CN113526121B - Double-swing-arm mechanism - Google Patents
Double-swing-arm mechanism Download PDFInfo
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- CN113526121B CN113526121B CN202010292948.4A CN202010292948A CN113526121B CN 113526121 B CN113526121 B CN 113526121B CN 202010292948 A CN202010292948 A CN 202010292948A CN 113526121 B CN113526121 B CN 113526121B
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- arm
- swing arm
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- swing
- rod
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- 230000007246 mechanism Effects 0.000 title claims abstract description 23
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 230000007306 turnover Effects 0.000 abstract description 4
- 230000009471 action Effects 0.000 abstract description 2
- 230000009286 beneficial effect Effects 0.000 description 18
- 230000006872 improvement Effects 0.000 description 7
- 230000008859 change Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/914—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a double-swing-arm mechanism, which comprises a moving mechanism and a control mechanism, wherein the moving mechanism comprises a swing arm with a degree of freedom of movement in a vertical space plane, and the swing arm comprises a first swing arm and a second swing arm which are positioned at the same horizontal height; the power part comprises two servo motors at the same horizontal height; the limiting guide mechanism comprises a horizontal sliding rail, two vertical sliding rails are fixed on the horizontal sliding rail through two horizontal sliding blocks, and each vertical sliding rail is movably connected with a vertical sliding block; an output shaft of the servo motor is radially connected with swing rods, each swing rod is movably connected with a vertical sliding block through a rotating shaft at the other end deviating from the output shaft, and the axial direction of the rotating shaft is parallel to the axial direction of the output shaft; one end of each swing arm is fixed with the vertical sliding block, the other end of each swing arm is provided with a suction nozzle, and the horizontal length of each motion path of the two suction nozzles is equal to the horizontal distance between the two suction nozzles. The invention can realize the transfer and turnover of the double suction nozzles to the products, and has reliable action.
Description
Technical Field
The invention relates to the field of automation, in particular to a double-swing-arm mechanism.
Background
After a large number of small-sized cylindrical products are processed on a production line, secondary processing, assembly and detection can be performed, so that the cylindrical products need to be grasped one by one, and how to ensure that the small products can be grasped and conveyed one by one is a difficult point.
Disclosure of Invention
The invention aims to solve the problem of providing a double swing arm mechanism which can realize the transfer and turnover of double suction nozzles to products and has reliable action.
In order to solve the above problems, the present invention provides a double swing arm mechanism, and in order to achieve the above objects, the technical solution adopted by the present invention to solve the technical problems is as follows:
A double swing arm mechanism comprising: the moving mechanism comprises a swing arm with the freedom of movement in a vertical space plane, and the swing arm comprises a first swing arm and a second swing arm which are positioned at the same horizontal height; the power part comprises two servo motors at the same horizontal height; the limiting guide mechanism comprises a horizontal sliding rail, the length direction of the horizontal sliding rail is parallel to the connecting line direction of the two servo motors, two vertical sliding rails are fixed on the horizontal sliding rail through two horizontal sliding blocks, and each vertical sliding rail is movably connected with a vertical sliding block; an output shaft of the servo motor is radially connected with swing rods, each swing rod is movably connected with a vertical sliding block through a rotating shaft at the other end deviating from the output shaft, and the axial direction of the rotating shaft is parallel to the axial direction of the output shaft; one end of each swing arm is fixed with the vertical sliding block, the other end of each swing arm is provided with a suction nozzle, and the horizontal length of each motion path of the two suction nozzles is equal to the horizontal distance between the two suction nozzles.
