CN204324374U - reciprocating shifting device - Google Patents

Abstract

The utility model relates to the technical field of shifting equipment, and particularly refers to a reciprocating shifting device, which comprises a frame, a lifting slide, a translation slide, and a pick-and-place mechanism. The pick-and-place mechanism is arranged on the translation slide, and a rotating shaft and a driving motor are arranged on the frame. The rotating shaft is connected to the lifting slide through a lifting cam structure and drives the lifting slide to move up and down. The rotating shaft is connected to the translation slide through a translation cam structure and drives the translation slide to move laterally. The utility model utilizes the characteristics of the cam to convert the rotational motion of the driving motor into the lifting and lowering motion and the lateral motion of the translation slide and the pick-and-place mechanism. The unidirectional rotation of the driving motor can realize the reciprocating motion of the translation slide and the pick-and-place mechanism of rising-translation-descending, thereby saving the time of stopping and reverse rotation, improving the transfer speed and stability, having high precision, long service life, simplifying the driving structure, simple and convenient control, and low cost.

Description

reciprocating shifting device

Technical field:

The utility model relates to the technical field of displacement equipment, in particular to a reciprocating displacement device.

Background technique:

At present, it is often necessary to use a pick-and-place device to pick up, carry and put down the components that need to be shifted on the production line, so as to improve the automation of the production process and increase the production speed. The shifting device is an automatic operation device used to grab, carry objects or operate tools according to a fixed program. It can replace the heavy labor of people to realize the mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used It is used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy and other departments.

At present, in the electronic manufacturing industry, especially in the automatic assembly process of electronic components and connector products, the speed and stability of automatic workpiece transfer are particularly important. The traditional multi-axis manipulator has high cost and poor precision; the existing reciprocating transfer mechanism has the following problems:

1. It needs to be driven separately by multiple sets of driving devices to move in each axis. The driving devices are generally driven by motors and screw rods. The driving structure is complex, and the transmission coordination between the axes is not coordinated. The control is troublesome and affects the transfer accuracy;

2. The motor directly drives the main shaft to rotate, and the motor needs to repeat the positive and negative rotations continuously to achieve the reciprocating motion of rising-translation-falling. Every time the motor completes a movement, it needs to be stopped first and then reversed. The process of motor deceleration, stop and restart is cumbersome , the control is difficult, the cost is high, the motor commutation wastes a lot of time, the transfer speed is slow, and the service life is short;

3. The stop and reversing of the reciprocating transfer device are realized by the reversing of the driving motor. Due to the influence of inertia, the instantaneous impact of the mechanism is large, the stability is poor, and the transfer reliability is poor.

Utility model content:

The purpose of the utility model is to provide a reciprocating displacement device which simplifies the driving structure and improves the transfer speed and stability in view of the deficiencies in the prior art.

In order to achieve the above object, the technical solution adopted by the utility model is: a reciprocating displacement device, which includes a frame, a lifting slide seat slidably connected to the frame in the vertical direction, and a translation sliding seat connected to the lift slide seat in the horizontal direction. Sliding seat, a pick-and-place mechanism for picking and placing workpieces, the pick-and-place mechanism is set on the translation slide seat, the frame is provided with a rotating shaft connected to the frame along the horizontal rotation, and a drive motor that drives the rotating shaft to rotate, and the rotating shaft passes through the lifting cam The structure is connected to the lifting slide and drives the lifting slide to move up and down, and the rotating shaft is connected to the translation slide through the translation cam structure and drives the translation slide to move laterally.

A cylindrical camshaft barrel is sleeved on the rotating shaft, and the circumferential outer surface of the camshaft barrel is provided with a wave-shaped cam groove undulating in the axial direction. The cam groove surrounds the circumferential outer surface of the camshaft barrel and is connected end to end. The sliding seat is vertically slidably connected with a cam follower slide seat, and the cam follower slide seat is slidably connected to the frame along the horizontal direction. The cam follower slide seat is provided with a translational cam follower that slides along the cam groove track, and the translation The cam follower is slidably arranged in the cam groove, and the combination of the translation cam follower, the cam follower slide seat and the cam groove forms the translation cam structure.

