CN103350903B - A kind of multiple degree of freedom magnetic automatic transferring - Google Patents
A kind of multiple degree of freedom magnetic automatic transferring Download PDFInfo
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- CN103350903B CN103350903B CN201310268973.9A CN201310268973A CN103350903B CN 103350903 B CN103350903 B CN 103350903B CN 201310268973 A CN201310268973 A CN 201310268973A CN 103350903 B CN103350903 B CN 103350903B
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- 230000005291 magnetic effect Effects 0.000 title claims abstract description 29
- 230000007246 mechanism Effects 0.000 claims abstract description 81
- 230000000712 assembly Effects 0.000 claims description 3
- 238000000429 assembly Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000000739 chaotic effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005294 ferromagnetic effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
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Abstract
The invention discloses a kind of multiple degree of freedom magnetic automatic transferring, magnet is located in casing; First connecting rod mechanism first end is connected to second connecting rod mechanism, and first connecting rod mechanism second end is fixedly connected with magnet through casing, and the first driver train passes through first connecting rod mechanism can drive magnet up-and-down movement in casing; Second connecting rod mechanism is fixedly connected with casing, and the second driver train can drive case up-and-down movement by second connecting rod mechanism; 3rd driver train is connected to second connecting rod mechanism, and the 3rd driver train can drive case circumference be rotated by second connecting rod mechanism.In the present invention, by arranging the first driving mechanisms control magnet up-and-down movement in casing, up-and-down movement is carried out by arranging the second driving mechanisms control casing, circumferential movement is carried out by arranging the 3rd driving mechanisms control casing, achieve multiple degree of freedom automatic integral transhipment operation, its integral structure is simple, and automatic transfer operation is convenient, automatic transport efficacy is high, has wide range of applications.
Description
Technical field
The present invention relates to changing of workpieces transportation technique field, particularly relate to a kind of multiple degree of freedom magnetic automatic transferring, achieve the multiple degree of freedom automatic integral transhipment of batch workpiece.
Background technology
In production line balance operation, batch workpiece continuously machines from manufacturing line, in follow-up batch workpiece transhipment operation, need the entirety transhipment ensureing batch workpiece on the one hand, namely in transport process, batch workpiece keeps neat regular distribution, can not in transhipment batch workpiece chaotic, require the easy to operate of bulk transport on the other hand, transport efficacy is high.
Summary of the invention
In order to solve Problems existing in background technology, the present invention proposes a kind of multiple degree of freedom magnetic automatic transferring, achieving the multiple degree of freedom automatic integral transhipment operation of workpiece, its integral structure is simple, automatic transfer operation is convenient, and automatic transport efficacy is high, has wide range of applications.
A kind of multiple degree of freedom magnetic automatic transferring that the present invention proposes, comprising: casing, magnet, first connecting rod mechanism, second connecting rod mechanism, the first driver train, the second driver train, the 3rd driver train;
Magnet is located in casing;
First connecting rod mechanism first end is connected to second connecting rod mechanism, and first connecting rod mechanism second end is fixedly connected with magnet through casing, and the first driver train passes through first connecting rod mechanism can drive magnet up-and-down movement in casing;
Second connecting rod mechanism is fixedly connected with casing, and the second driver train can drive case up-and-down movement by second connecting rod mechanism; 3rd driver train is connected to second connecting rod mechanism, and the 3rd driver train can drive case circumference be rotated by second connecting rod mechanism.
Preferably, first connecting rod mechanism comprises first connecting rod, second connecting rod and Duo Gen third connecting rod, first connecting rod is vertically arranged and its first end is connected with second connecting rod mechanism, second connecting rod horizontal arrangement is also fixed on first connecting rod second end, many third connecting rods vertically arrange that also its first end is fixed on second connecting rod, and many third connecting rod second ends are fixedly connected with magnet through casing; First connecting rod and/or third connecting rod are Collapsible structure, and the first driver train carries out flexible for driving first connecting rod and/or third connecting rod and is with moving magnet up-and-down movement in casing further.
Preferably, first connecting rod mechanism comprises two third connecting rods, and two third connecting rods are separately fixed at second connecting rod two ends; Or; First connecting rod mechanism comprises four third connecting rods and two quarter butts, and two quarter butts are separately fixed at second connecting rod two ends, and four third connecting rods are separately fixed at two quarter butt two ends between two.