The beneficial effects of adopting above-mentioned technical scheme are: the motion paths of the two suction nozzles are arc-shaped in the same vertical space plane, but the position states of the suction nozzles are guaranteed, and the openings of the suction nozzles are always downward, so that the alignment of products below is guaranteed. The nozzle opening does not face in a corresponding radial direction due to its own arcuate movement. Meanwhile, the suction nozzle is fixedly connected with the swing arm, and the rigidity of the suction nozzle is enough to turn over products. Because the horizontal movement length of the two suction nozzles is equal to the interval between the two suction nozzles, each suction nozzle takes and puts one product in actual operation, and meanwhile, the movement periods of the two suction nozzles can be synchronous, so that the products of the two suction nozzles can be mutually circulated, the product put down by one suction nozzle is just taken away by the other suction nozzle, and the product is conveyed towards one direction, so that intermittent conveying of the product is realized. The automatic assembling machine is also suitable for being matched with stations of an assembly line, products are vertical at the moment of taking and putting, and the stations are convenient to assemble. The combination collocation of vertical slide rail and horizontal slide rail provides spacing direction for the motion, guarantees the stability of motion, and vertical slider actually possesses in vertical plane level, two vertical straight line degrees of freedom, and vertical slider can adapt to the rotation relatively the pivot that it is connected, possesses pivoted degree of freedom.
As a further improvement of the invention, the first swing arm and the second swing arm are respectively formed by a first arm rod and a second arm rod which are vertically and integrally fixed, the length tracks of the first arm rod and the second arm rod form an L shape, and the length directions of the first arm rod and the second arm rod are horizontal.
The beneficial effects of adopting above-mentioned technical scheme are: the first arm lever ensures that the suction nozzle is enough to avoid the vertical sliding rail, and the second arm lever provides a larger swing arm radius for the suction nozzle movement path.
As a further improvement of the invention, the length direction of the second arm rod is parallel to the length direction of the horizontal sliding rail, the length direction of the first arm rod is perpendicular to the horizontal sliding rail, the first arm rod extends along the direction deviating from the servo motor, one end of the second arm rod deviating from the first arm rod is fixed with the top of the vertical sliding block, and one end of the first arm rod deviating from the second arm rod is provided with a suction nozzle.
The beneficial effects of adopting above-mentioned technical scheme are: the space where the motion paths of the suction nozzles coincide is a vertical space plane, and the space is not interfered with the horizontal sliding rail and the vertical sliding rail.
As a further improvement of the invention, the opening of the suction nozzle faces downwards vertically, the suction nozzle is connected with a vacuum generator, and the top of the suction nozzle is connected with the vacuum generator through a hose.
The beneficial effects of adopting above-mentioned technical scheme are: the downward suction nozzle is convenient for adsorbing or releasing the product, so that the product can be taken and put, and the hose can not obstruct the change of the spatial position of the suction nozzle.
As a further improvement of the invention, a plurality of through holes are arranged on the second arm rod along the length direction of the second arm rod, the second arm rod and the vertical sliding block are fixed through screws penetrating through the through holes, and the number of the through holes is more than that of the screws required for fixation.
The beneficial effects of adopting above-mentioned technical scheme are: the second arm rod and the vertical sliding block are provided with a plurality of fixed positions, and the telescopic length of the second arm rod can be adjusted according to the needs to adapt to the field needs.
As a further improvement of the invention, the difference between the height of the top of the vertical sliding block and the height of the output shaft is larger than the self length of the swing rod.
The beneficial effects of adopting above-mentioned technical scheme are: when the swing rod moves to the vertical state, namely the suction nozzle moves to the highest position, the vertical sliding block cannot be separated from the vertical sliding rail.
As a further development of the invention, the two servomotors are jointly fixed with a vertical fixing plate, through which the output shaft passes.
The beneficial effects of adopting above-mentioned technical scheme are: the fixed plate provides fixed position for servo motor, and the output shaft passes the fixed plate, and the fixed plate does not produce the interference with the output shaft.
As a further improvement of the invention, a fixed seat is fixed below the fixed plate, and the horizontal sliding rail is positioned at the top of the fixed seat.
The beneficial effects of adopting above-mentioned technical scheme are: the fixing base provides a base for the whole equipment and provides a fixed position.
As a still further improvement of the invention, the fixing plate is provided with a horizontally oriented photoelectric sensor, and the suction nozzle is positioned on the orientation path of the photoelectric sensor when the suction nozzle moves to the lowest limit position.