The crests and troughs of the cam groove waveform are arc-shaped structures that do not undulate axially along the camshaft cylinder, but only extend along the circumferential direction of the camshaft cylinder.

The end of the camshaft cylinder is provided with a cam track that undulates in the radial direction, and the position corresponding to the cam track on the lifting slide is provided with a lifting follower seat, and the lift follower seat is provided with a lifter that moves along the track of the cam track. The cam follower, the lifting cam follower presses on the cam track, and the combination of the lifting cam follower, the lifting follower seat and the cam track forms the lifting cam structure.

The end surface of the camshaft barrel protrudes outwards to form the cam track, and the lifting follower seat is provided with two lifting cam followers, and the two lifting cam followers are pressed against the cam track respectively. on the inner and outer sides.

The waveform of the cam groove has a crest and a trough, the peak position of the waveform corresponds to the highest point of the cam track, and the bottom position of the wave trough corresponds to the lowest point of the cam track.

The lift cam followers are located at the top or bottom of the cam track.

Both ends of the camshaft cylinder are provided with lifting cam structures.

An inductive photoelectric switch is arranged on the rotating shaft.

The pick-and-place mechanism includes a pick-and-place rack fixed on the translational sliding seat, a plurality of suction nozzles are arranged on the pick-and-place rack, and a vacuum generator is arranged on the frame, and the suction end of the vacuum generator is respectively connected with each The nozzle is connected.

The beneficial effects of the utility model are: the reciprocating displacement device provided by the utility model, which includes a frame, a lifting slide seat vertically slidably connected to the frame, and a translation slide slide horizontally connected to the lift slide . The pick-and-place mechanism for picking and placing workpieces. The pick-and-place mechanism is set on the translation slide seat. The frame is provided with a rotating shaft connected to the frame along the horizontal rotation and a drive motor that drives the rotating shaft to rotate. The rotating shaft is connected by a lifting cam structure. The lifting slide seat drives the lifting slide seat to move up and down. The rotating shaft connects the translation sliding seat through the translation cam structure and drives the translation slide seat to move laterally. The utility model uses a driving motor to drive the rotating shaft to rotate, and at the same time, the rotating shaft drives the lifting slide seat to go up and down through the lifting cam structure. Movement, through the translation cam structure to drive the translation slide to move laterally, using the characteristics of the cam to convert the rotational motion of the drive motor into the lifting motion and lateral movement of the translation slide and the pick-and-place mechanism, the drive motor can rotate in one direction to realize the translation slide The up-translation-down reciprocating motion of the pick-and-place mechanism saves the time of downtime and reverse rotation, improves the transfer speed and stability, high precision, long service life, simplifies the driving structure, simple and convenient control, and low cost.

Description of drawings:

Fig. 1 is the structural representation of the utility model.

Fig. 2 is a schematic diagram of the internal structure of the utility model.

Fig. 3 is a schematic diagram of the cam transmission structure of the present invention.

Fig. 4 is a schematic structural view of the camshaft barrel of the present invention.

Detailed ways:

The utility model is further described below in conjunction with the accompanying drawings, as shown in Figures 1 to 4, the utility model includes a frame 1, a lifting slide 2 vertically slidably connected to the frame 1, and a horizontally slidably connected The translation slide 3 on the lifting slide 2, the pick-and-place mechanism 4 for picking and placing workpieces, only vertical movement is transmitted between the lift slide 2 and the translation slide 3, and the pick-and-place mechanism 4 is set on the translation slide 3, the frame 1 is provided with a rotating shaft 5 connected to the frame 1 along the horizontal rotation, and a drive motor 6 that drives the rotating shaft 5 to rotate. The rotating shaft 5 is connected to the lifting slide 2 through a lifting cam structure and drives the lifting slide 2 to move up and down , the rotating shaft 5 is connected to the translation slide 3 through a translation cam structure and drives the translation slide 3 to move laterally. The drive motor 6 is a servo motor, and the output end of the drive motor 6 is driven and connected to the rotating shaft 5 through a pulley transmission mechanism.