Preferably, second connecting rod mechanism comprises double leval jib, the 5th connecting rod, six-bar linkage and seven-link assembly, double leval jib and six-bar linkage horizontal arrangement and double leval jib is located at above six-bar linkage, many 5th connecting rods are vertically arranged and its first end is fixed on double leval jib, its second end is fixed on six-bar linkage, 5th connecting rod is telescopic mechanism, and many seven-link assembly first ends are fixed on six-bar linkage, and its other end is fixed on casing; Second driver train carries out flexible and further drive case up-and-down movement for driving the 5th connecting rod.
Preferably, 5th connecting rod is made up of more piece pole, multiple pole order suit composition stretching structure, innermost layer or outermost pole are fixedly connected with double leval jib, the pole of outermost layer or innermost layer is fixedly connected with six-bar linkage, and the second driver train carries out flexible for driving the 5th connecting rod and drives casing up-and-down movement further.
Preferably, double leval jib one end stretches out, and the 3rd driver train turning cylinder is fixedly connected with the elongated end of double leval jib, and first connecting rod mechanism is between two seven-link assemblies.
Preferably, casing is made up of opening shape block and case lid, and case lid is bolted to be fixed on block and forms enclosure space, and the distance bottom block and between case lid is greater than magnet thickness.
Preferably, rubber buffer is provided with bottom block and/or bottom case lid.
Preferably, magnet becomes tabular mechanism.
Preferably, casing and magnet are square structure or circular configuration.
In the present invention, by arranging the first driving mechanisms control magnet up-and-down movement in casing, up-and-down movement is carried out by arranging the second driving mechanisms control casing, carry out circumferential movement by arranging the 3rd driving mechanisms control casing, casing has up and down and circumference two degree of freedom, achieves the multiple degree of freedom automatic integral transhipment operation of workpiece, its integral structure is simple, automatic transfer operation is convenient, and automatic transport efficacy is high, has wide range of applications.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of multiple degree of freedom magnetic automatic transferring that the present invention proposes.
Detailed description of the invention
As shown in Figure 1, Fig. 1 is the structural representation of a kind of multiple degree of freedom magnetic automatic transferring that the present invention proposes.
With reference to Fig. 1, a kind of multiple degree of freedom magnetic automatic transferring that the present invention proposes, comprising: casing 1, magnet 2, first connecting rod mechanism 3, second connecting rod mechanism 4, first driver train 5, second driver train 6, the 3rd driver train 7; Wherein:
Magnet 2 is located in casing 1; First connecting rod mechanism 3 first end is connected to second connecting rod mechanism 4, and first connecting rod mechanism 3 second end is fixedly connected with magnet 2 through casing 1, and the first driver train 5 is by first connecting rod mechanism 3 drive magnet 2 up-and-down movement in casing 1; Second connecting rod mechanism 4 is fixedly connected with casing 1, and the second driver train 6 can drive case 1 up-and-down movement by second connecting rod mechanism 4; 3rd driver train 7 is connected to second connecting rod mechanism the 4, three driver train 7 and can drive case 1 circumference be rotated by second connecting rod mechanism 4.
Wherein, the first driver train 5 can be selected for cylinder, the second driver train 6 can be selected the 3rd driver train 7 can be selected to be motor for cylinder.
Particularly, first connecting rod mechanism 3 comprises first connecting rod 31, second connecting rod 32 and Duo Gen third connecting rod 33, first connecting rod 31 vertically arranges and its first end is connected with second connecting rod mechanism 4, second connecting rod 32 horizontal arrangement is also fixed on first connecting rod 31 second end, many third connecting rods 33 vertically arrange that also its first end is fixed on second connecting rod 32, and many third connecting rod 33 second ends are fixedly connected with magnet 2 through casing 1; First connecting rod 31 and/or third connecting rod 33 are telescopic mechanism, and the first driver train 5 carries out flexible for driving first connecting rod 31 and/or third connecting rod 33 and is with moving magnet 2 up-and-down movement in casing 1 further.