The beneficial effects of adopting above-mentioned technical scheme are: the photoelectric sensor is electrically connected with the servo motor, and the servo motor is reversed when the suction nozzle moves to the lowest position or not through sensing, so that the whole automation is improved by utilizing self-feedback.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a perspective view of one embodiment of the present invention.
Fig. 2 is a front view of an embodiment of the present invention.
Fig. 3 is a left side view of an embodiment of the present invention.
Fig. 4 is a top view of one embodiment of the present invention.
1-A first swing arm; 2-a second swing arm; 3-suction nozzle; 4-a servo motor; 5-a fixing plate; 6-an output shaft; 7-swinging rod; 8-rotating shaft; 9-horizontal sliding rails; 10-horizontal sliding blocks; 11-vertical sliding rails; 12-vertical sliding blocks; 13-fixing seats; 14-a first arm; 15-a second arm.
Detailed Description
The following describes the present invention in further detail with reference to specific examples:
To achieve the object of the present invention, a double swing arm mechanism includes: the moving mechanism comprises a swing arm with the freedom of movement in a vertical space plane, and the swing arm comprises a first swing arm 1 and a second swing arm 2 which are positioned at the same horizontal height; the power part comprises two servo motors 4 at the same horizontal height; the limiting guide mechanism comprises a horizontal sliding rail 9, the length direction of the horizontal sliding rail 9 is parallel to the connecting line direction of the two servo motors 4, two vertical sliding rails 11 are fixed on the horizontal sliding rail 9 through two horizontal sliding blocks 10, and each vertical sliding rail 11 is movably connected with a vertical sliding block 12; the output shaft 6 of the servo motor 4 is radially connected with swing rods 7, each swing rod 7 is movably connected with a vertical sliding block 12 through a rotating shaft 8 at the other end deviating from the output shaft 6, and the axial direction of the rotating shaft 8 is parallel to the axial direction of the output shaft 6; one end of each swing arm is fixed with the vertical sliding block 12, the other end of each swing arm is provided with a suction nozzle 3, and the horizontal length of each motion path of the two suction nozzles 3 is equal to the horizontal distance between the two suction nozzles 3.
In actual operation, the motion trajectories of the two suction nozzles 3 are semicircular arcs of the same size.
The beneficial effects of adopting above-mentioned technical scheme are: the motion paths of the two suction nozzles are arc-shaped in the same vertical space plane, but the position states of the suction nozzles are guaranteed, and the openings of the suction nozzles are always downward, so that the alignment of products below is guaranteed. The nozzle opening does not face in a corresponding radial direction due to its own arcuate movement. Meanwhile, the suction nozzle is fixedly connected with the swing arm, and the rigidity of the suction nozzle is enough to turn over products. Because the horizontal movement length of the two suction nozzles is equal to the interval between the two suction nozzles, each suction nozzle takes and puts one product in actual operation, and meanwhile, the movement periods of the two suction nozzles can be synchronous, so that the products of the two suction nozzles can be mutually circulated, the product put down by one suction nozzle is just taken away by the other suction nozzle, and the product is conveyed towards one direction, so that intermittent conveying of the product is realized. The automatic assembling machine is also suitable for being matched with stations of an assembly line, products are vertical at the moment of taking and putting, and the stations are convenient to assemble. The combination collocation of vertical slide rail and horizontal slide rail provides spacing direction for the motion, guarantees the stability of motion, and vertical slider actually possesses in vertical plane level, two vertical straight line degrees of freedom, and vertical slider can adapt to the rotation relatively the pivot that it is connected, possesses pivoted degree of freedom.
In other embodiments of the present invention, the first swing arm 1 and the second swing arm 2 are each formed by a first arm lever 14 and a second arm lever 15 that are vertically and integrally fixed, the length tracks of the first arm lever 14 and the second arm lever 15 form an L shape, and the length directions of the first arm lever 14 and the second arm lever 15 are all horizontal.
The beneficial effects of adopting above-mentioned technical scheme are: the first arm lever ensures that the suction nozzle is enough to avoid the vertical sliding rail, and the second arm lever provides a larger swing arm radius for the suction nozzle movement path.