The rotating shaft 5 is sleeved with a cylindrical camshaft barrel 7, and the circumferential outer surface of the camshaft barrel 7 is provided with a wave-shaped cam groove 71 undulating in the axial direction. The cam groove 71 surrounds the circumferential outer surface of the camshaft barrel 7 and Connected end to end, the translation sliding seat 3 is vertically slidably connected with a cam follower slide 8, and the cam follower slide 8 is connected to the frame 1 along the horizontal slide, so that the cam follower 8 and the translation slide 3 Only the movement in the lateral direction is transmitted between them. The cam follower slide 8 is provided with a translation cam follower 81 that slides along the track of the cam groove 71. The translation cam follower 81 is slidably arranged in the cam groove 71, and the translation cam follower 81. The cam follower slide 8 and the cam groove 71 are combined to form the above-mentioned translation cam structure, and the cam shaft cylinder 7 rotates under the drive of the rotating shaft 5, so that the translation cam follower 81 is forced to follow the track of the cam groove 71 Sliding, the translational cam follower 81 drives the cam follower slide 8 and the translational slide 3 to reciprocate and laterally move linearly under the action of the cam groove 71, and the rotational motion of the camshaft cylinder 7 can be converted into a translational slide through the translational cam structure 3 and the lateral movement of the pick-and-place mechanism 4, at the same time, the translation slide 3 can carry out lifting motion under the effect of the lifting cam structure.

The end of the camshaft tube 7 is provided with a cam track 72 that undulates in the radial direction, and the position corresponding to the cam track 72 on the lifting slide 2 is provided with a lifting follower seat 9, and the lift follower seat 9 is provided with a cam track along the cam track. The lifting cam follower 91 of the 72 track movement, the lifting cam follower 91 is pressed on the cam track 72, and the lifting cam follower 91, the lifting follower seat 9 and the cam track 72 are combined to form the lifting cam structure, when the cam shaft cylinder 7 rotates, the lifting cam follower 91 drives the lifting follower 9 and the lifting slide 2 to carry out the lifting movement under the action of the cam track 72, and simultaneously drives the translation slide 3 and the pick-and-place mechanism 4 to move Lifting movement. The lifting cam follower 91 and the translation cam follower 81 are cam bearing followers.

The end surface of the camshaft cylinder 7 protrudes outwards to form the cam track 72, and the lifting follower seat 9 is provided with two lifting cam followers 91, and the two lifting cam followers 91 are pressed against respectively. Clamping structures are formed on the inner and outer surfaces of the cam track 72 , and the transmission between the two lifting cam followers 91 and the cam track 72 is more stable and reliable.

The peaks and troughs of the cam groove 71 are arc-shaped structures that do not undulate axially along the camshaft cylinder 7 and only extend along the circumference of the camshaft cylinder 7, that is, the translational cam follower 81 slides to the cam groove 71 waveform. There is no axial movement during the first section of the wave peak and the bottom section of the wave trough, which is convenient for the pick-and-place mechanism 4 to vertically lift and absorb the workpiece and put it down. The waveform of the cam groove 71 has a crest and a trough. Whenever the camshaft cylinder 7 rotates one week, the translation slide 3 and the pick-and-place mechanism 4 will move laterally back and forth. Correspondingly, when the translation cam follower 81 moves to the peak position of the waveform, the lifting cam follower 91 just moves to the highest point position of the cam track 72. During this process, the pick-and-place mechanism 4 undergoes vertical descent-adsorption workpiece-vertical During the rising process, the bottom position of the wave trough of the waveform corresponds to the lowest point position of the cam track 72. When the translation cam follower 81 moves to the bottom position of the wave trough, the lifting cam follower 91 just moves to the lowest point of the cam track 72. In this process, the pick-and-place mechanism 4 goes through the process of vertical descent-putting down the workpiece-vertical rise, and when the translation cam follower 81 moves to the rising and falling sections of the waveform, it drives the translation slide 3 and the pick-and-place mechanism 4 laterally Movement, if the lifting cam structure also drives the translation slide 3 and the pick-and-place mechanism 4 to move up and down during this process, then the translation slide 3 and the pick-and-place mechanism 4 will move along the parabolic trajectory to transfer the workpiece.