Particularly, second connecting rod mechanism 4 comprises double leval jib 41, the 5th connecting rod 42, six-bar linkage 43 and seven-link assembly 44, double leval jib 41 and six-bar linkage 43 horizontal arrangement and double leval jib 41 is located at above six-bar linkage 43, many 5th connecting rods 42 vertically arrange and its first end is fixed on double leval jib 41, its second end is fixed on six-bar linkage 43,5th connecting rod 42 is telescopic mechanism, and many seven-link assembly 44 first ends are fixed on six-bar linkage 43, and its other end is fixed on casing 1; Second driver train 6 carries out flexible and further drive case 1 up-and-down movement for driving the 5th connecting rod 42.
In a particular embodiment, first connecting rod 31 is made up of more piece pole, multiple pole order suit composition stretching structure, innermost layer or outermost pole are fixedly connected with the six-bar linkage 43 of second connecting rod mechanism 4, and, the pole of outermost layer or innermost layer is fixedly connected with second connecting rod 32, and the first driver train 5 stretches for driving first connecting rod 31, thus is with moving magnet 2 up-and-down movement in casing 1 further.
In a particular embodiment, first connecting rod mechanism 3 comprises two third connecting rods, 33, two third connecting rods 33 and is separately fixed at second connecting rod 32 two ends; Or; First connecting rod mechanism 3 comprises four third connecting rods 33 and two quarter butts, and two quarter butts are separately fixed at second connecting rod 32 two ends, and four third connecting rods 33 are separately fixed at two quarter butt two ends between two.
In a particular embodiment, 5th connecting rod 42 is made up of more piece pole, multiple pole order suit composition stretching structure, innermost layer or outermost pole are fixedly connected with double leval jib 41, the pole of outermost layer or innermost layer is fixedly connected with six-bar linkage 43, and the second driver train 6 carries out flexible for driving the 5th connecting rod 42 and drives casing 1 up-and-down movement further.
Wherein, double leval jib 41 one end stretches out, and the 3rd driver train 7 turning cylinder is fixedly connected with the elongated end of double leval jib 41, and first connecting rod mechanism 3 is between two seven-link assemblies 44.
What need to illustrate is upper, and it is between 0-360 ° that the second driver train 6 drive case 1 carries out the angle that circumference rotates, and can adjust according to the needs of transhipment position particularly, such as, its rotational angle is 45 °, 60 °, 90 °, 120 °, 180 ° etc.
In a particular embodiment, casing 1 is made up of opening shape block 11 and case lid 12, and case lid 12 is bolted to be fixed on block 11 and forms enclosure space, and the distance bottom block 11 and between case lid 12 is greater than magnet 2 thickness.
In magnet 2 up-and-down movement process, rubber buffer can be provided with bottom block 11 and/or bottom case lid 12, the collision between magnet 2 and block 11 and/or case lid 12 can be reduced.
In actual application, magnet 2 one-tenth tabular mechanism, casing 1 and magnet 2 are square structure or circular configuration.
It should be noted that, described workpiece, for having ferromagnetic workpiece, like this, could utilize the magnetic action of magnet 3 to hold workpiece and transport.
In the course of the work, first driver train 5 drives first connecting rod mechanism 3 to move downward to be placed in bottom casing 1 by magnet 2, 3rd driver train 7 drives second connecting rod mechanism 4 to rotate and casing 1 is turned to A position, second driver train 6 drives second connecting rod mechanism 4 to move downward, casing 1 is placed on above workpiece, workpiece is inhaled in casing 1 bottom surface by the magnet 2 bottom casing 1, then, second driver train 6 drives second connecting rod mechanism 4 upward movement, 3rd driver train 7 drives second connecting rod mechanism 4 to rotate and casing 1 is turned to B position, first driver train 5 drives first connecting rod mechanism 3 upward movement that magnet 2 is placed in casing 1 top, workpiece departs under self gravitation effect bottom casing 1, automatically complete workpiece and be transported to B position from A position.
In the embodiment of the present invention, by arranging the first driving mechanisms control magnet up-and-down movement in casing, up-and-down movement is carried out by arranging the second driving mechanisms control casing, carry out circumferential movement by arranging the 3rd driving mechanisms control casing, casing has up and down and circumference two degree of freedom, achieves the multiple degree of freedom automatic integral transhipment operation of workpiece, its integral structure is simple, automatic transfer operation is convenient, and automatic transport efficacy is high, has wide range of applications.
