), a driven shaft (205) and a rotating mounting rack, wherein the rotary mounting frame is arranged at the lower end of the lifting sliding column (103), the rotary driving device (201), the driving gear (207), the driven gear (203) and the driven shaft (205) are all arranged on the rotary mounting frame, and the driving gear (207) is driven to rotate by the rotary driving device (201), the driven gear (203) is meshed with the driving gear (207) and is coaxially and fixedly connected with the driven shaft (205), and a clamping mechanism (3) is arranged at the lower end of the driven gear (203).

2. The lightweight canting mechanism of claim 1, wherein: the lifting mechanism (1) comprises a lifting sliding column (103), a fixed seat (102) and a lifting driving device (101), wherein the fixed seat (102) is fixedly arranged on the frame (4), the fixed seat (102) comprises a protruding portion (1021) and a sliding column seat (1022), the sliding column seat (1022) is sleeved on the lifting sliding column (103) and is in sliding connection with the lifting sliding column (103), the lifting driving device (101) is arranged on the protruding portion (1021), a rack (104) is arranged on the lifting sliding column (103), and a gear is arranged on an output shaft of the lifting driving device (101) in the protruding portion (1021) and is meshed with the rack (104).

3. The lightweight canting mechanism of claim 1, wherein: rotary mechanism's (2) rotatory mounting bracket includes supporting seat (202) and mounting panel (206), supporting seat (202) with lift traveller (103) lower extreme links firmly, and supporting seat (202) set firmly in on mounting panel (206), rotary drive device (201) set firmly in on supporting seat (202), be equipped with one driven bearing seat (204) on mounting panel (206), driven shaft (205) install in driven bearing seat (204), driving gear (207) install in on the output shaft of rotary drive device (201).

4. A lightweight turnover mechanism as set forth in claim 1 or 3, characterized in that: the driven gear (203) is symmetrically provided with a first stop block (208) and a second stop block (209), a limit stop block (210) is arranged on a mounting plate (206) of the rotary mounting frame, and the driven gear (203) is abutted against the limit stop block (210) through the first stop block (208) or the second stop block (209) to realize the limit of the rotary machine.

5. The lightweight canting mechanism of claim 1, wherein: clamping mechanism (3) are including clamping support (301), clamping jaw (307) and clamping jaw drive arrangement (305), clamping support (301) with driven gear (203) lower extreme links firmly, two clamping jaws (307) respectively through different clamping jaw axle (302) with clamping support (301) rotate to be connected, just the adjacent side of pivot link end of two clamping jaws (307) all is equipped with profile of tooth portion (3071) intermeshing, and clamping jaw drive arrangement (305) are located in clamping support (301), just the output shaft axle head of clamping jaw drive arrangement (305) links to each other through clamping jaw axle (302) of a crank (303) and one of them clamping jaw (307).

6. The lightweight canting mechanism of claim 5, wherein: the lower end face of the rotary mounting frame of the rotary mechanism (2) is provided with two proximity switches (211) on two sides respectively, and the upper side of the clamping support (301) is provided with a proximity switch induction seat (306) matched with the proximity switches (211).