The lifting cam follower 91 is located at the top or bottom of the cam track 72, and the lifting slide 2 can be driven by the lifting cam follower 91 to carry out lifting motion along with the undulation of the cam track 72. Both ends of the camshaft cylinder 7 are provided with a lifting cam structure, and the transmission is more stable and reliable. The rotating shaft 5 is provided with an inductive photoelectric switch 10, which is used to sense the rotating position and the number of turns of the rotating shaft 5 as an action signal output for convenient control.

The pick-and-place mechanism 4 includes a pick-and-place frame 41 fixed on the translation slide 3, and the pick-and-place frame 41 is provided with a plurality of suction nozzles 42, and the frame 1 is provided with a vacuum generator 11, and the suction of the vacuum generator 11 The ends are respectively communicated with each suction nozzle 42 through a pipeline, and the suction nozzle 42 can conveniently absorb and put down the workpiece, the action is fast, and the efficiency of the workpiece is improved.

The working principle of the utility model is:

1. The drive motor 6 rotates, driving the rotating shaft 5 and the camshaft cylinder 7 to rotate together;

2. When the camshaft cylinder 7 rotates, it drives the lifting cam follower 91 to move along the track of the cam track 72, and the translation cam follower 81 moves along the track of the cam groove 71, and the lifting cam follower 91 will follow the track of the cam track 72. The lifting motion acts as an up-and-down position shifting cycle, and the translation cam follower 81 will perform lateral movement along with the cam groove 71 track to act as a left-right position shifting cycle;

3. The movement of the lifting cam follower 91 drives the lifting follower 9 and the lifting slide 2 to move up and down, and the movement of the translation cam follower 81 drives the translation slide 3 and the pick-and-place mechanism 4 to move left and right;

4. Every time the rotating shaft 5 rotates a circle, the inductive photoelectric switch 10 will sense once and output it as an action signal;

5. According to the track of the cam, the lifting cam follower 91 will move up and down twice each time, and the translation cam follower 81 will move left and right once each time according to the cam track. The action of the generator 11 causes the suction nozzle 42 to absorb the workpiece. When this action reaches the highest position, the translation cam follower 81 moves, driving the pick-and-place mechanism 4 to move left and right. When the lifting cam follower 91 moves for the second time, the vacuum generator 11 moves The suction nozzle 42 is caused to release the workpiece.

The utility model utilizes a drive motor 6 to drive the rotating shaft 5 to rotate. At the same time, the rotating shaft 5 drives the lifting slide 2 to move up and down through the lifting cam structure, and drives the translation sliding seat 3 to move laterally through the translation cam structure. The rotation of the driving motor 6 is driven by the characteristics of the cam. The movement is converted into the lifting motion and lateral movement of the translation slide 3 and the pick-and-place mechanism 4, and the unidirectional rotation of the drive motor 6 can realize the reciprocating motion of the translation slide 3 and the pick-and-place mechanism 4 rising-translation-down, saving downtime and The time of reverse rotation improves the transfer speed and stability, high precision, long service life, simplified driving structure, simple and convenient control, and low cost.

Of course, the above is only a preferred embodiment of the utility model, so all equivalent changes or modifications made according to the structure, features and principles described in the scope of the utility model patent application are included in the utility model patent application within range.