In the present invention, the magnetic action of magnet is utilized to carry out entirety transhipment to batch workpiece, by increasing magnetic action scope after transhipment completes, batch workpiece comes off under gravity, thus complete the transhipment operation of batch workpiece, and the structure of this magnetic transporter is simple, transfer operation is convenient, and transport efficacy is high.
The above; be only the present invention's preferably detailed description of the invention; but protection scope of the present invention is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the present invention discloses; be equal to according to technical scheme of the present invention and inventive concept thereof and replace or change, all should be encompassed within protection scope of the present invention.
Claims (16)
1. a multiple degree of freedom magnetic automatic transferring, it is characterized in that, comprising: casing (1), magnet (2), first connecting rod mechanism (3), second connecting rod mechanism (4), the first driver train (5), the second driver train (6), the 3rd driver train (7);
Magnet (2) is located in casing (1);
First connecting rod mechanism (3) first end is connected to second connecting rod mechanism (4), first connecting rod mechanism (3) second end is fixedly connected with magnet (2) through casing (1), and the first driver train (5) can drive magnet (2) up-and-down movement in casing (1) by first connecting rod mechanism (3);
Second connecting rod mechanism (4) is fixedly connected with casing (1), and the second driver train (6) can drive case (1) up-and-down movement by second connecting rod mechanism (4); 3rd driver train (7) is connected to second connecting rod mechanism (4), and the 3rd driver train (7) can drive case (1) circumference be rotated by second connecting rod mechanism (4).
2. multiple degree of freedom magnetic automatic transferring according to claim 1, it is characterized in that, first connecting rod mechanism (3) comprises first connecting rod (31), second connecting rod (32) and many third connecting rods (33), first connecting rod (31) vertically arranges and its first end is connected with second connecting rod mechanism (4), second connecting rod (32) horizontal arrangement is also fixed on first connecting rod (31) second end, many third connecting rods (33) vertically arrange that also its first end is fixed on second connecting rod (32), many third connecting rod (33) second ends are fixedly connected with magnet (2) through casing (1), first connecting rod (31) and/or third connecting rod (33) are Collapsible structure, and the first driver train (5) carries out flexible for driving first connecting rod (31) and/or third connecting rod (33) and is with moving magnet (2) up-and-down movement in casing (1) further.
3. multiple degree of freedom magnetic automatic transferring according to claim 2, it is characterized in that, first connecting rod mechanism (3) comprises two third connecting rods (33), and two third connecting rods (33) are separately fixed at second connecting rod (32) two ends; Or; First connecting rod mechanism (3) comprises four third connecting rods (33) and two quarter butts, two quarter butts are separately fixed at second connecting rod (32) two ends, and four third connecting rods (33) are separately fixed at two quarter butt two ends between two.
4. the multiple degree of freedom magnetic automatic transferring according to any one of claim 1-3, it is characterized in that, second connecting rod mechanism (4) comprises double leval jib (41), 5th connecting rod (42), six-bar linkage (43) and seven-link assembly (44), double leval jib (41) and six-bar linkage (43) horizontal arrangement and double leval jib (41) is located at six-bar linkage (43) top, many 5th connecting rods (42) vertically arrange and its first end is fixed on double leval jib (41), its second end is fixed on six-bar linkage (43), 5th connecting rod (42) is telescopic mechanism, many seven-link assembly (44) first ends are fixed on six-bar linkage (43), its other end is fixed on casing (1), second driver train (6) carries out flexible and further drive case (1) up-and-down movement for driving the 5th connecting rod (42).
5. multiple degree of freedom magnetic automatic transferring according to claim 4, it is characterized in that, 5th connecting rod (42) is made up of more piece pole, multiple pole order suit composition stretching structure, innermost layer or outermost pole are fixedly connected with double leval jib (41), the pole of outermost layer or innermost layer is fixedly connected with six-bar linkage (43), and the second driver train (6) carries out flexible for driving the 5th connecting rod (42) and drives casing (1) up-and-down movement further.
6. multiple degree of freedom magnetic automatic transferring according to claim 4, it is characterized in that, double leval jib (41) one end stretches out, 3rd driver train (7) turning cylinder is fixedly connected with the elongated end of double leval jib (41), and first connecting rod mechanism (3) is positioned between two seven-link assemblies (44).
7. the multiple degree of freedom magnetic automatic transferring according to any one of claim 1-3, it is characterized in that, casing (1) is made up of opening shape block (11) and case lid (12), case lid (12) is bolted to be fixed on block (11) and forms enclosure space, and the distance between block (11) bottom and case lid (12) is greater than magnet (2) thickness.