In other embodiments of the present invention, the length direction of the second arm 15 is parallel to the length direction of the horizontal sliding rail 9, the length direction of the first arm 14 is perpendicular to the horizontal sliding rail 9, the first arm 14 extends in a direction away from the servo motor 4, one end of the second arm 15 away from the first arm 14 is fixed to the top of the vertical sliding block 12, and one end of the first arm 14 away from the second arm 15 is provided with the suction nozzle 3.
The beneficial effects of adopting above-mentioned technical scheme are: the space where the motion paths of the suction nozzles coincide is a vertical space plane, and the space is not interfered with the horizontal sliding rail and the vertical sliding rail.
In other embodiments of the invention, the opening of the suction nozzle 3 is vertically downward, the suction nozzle 3 is connected with a vacuum generator, and the top of the suction nozzle 3 is connected with the vacuum generator through a hose.
The beneficial effects of adopting above-mentioned technical scheme are: the downward suction nozzle is convenient for adsorbing or releasing the product, so that the product can be taken and put, and the hose can not obstruct the change of the spatial position of the suction nozzle.
In other embodiments of the present invention, the second arm 15 has a plurality of through holes arrayed along its length, and the second arm 15 is fixed to the vertical slider by screws passing through the through holes, and the number of through holes is greater than the number of screws required for fixation.
The beneficial effects of adopting above-mentioned technical scheme are: the second arm rod and the vertical sliding block are provided with a plurality of fixed positions, and the telescopic length of the second arm rod can be adjusted according to the needs to adapt to the field needs.
In other embodiments of the invention, the difference between the height of the top of the vertical slider 12 and the height of the output shaft 6 is greater than the length of the pendulum rod 7 itself.
The beneficial effects of adopting above-mentioned technical scheme are: when the swing rod moves to the vertical state, namely the suction nozzle moves to the highest position, the vertical sliding block cannot be separated from the vertical sliding rail.
In other embodiments of the invention, two servomotors 4 are jointly fixed with a vertical fixing plate 5, through which fixing plate 5 the output shaft 6 passes.
The beneficial effects of adopting above-mentioned technical scheme are: the fixed plate provides fixed position for servo motor, and the output shaft passes the fixed plate, and the fixed plate does not produce the interference with the output shaft.
In other embodiments of the present invention, a fixed seat 13 is fixed below the fixed plate 5, and the horizontal sliding rail 9 is located at the top of the fixed seat 13.
The beneficial effects of adopting above-mentioned technical scheme are: the fixing base provides a base for the whole equipment and provides a fixed position.
In other embodiments of the invention, the stationary plate 5 is provided with a horizontally oriented photoelectric sensor, and the suction nozzle 3 is located on the orientation path of the photoelectric sensor when the suction nozzle 3 moves to the lowest limit position.
The beneficial effects of adopting above-mentioned technical scheme are: the photoelectric sensor is electrically connected with the servo motor, and the servo motor is reversed when the suction nozzle moves to the lowest position or not through sensing, so that the whole automation is improved by utilizing self-feedback.
The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and to implement the same, but are not intended to limit the scope of the present invention, and all equivalent changes or modifications made according to the spirit of the present invention should be included in the scope of the present invention.