Claims (10)

1. Reciprocating displacement device, which includes a frame (1), a lifting slide (2) slidingly connected to the frame (1) in the vertical direction, and a translational movement sliding in the horizontal direction connected to the lifting slide (2). The sliding seat (3), the pick-and-place mechanism (4) for picking and placing workpieces, the pick-and-place mechanism (4) is set on the translation slide seat (3), and it is characterized in that: the frame (1) is equipped with Horizontally rotate the rotating shaft (5) connected to the frame (1) and the drive motor (6) that drives the rotating shaft (5) to rotate. The rotating shaft (5) is connected to the lifting slide (2) through the lifting cam structure and drives the lifting slide ( 2) Lifting movement, the rotating shaft (5) is connected to the translation sliding seat (3) through the translation cam structure and drives the translation sliding seat (3) to move laterally. 2. The reciprocating displacement device according to claim 1, characterized in that: the shaft (5) is sleeved with a cylindrical camshaft cylinder (7), and the circumferential outer surface of the camshaft cylinder (7) is provided with The undulating wave cam groove (71) along the axial direction, the cam groove (71) surrounds the circumferential outer surface of the camshaft cylinder (7) and is connected end to end, and the translation slide seat (3) is vertically slidably connected with a cam follower The movable slide seat (8) and the cam follower slide seat (8) are slid and connected on the frame (1) along the lateral direction, and the cam follower slide seat (8) is provided with a translation cam follower which slides along the track of the cam groove (71). The moving part (81), the translation cam follower (81) is slidably arranged in the cam groove (71), and the combination of the translation cam follower (81), the cam follower slide (8) and the cam groove (71) Form the described translation cam structure. 3. The reciprocating displacement device according to claim 2, characterized in that: the peaks and valleys of the waveform of the cam groove (71) do not undulate along the axial direction of the camshaft cylinder (7), but only along the cam The shaft cylinder (7) is an arc-shaped structure extending circumferentially. 4. The reciprocating displacement device according to claim 2, characterized in that: the end of the cam shaft cylinder (7) is provided with a cam track (72) undulating in the radial direction, and the lifting slide (2) The position corresponding to the cam track (72) is provided with a lifting follower seat (9), and the lifting follower seat (9) is provided with a lifting cam follower (91) which moves along the track of the cam track (72). The moving part (91) presses against the cam track (72), and the lifting cam follower (91), the lifting follower seat (9) and the cam track (72) are combined to form the lifting cam structure. 5. The reciprocating displacement device according to claim 4, characterized in that: the end surface of the camshaft cylinder (7) protrudes outward to form the cam track (72), and the lifting follower seat (9) is provided with two lifting cam followers (91), and the two lifting cam followers (91) press on the inner and outer surfaces of the cam track (72) respectively. 6. The reciprocating displacement device according to claim 4, characterized in that: the waveform of the cam groove (71) has a peak and a valley, and the position of the peak of the waveform is the same as the position of the highest point of the cam track (72). Correspondingly, the bottom position of the wave trough of the waveform corresponds to the lowest point position of the cam track (72). 7. The reciprocating displacement device according to claim 4, characterized in that: the lifting cam follower (91) is located at the top or bottom of the cam track (72). 8. The reciprocating displacement device according to claim 4, characterized in that: both ends of the camshaft cylinder (7) are provided with lifting cam structures. 9. The reciprocating displacement device according to claim 1, characterized in that: an inductive photoelectric switch (10) is provided on the rotating shaft (5). 10. The reciprocating displacement device according to any one of claims 1-9, characterized in that: the pick-and-place mechanism (4) includes a pick-and-place frame (41) fixed on the translation slide (3), The pick-and-place rack (41) is provided with a plurality of suction nozzles (42), the frame (1) is provided with a vacuum generator (11), and the suction end of the vacuum generator (11) is connected to each suction nozzle ( 42) Connected.