8. multiple degree of freedom magnetic automatic transferring according to claim 4, it is characterized in that, casing (1) is made up of opening shape block (11) and case lid (12), case lid (12) is bolted to be fixed on block (11) and forms enclosure space, and the distance between block (11) bottom and case lid (12) is greater than magnet (2) thickness.
9. the multiple degree of freedom magnetic automatic transferring according to claim 5 or 6, it is characterized in that, casing (1) is made up of opening shape block (11) and case lid (12), case lid (12) is bolted to be fixed on block (11) and forms enclosure space, and the distance between block (11) bottom and case lid (12) is greater than magnet (2) thickness.
10. multiple degree of freedom magnetic automatic transferring according to claim 7, is characterized in that, block (11) bottom and/or case lid (12) bottom are provided with rubber buffer.
11. multiple degree of freedom magnetic automatic transferrings according to any one of claim 1-3, is characterized in that, magnet (2) becomes tabular mechanism.
12. multiple degree of freedom magnetic automatic transferrings according to claim 4, is characterized in that, magnet (2) becomes tabular mechanism.
13. multiple degree of freedom magnetic automatic transferrings according to claim 5 or 6, is characterized in that, magnet (2) becomes tabular mechanism.
14. multiple degree of freedom magnetic automatic transferrings according to any one of claim 1-3, it is characterized in that, casing (1) and magnet (2) are square structure or circular configuration.
15. multiple degree of freedom magnetic automatic transferrings according to claim 4, is characterized in that, casing (1) and magnet (2) are square structure or circular configuration.
16. multiple degree of freedom magnetic automatic transferrings according to claim 5 or 6, it is characterized in that, casing (1) and magnet (2) are square structure or circular configuration.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310268973.9A CN103350903B (en) | 2013-06-29 | 2013-06-29 | A kind of multiple degree of freedom magnetic automatic transferring |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310268973.9A CN103350903B (en) | 2013-06-29 | 2013-06-29 | A kind of multiple degree of freedom magnetic automatic transferring |
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| CN103350903A CN103350903A (en) | 2013-10-16 |
| CN103350903B true CN103350903B (en) | 2016-02-03 |
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| CN109650063B (en) * | 2019-01-18 | 2020-08-21 | 玉柴联合动力股份有限公司 | Diesel engine cylinder body carrying and boxing equipment |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE8514938U1 (en) * | 1985-05-21 | 1985-07-18 | Rische, Karl, 5249 Hamm | Extraction device |
| DE20108552U1 (en) * | 2001-05-22 | 2001-12-20 | FESTO AG & Co., 73734 Esslingen | Handling device |
| DE102005023828A1 (en) * | 2005-05-24 | 2006-12-07 | A U E Automations- Und Einstelltechnik Kassel Gmbh | Factory equipment for separation and carrying of flimsy diesel soot filter mats and magnetic interlayers, includes pneumatic transporters |
| CN202828940U (en) * | 2012-06-27 | 2013-03-27 | 黎庆宏 | Magnet suction plate device |
| CN203411074U (en) * | 2013-06-29 | 2014-01-29 | 安徽华林磁电科技有限公司 | Multi-degree-of-freedom magnetic and automatic transfer device |
-
2013
- 2013-06-29 CN CN201310268973.9A patent/CN103350903B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE8514938U1 (en) * | 1985-05-21 | 1985-07-18 | Rische, Karl, 5249 Hamm | Extraction device |
| DE20108552U1 (en) * | 2001-05-22 | 2001-12-20 | FESTO AG & Co., 73734 Esslingen | Handling device |
| DE102005023828A1 (en) * | 2005-05-24 | 2006-12-07 | A U E Automations- Und Einstelltechnik Kassel Gmbh | Factory equipment for separation and carrying of flimsy diesel soot filter mats and magnetic interlayers, includes pneumatic transporters |
| CN202828940U (en) * | 2012-06-27 | 2013-03-27 | 黎庆宏 | Magnet suction plate device |
| CN203411074U (en) * | 2013-06-29 | 2014-01-29 | 安徽华林磁电科技有限公司 | Multi-degree-of-freedom magnetic and automatic transfer device |
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