Claims (5)
1. A double swing arm mechanism, comprising:
the moving mechanism comprises a swing arm with a motion degree of freedom in a vertical space plane, and the swing arm comprises a first swing arm and a second swing arm which are positioned at the same horizontal height;
the power part comprises two servo motors at the same horizontal height;
The limiting guide mechanism comprises a horizontal sliding rail, the length direction of the horizontal sliding rail is parallel to the connecting line direction of the two servo motors, two vertical sliding rails are fixed on the horizontal sliding rail through two horizontal sliding blocks, and each vertical sliding rail is movably connected with a vertical sliding block;
The output shaft of the servo motor is radially connected with swing rods, each swing rod is movably connected with a vertical sliding block through a rotating shaft at the other end deviating from the output shaft, and the axial direction of the rotating shaft is parallel to the axial direction of the output shaft; one end of each swing arm is fixed with the vertical sliding block, the other end of each swing arm is provided with a suction nozzle, and the horizontal length of each motion path of the two suction nozzles is equal to the horizontal distance between the two suction nozzles;
The first swing arm and the second swing arm are respectively composed of a first arm rod and a second arm rod which are vertically and integrally fixed, the length tracks of the first arm rod and the second arm rod form an L shape, and the length directions of the first arm rod and the second arm rod are horizontal;
The length direction of the second arm rod is parallel to the length direction of the horizontal sliding rail, the length direction of the first arm rod is perpendicular to the horizontal sliding rail, the first arm rod extends along the direction deviating from the servo motor, one end of the second arm rod deviating from the first arm rod is fixed with the top of the vertical sliding block, and one end of the first arm rod deviating from the second arm rod is provided with a suction nozzle;
The second arm rod is provided with a plurality of through holes in an array along the length direction of the second arm rod, the second arm rod and the vertical sliding block are fixed through screws penetrating through the through holes, and the number of the through holes is more than that of the screws required for fixation;
The difference between the height of the top of the vertical sliding block and the height of the output shaft is larger than the length of the swing rod.
2. The double swing arm mechanism according to claim 1, wherein: the opening of the suction nozzle faces downwards vertically, the suction nozzle is connected with a vacuum generator, and the top of the suction nozzle is connected with the vacuum generator through a hose.
3. The double swing arm mechanism according to claim 1, wherein: the two servo motors are jointly fixed with a vertical fixing plate, and the output shaft penetrates through the fixing plate.
4. A double swing arm mechanism according to claim 3, wherein: the fixing seat is fixed below the fixing plate, and the horizontal sliding rail is positioned at the top of the fixing seat.
5. A double swing arm mechanism according to claim 3, wherein: the fixed plate is provided with a horizontally-oriented photoelectric sensor, and when the suction nozzle moves to the lowest limit position, the suction nozzle is positioned on the orientation path of the photoelectric sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010292948.4A CN113526121B (en) | 2020-04-14 | 2020-04-14 | Double-swing-arm mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010292948.4A CN113526121B (en) | 2020-04-14 | 2020-04-14 | Double-swing-arm mechanism |
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| Publication Number | Publication Date |
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| CN113526121A CN113526121A (en) | 2021-10-22 |
| CN113526121B true CN113526121B (en) | 2024-09-10 |
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| CN202010292948.4A Active CN113526121B (en) | 2020-04-14 | 2020-04-14 | Double-swing-arm mechanism |
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN212314897U (en) * | 2020-04-14 | 2021-01-08 | 苏州光越微纳科技有限公司 | Double-swing-arm mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102010050204B4 (en) * | 2010-11-04 | 2012-12-20 | Heye International Gmbh | Assembly for transferring a component between two positions |
| CN204819503U (en) * | 2015-06-30 | 2015-12-02 | 无锡远创科技有限公司 | Cover shell conveyor |
| CN204896786U (en) * | 2015-07-13 | 2015-12-23 | 东莞市海亿欣光电有限公司 | Vacuum blowing handling mechanism |
| CN208234095U (en) * | 2018-03-28 | 2018-12-14 | 昆山谛镨科自动化科技有限公司 | Pick and place material mould group |
| CN110861919A (en) * | 2019-11-28 | 2020-03-06 | 滨州市五岳机械设备有限公司 | Multistation cooperation operation egg embryo sorting device |
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN212314897U (en) * | 2020-04-14 | 2021-01-08 | 苏州光越微纳科技有限公司 | Double-swing-arm mechanism |
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| CN113526121A (en) | 2021-10-22 |
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Address after: No. 19 # 101, No. 200 Xingpu Road, Industrial Park, Suzhou City, Jiangsu Province, 215000 Applicant after: SUZHOU GUANGYUE MICRO-NANO TECHNOLOGY Co.,Ltd. Address before: Room 302, building 13, Suzhou nano City, 99 Jinjihu Avenue, Suzhou Industrial Park, 215000, Jiangsu Province Applicant before: SUZHOU GUANGYUE MICRO-NANO TECHNOLOGY Co.,Ltd. |
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